CN115416010A - Can realize not having interactive snakelike robot of wheeled and wheeled - Google Patents
Can realize not having interactive snakelike robot of wheeled and wheeled Download PDFInfo
- Publication number
- CN115416010A CN115416010A CN202211280654.5A CN202211280654A CN115416010A CN 115416010 A CN115416010 A CN 115416010A CN 202211280654 A CN202211280654 A CN 202211280654A CN 115416010 A CN115416010 A CN 115416010A
- Authority
- CN
- China
- Prior art keywords
- snake
- module
- wheel
- connecting rod
- steering engine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
A snakelike robot capable of realizing interaction between a non-wheel type robot and a wheel type robot belongs to the technical field of robots. The invention aims to solve the problem that the obstacle avoidance capability or the task execution efficiency of the snake-shaped robot is low because the conventional snake-shaped robot cannot realize a non-wheel type and wheel type interactive motion mode. According to the invention, a snake head module, an energy supply module, a snake body module and a snake tail module are connected in sequence; the side walls of two sides of the snake body module are respectively and symmetrically provided with a plurality of driven wheel telescopic modules, so that the switching between a wheel mode and a non-wheel mode of the snake-shaped robot is realized; each driven wheel telescopic module comprises a driving mechanism, a three-link mechanism and a driven wheel; the driving end of the driving mechanism is hinged to the side wall of the snake body module, the driving end of the driving mechanism is hinged to one end of the three-link mechanism, and the other end of the three-link mechanism is hinged to the driven wheel; the driving mechanism realizes the lifting and lowering of the driven wheel by driving the three-link mechanism to bend and straighten. The invention is mainly used for the operation in complex environment.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a snake-shaped robot capable of realizing interaction between a non-wheel type robot and a wheel type robot.
Background
The snake-shaped robot is a special mobile robot, has a slender body, can enter a narrow space and a narrow pipeline, has high flexibility, super-redundant freedom degree and various motion forms, and can adapt to various complex environments. Due to the characteristics of the snake-shaped robot, the snake-shaped robot has wide application prospects in the fields of land and water reconnaissance and rescue, pipeline inspection, space assembly, complex environment operation and the like, and is more and more concerned by universities and research institutions.
The existing snake-shaped robot is divided into a wheel-free snake-shaped robot and a wheel-provided snake-shaped robot, and the snake-shaped robot meanders by the friction force between the snake-shaped robot and the ground, so that the wheel-free snake-shaped robot is simple in structure, small in size and suitable for passing through a narrow space; however, the friction force with the ground surface is large during the forward movement, the energy loss is large, the anisotropy condition of the friction force during the meandering movement of the robot is not satisfied, and the meandering movement cannot be realized. Although the driven wheel of the snake-shaped robot in the wheeled state can reduce the frictional resistance in the snake-shaped motion of the snake, the stable swimming of the snake body is realized, the flexibility and the maneuverability of the snake-shaped robot are enhanced, and the anisotropic condition (without sideslip constraint) of the frictional force of the robot in the snake-shaped motion is met, the wheeled snake-shaped robot is large in size, high in gravity center and easy to turn on one's side when moving on uneven ground.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the existing snake-shaped robot can not realize the interaction motion mode of non-wheel type and wheel type, so that the snake-shaped robot can not adapt to various complex environments; further, a snake-shaped robot capable of realizing interaction between a non-wheel type and a wheel type is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a snake-shaped robot capable of realizing wheel-free and wheel-type interaction comprises a snake head module, an energy supply module, a snake body module, a plurality of driven wheel telescopic modules and a snake tail module; the snake head module, the energy supply module, the snake body module and the snake tail module are sequentially connected to form a wheel-free snake-shaped robot; the side walls of two sides of the snake body module are respectively and symmetrically provided with a plurality of driven wheel telescopic modules, so that the switching between a wheel mode and a non-wheel mode of the snake-shaped robot is realized;
each driven wheel telescopic module comprises a driving mechanism, a three-link mechanism and a driven wheel; the driving end of the driving mechanism is hinged to the side wall of the snake body module, the driving end of the driving mechanism is hinged to one end of the three-link mechanism, and the other end of the three-link mechanism is hinged to the driven wheel; the driving mechanism realizes the lifting and lowering of the driven wheel by driving the three-link mechanism to bend and straighten.
Furthermore, the three-link mechanism comprises a first link, a second link and a third link, wherein one end of the first link is hinged to the side wall of the snake body module, the other end of the first link is hinged to one end of the second link, the other end of the second link is hinged to the middle position of the third link, the top end of the third link is hinged to the side wall of the snake body module, and the bottom end of the third link is hinged to the driven wheel; the driving end of the driving mechanism is hinged to the middle position of the first connecting rod, so that the first connecting rod and the second connecting rod can be bent and straightened.
Furthermore, the driving mechanism is a memory alloy spring, one end of the memory alloy spring is connected to the side wall of the snake body module, and the other end of the memory alloy spring is connected to the middle position of the first connecting rod.
Furthermore, the snake head module comprises a control plate, a depth camera, a snake head base and a snake head upper cover; the snake head upper cover and the snake head base are arranged up and down oppositely to form a snake head cavity, and the control plate is positioned in the snake head cavity; the depth camera is fixedly arranged at the front end of the snake head base.
Furthermore, the energy supply module comprises a battery, an energy supply cabin base, an energy supply cabin upper cover, a yaw steering engine and two steering engine fixing plates I, wherein the energy supply cabin upper cover and the energy supply cabin base are arranged up and down oppositely to form a battery installation cabin; the battery is arranged in the battery installation cabin and supplies power to the depth camera and the control panel; the two steering engine fixing plates I are oppositely arranged at one end of the energy supply cabin base from left to right, and the machine body of the yaw steering engine is arranged between the two steering engine fixing plates I; the energy supply module is connected with one end of the snake head module far away from the depth camera, and one end of the snake body module is connected with the output end of a yaw steering engine of the energy supply module.
Furthermore, the snake body module is formed by sequentially connecting a plurality of joint units, and two adjacent joint units are orthogonally arranged, wherein the joint unit which deflects left and right is used as a yaw joint, and the joint unit which deflects up and down is used as a pitch joint.
Furthermore, the driven wheel telescopic module is installed on the pitching joint.
Furthermore, the first joint unit and the tail joint unit of the snake body module are yaw joints.
Furthermore, each joint unit comprises a joint connecting piece and a steering engine, the joint connecting piece comprises two steering wheel I, two steering engine fixing plates II and a middle partition plate, the two steering wheel I are vertically and oppositely arranged on one side of the middle partition plate, the two steering engine fixing plates II are vertically and oppositely arranged on the other side of the middle partition plate, and a machine body of the steering engine is arranged between the two steering engine fixing plates II; between two adjacent joint units, two rudder disks I are respectively connected with the output end of the steering engine on the previous joint unit.
Furthermore, the snake tail module comprises a battery, a snake tail base, a snake tail upper cover and two rudder disks II; the snake tail upper cover and the snake tail base are arranged up and down oppositely to form a battery installation cabin; the battery is arranged in the battery mounting cabin and supplies power to the steering engine and the memory alloy spring; the two rudder disks II are oppositely arranged on one side of the snake tail base from left to right and are connected with the output end of the steering engine in the yaw joint at the tail part of the snake body module.
Compared with the prior art, the invention has the following beneficial effects:
1. the snake-shaped robot can realize the switching between the wheel mode and the non-wheel mode through the driven wheel telescopic module, and when the snake-shaped robot faces a rugged road, the snake-shaped robot moves forwards in a creeping mode under the non-wheel mode; when the snake-shaped robot faces a flat road surface, the snake-shaped robot is in a wheeled mode, and the normal friction coefficient of the snake-shaped robot is greater than the tangential friction coefficient, so that the biological snake is ensured not to sideslip in the movement process, the movement form-winding movement with the highest biological snake movement efficiency can be realized, and the passing efficiency is improved; the two structural modes improve the adaptability of the snake-shaped robot to different ground environments.
2. The snake-shaped robot can pass on a complex road surface or a wall surface through the orthogonal structure form of the joint units in the snake body module, and the motion capability of the three-dimensional space of the snake-shaped robot is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention to its proper form.
FIG. 1 is a schematic structural view of a wheeled model of a serpentine robot;
FIG. 2 is a schematic structural view of a wheel-free mode of the serpentine robot;
FIG. 3 is a schematic structural diagram of a snake head module;
FIG. 4 is a schematic diagram of the power module;
FIG. 5 is a schematic structural view of the passive wheel telescopic module mounted on the pitch joint;
FIG. 6 is a close-up view of the wheeled pattern of the serpentine robot;
FIG. 7 is a partial enlarged view of the wheel-less mode of the serpentine robot;
fig. 8 is a schematic structural diagram of the snake tail module.
Description of the reference numerals: 1-snake head module; 101-a depth camera; 102-snake head base; 103-snake head upper cover; 2-an energy supply module; 201-energy supply cabin base; 202-energy supply cabin upper cover; 203-yaw steering engine; 204-a steering engine fixing plate I; 3-snake body module; 31-an articulation link; 32-a steering engine; 301-rudder wheel i; 302-steering engine fixing plate II; 303-a middle divider plate; 4-driven wheel telescopic module; 401 — a drive mechanism; 402-connecting rod one; 403-link two; 404-link three; 405-a driven wheel; 5-snake tail module; 501-snake tail base; 502-snake tail upper cover; 503-rudder disk II.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
Referring to fig. 1 and 2, the embodiment of the present application provides a snake-shaped robot capable of realizing wheel-free and wheel-type interaction, which includes a snake head module 1, an energy supply module 2, a snake body module 3, a plurality of driven wheel telescopic modules 4 and a snake tail module 5; the snake head module 1, the energy supply module 2, the snake body module 3 and the snake tail module 5 are sequentially connected to form a wheel-free snake-shaped robot; the flexible module 4 of a plurality of driven wheel of symmetry installation respectively on the both sides lateral wall of snake body module 3, the flexible module 4 of every driven wheel realizes retrieving and expanding of driven wheel to realize the switching of snake robot wheeled form and no wheel form, with the current that is applicable to different environment, improved the adaptability of snake robot to different ground environment and the motion ability in three-dimensional space.
Referring to fig. 5, 6 and 7, each driven wheel telescopic module 4 includes a driving mechanism 401, a link one 402, a link two 403, a link three 404 and a driven wheel 405; the first connecting rod 402, the second connecting rod 403 and the third connecting rod 404 form a three-connecting-rod mechanism, one end of the first connecting rod 402 is hinged to the side wall of the snake body module 3, the other end of the first connecting rod 402 is hinged to one end of the second connecting rod 403, the other end of the second connecting rod 403 is hinged to the middle position of the third connecting rod 404, the top end of the third connecting rod 404 is hinged to the side wall of the snake body module 3, and the bottom end of the third connecting rod 404 is hinged to the driven wheel 405; the driving mechanism 401 is installed on the side wall of the snake body module 3, and the driving end of the driving mechanism 401 is hinged to the middle position of the first connecting rod 402, so as to realize the bending and straightening between the first connecting rod 402 and the second connecting rod 403.
In this embodiment, referring to fig. 5, 6 and 7, the driving mechanism 401 may be a cylinder, an oil cylinder, or a memory alloy spring, as long as the telescopic function of the driving end can be realized, and in order to reduce the overall weight and driving load of the serpentine robot, the memory alloy spring is preferred; one end of the memory alloy spring is connected to the side wall of the snake body module 3, and the other end of the memory alloy spring is connected to the middle position of the first connecting rod 402; when the memory alloy spring is in an extension state, the driven wheel 405 is lowered, the snake-shaped robot is in a wheeled mode, when the memory alloy spring is in a retraction state, the driven wheel 405 is lifted, and the snake-shaped robot is in a non-wheeled mode.
In this embodiment, the memory alloy spring may be set to a preset value, and at normal temperature, the memory alloy spring has a shorter length, and at high temperature, the memory alloy spring has a longer length.
The snake-shaped robot is changed from a wheel mode to a non-wheel mode: the memory alloy spring is powered off and is at room temperature, the memory alloy spring retracts to be shortened, a spring pulling force is provided for the first connecting rod 402, the memory alloy spring drives the first connecting rod 402 to rotate by taking a hinge point of the first connecting rod 402 and the snake body module 3 as a shaft, the first connecting rod 402 drives the second connecting rod 403 to rotate by taking the hinge point between the first connecting rod 402 and the second connecting rod 403 as a shaft, the first connecting rod 402 and the second connecting rod 403 are in a bent state, and the second connecting rod 403 drives the third connecting rod 404 to rotate by taking the hinge point at the top end of the third connecting rod 404 as a shaft, so that the driven wheel 405 is lifted.
The snake-shaped robot is changed from a non-wheel mode to a wheel mode: the memory alloy spring is electrified to become hot, the memory alloy spring is stretched and is in a compressed state, the memory alloy spring provides a spring thrust for the first connecting rod 402, the first connecting rod 402 rotates by taking a hinge point between the first connecting rod and the snake body module 3 as a shaft, the first connecting rod 402 drives the second connecting rod 403 to rotate by taking the hinge point between the first connecting rod and the second connecting rod 403 as a shaft, the first connecting rod 402 and the second connecting rod 403 are in a straightening state, and the second connecting rod 403 drives the third connecting rod 404 to rotate by taking the hinge point at the top end of the third connecting rod as a shaft, so that the driven wheel 405 is lowered; the preset value set by the heating and lengthening of the memory alloy spring is larger than the actual extension length of the memory alloy spring, so that the memory alloy spring always provides a spring thrust for the first connecting rod 402, and the driven wheel 405 is stably kept in an unfolded state.
In this embodiment, the snake head module 1 includes a control panel, a depth camera 101, a snake head base 102 and a snake head upper cover 103; the snake head upper cover 103 and the snake head base 102 are arranged oppositely up and down and connected through bolts, the snake head upper cover 103 and the snake head base 102 form a snake head cavity, and the control board is positioned in the snake head cavity and used for controlling the steering engine to move and communicating with an upper computer; the depth camera 101 is fixedly installed at the front end of the snake head base 102 and used for acquiring image information and depth information of the environment around the robot.
In the embodiment, the energy supply module 2 comprises a battery, an energy supply cabin base 201, an energy supply cabin upper cover 202, a yawing steering engine 203 and two steering engine fixing plates I204, wherein the energy supply cabin upper cover 202 and the energy supply cabin base 201 are arranged oppositely up and down and are connected through bolts, the energy supply cabin upper cover 202 and the energy supply cabin base 201 form a battery installation cabin, and the battery is installed in the battery installation cabin; the battery adopts two 3S lithium storage batteries for supplying power to the depth camera 101 and the control panel; the two steering engine fixing plates I204 are oppositely arranged at one end of the energy supply cabin base 201 from left to right, and the yaw steering engine 203 is arranged between the two steering engine fixing plates I204; energy supply module 2 and snake head module 1 one end of keeping away from degree of depth camera 101 be connected through the bolt, the one end of snake body module 3 is connected with the output of the driftage steering wheel 203 of energy supply module 2, realizes the yawing motion of snakelike robot head.
In this embodiment, the snake body module 3 is formed by sequentially connecting a plurality of joint units, two adjacent joint units are orthogonally arranged, that is, two adjacent joint units are axially deflected by 90 degrees, wherein the joint unit deflected left and right is used as a yaw joint, and the joint unit deflected up and down is used as a pitch joint; wherein, the first joint unit and the tail joint unit of the snake body module 3 are yaw joints; through the setting in proper order of yaw joint and every single move joint, can let snake-shaped robot accomplish driftage and every single move action, realize the three-dimensional motion in the space. The driven wheel telescopic module 4 is arranged on the pitching joint.
In the embodiment, each joint unit comprises a joint connecting piece 31 and a steering engine 32, wherein the joint connecting piece 31 comprises two steering wheel I301, two steering engine fixing plates II 302 and a middle partition plate 303, the two steering wheel I301 are arranged on one side of the middle partition plate 303 in an up-down opposite mode, the two steering engine fixing plates II 302 are arranged on the other side of the middle partition plate 303 in an up-down opposite mode, and a body of the steering engine 32 is arranged between the two steering engine fixing plates II 302; between two adjacent joint units, two rudder disks I301 are respectively connected to the output end of the steering engine 32 on the previous joint unit.
In this embodiment, the snake tail module 5 includes a battery, a snake tail base 501, a snake tail upper cover 502 and two rudder disks ii 503; the snake tail upper cover 502 and the snake tail base 501 are arranged oppositely up and down and connected through bolts, the snake tail upper cover 502 and the snake tail base 501 form a battery installation cabin, and the battery is installed in the battery installation cabin; the battery adopts three sections of 3S lithium storage batteries and is used for supplying power to the steering engine 32 and the memory alloy spring; the two steering wheels II 503 are oppositely arranged on one side of the snake tail base 501 in the left-right direction and are connected with the output end of the steering engine 32 in the yaw joint at the tail of the snake body module 3, so that the snake tail module 5 can do pitching motion.
The working process of the invention is further explained below to further demonstrate the working principle and advantages of the invention:
movement of complex pavement: the memory alloy spring is powered off and is at room temperature, the memory alloy spring retracts to be shortened, a spring pulling force is provided for the first connecting rod 402, the memory alloy spring drives the first connecting rod 402 to rotate by taking a hinge point of the first connecting rod 402 and the snake body module 3 as a shaft, the first connecting rod 402 drives the second connecting rod 403 to rotate by taking the hinge point between the first connecting rod 402 and the second connecting rod 403 as a shaft, the first connecting rod 402 and the second connecting rod 403 are in a bent state, and the second connecting rod 403 drives the third connecting rod 404 to rotate by taking the hinge point at the top end of the third connecting rod 404 as a shaft, so that the driven wheel 405 is lifted. The snake-shaped robot is in a wheel-free state; at the moment, the pitching joint in the snake body module 3 drives the yaw joint to swing left and right, tangential friction force and normal friction force are generated between the snake body module 3 and the ground, and the friction in the tangential direction is larger than the normal friction force, so that the snake-shaped robot crawls forwards, and three-dimensional motion such as climbing is realized.
Sliding on a flat road surface: the battery in the snake tail module 5 supplies power to the memory alloy spring, the memory alloy spring is in a power-on state and gradually increases in temperature, the memory alloy spring extends and is in a compression state, the memory alloy spring provides a spring thrust for the first connecting rod 402, the first connecting rod 402 rotates by taking a hinge point of the first connecting rod and the snake body module 3 as a shaft, the first connecting rod 402 drives the second connecting rod 403 to rotate by taking the hinge point between the first connecting rod 402 and the second connecting rod 403 as a shaft, the first connecting rod 402 and the second connecting rod 403 are in a straightening state, and the second connecting rod 403 drives the third connecting rod 404 to rotate by taking the hinge point at the top end of the third connecting rod 404 as a shaft, so that the driven wheel 405 is lowered; the snake-shaped robot is in a wheeled state; at the moment, the pitching joint in the snake body module 3 drives the yaw joint to swing left and right, and tangential friction and normal friction are generated between the snake body module 3 and the ground; under the action of the driven wheel, the friction in the tangential direction is smaller than the friction in the normal direction, so that the robot can advance and perform winding motion under the swinging of the steering engine.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that various dependent claims and the features described herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. A can realize there is not wheeled and interactive snake-shaped robot of wheeled, its characterized in that: the snake head energy-saving device comprises a snake head module (1), an energy supply module (2), a snake body module (3), a plurality of driven wheel telescopic modules (4) and a snake tail module (5); the snake head module (1), the energy supply module (2), the snake body module (3) and the snake tail module (5) are sequentially connected to form a wheel-free snake-shaped robot; the side walls of two sides of the snake body module (3) are respectively and symmetrically provided with a plurality of driven wheel telescopic modules (4) to realize the switching between a wheeled mode and a non-wheeled mode of the snake-shaped robot;
each driven wheel telescopic module (4) comprises a driving mechanism (401), a three-link mechanism and a driven wheel (405); the connecting end of the driving mechanism (401) is hinged to the side wall of the snake body module (3), the driving end of the driving mechanism (401) is hinged to one end of the three-link mechanism, and the other end of the three-link mechanism is hinged to the driven wheel (405); the driving mechanism (401) realizes the lifting and lowering of the driven wheel (405) by driving the three-link mechanism to bend and straighten.
2. The snake-shaped robot capable of realizing wheel-free and wheeled interaction according to claim 1, which is characterized in that: the three-link mechanism comprises a first connecting rod (402), a second connecting rod (403) and a third connecting rod (404), one end of the first connecting rod (402) is hinged to the side wall of the snake body module (3), the other end of the first connecting rod (402) is hinged to one end of the second connecting rod (403), the other end of the second connecting rod (403) is hinged to the middle position of the third connecting rod (404), the top end of the third connecting rod (404) is hinged to the side wall of the snake body module (3), and the bottom end of the third connecting rod (404) is hinged to the driven wheel (405); the driving end of the driving mechanism (401) is hinged to the middle position of the first connecting rod (402) to realize bending and straightening between the first connecting rod (402) and the second connecting rod (403).
3. The snake robot capable of realizing wheel-free and wheel-type interaction according to claim 2, wherein: the driving mechanism (401) is a memory alloy spring, one end of the memory alloy spring is connected to the side wall of the snake body module (3), and the other end of the memory alloy spring is connected to the middle position of the first connecting rod (402).
4. The snake-shaped robot capable of realizing wheel-free and wheeled interaction according to claim 1, which is characterized in that: the snake head module (1) comprises a control plate, a depth camera (101), a snake head base (102) and a snake head upper cover (103); the snake head upper cover (103) and the snake head base (102) are arranged up and down oppositely to form a snake head cavity, and the control plate is positioned in the snake head cavity; the depth camera (101) is fixedly installed at the front end of the snake head base (102).
5. The snake robot capable of realizing wheel-free and wheel-type interaction according to claim 4, wherein: the energy supply module (2) comprises a battery, an energy supply cabin base (201), an energy supply cabin upper cover (202), a yawing steering engine (203) and two steering engine fixing plates I (204), wherein the energy supply cabin upper cover (202) and the energy supply cabin base (201) are arranged oppositely from top to bottom to form a battery installation cabin; the battery is arranged in the battery installation cabin and supplies power to the depth camera (101) and the control panel; the two steering engine fixing plates I (204) are oppositely arranged at one end of the energy supply cabin base (201) from left to right, and the body of the yawing steering engine (203) is arranged between the two steering engine fixing plates I (204); energy supply module (2) and snake head module (1) keep away from the one end of degree of depth camera (101) and be connected, the one end of snake body module (3) is connected with the output of driftage steering wheel (203) of energy supply module (2).
6. The snake robot capable of realizing wheel-free and wheel-type interaction according to claim 5, wherein: the snake body module (3) is formed by sequentially connecting a plurality of joint units, two adjacent joint units are orthogonally arranged, the joint unit which deflects left and right is used as a yaw joint, and the joint unit which deflects up and down is used as a pitch joint.
7. The snake-shaped robot capable of realizing wheel-free and wheel-type interaction according to claim 6, which is characterized in that: the driven wheel telescopic module (4) is arranged on the pitching joint.
8. The serpentine robot capable of achieving wheelless and wheeled interaction of claim 7, wherein: the first joint unit and the tail joint unit of the snake body module (3) are yaw joints.
9. The serpentine robot capable of achieving wheelless and wheeled interaction of claim 8, wherein: each joint unit comprises a joint connecting piece (31) and a steering engine (32), the joint connecting piece (31) comprises two steering wheel plates I (301), two steering engine fixing plates II (302) and a middle partition plate (303), the two steering wheel plates I (301) are vertically and oppositely arranged on one side of the middle partition plate (303), the two steering engine fixing plates II (302) are vertically and oppositely arranged on the other side of the middle partition plate (303), and a body of the steering engine (32) is arranged between the two steering engine fixing plates II (302); between two adjacent joint units, two rudder disks I (301) are respectively connected to the output end of the steering engine (32) on the previous joint unit.
10. The snake-shaped robot capable of realizing wheel-free and wheel-type interaction according to claim 9, which is characterized in that: the snake tail module (5) comprises a battery, a snake tail base (501), a snake tail upper cover (502) and two rudder disks II (503); the snake tail upper cover (502) and the snake tail base (501) are arranged up and down oppositely to form a battery installation cabin; the battery is arranged in the battery installation cabin and supplies power to the steering engine (32) and the memory alloy spring; the two steering disks II (503) are oppositely arranged on one side of the snake tail base (501) in the left-right direction and are connected with the output end of the steering engine (32) in the yaw joint at the tail part of the snake body module (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211280654.5A CN115416010A (en) | 2022-10-19 | 2022-10-19 | Can realize not having interactive snakelike robot of wheeled and wheeled |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211280654.5A CN115416010A (en) | 2022-10-19 | 2022-10-19 | Can realize not having interactive snakelike robot of wheeled and wheeled |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115416010A true CN115416010A (en) | 2022-12-02 |
Family
ID=84207356
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211280654.5A Pending CN115416010A (en) | 2022-10-19 | 2022-10-19 | Can realize not having interactive snakelike robot of wheeled and wheeled |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115416010A (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010017335A1 (en) * | 1999-12-20 | 2001-08-30 | Iskender Kutlucinar | Shape memory alloy actuators for aircraft landing gear |
| CN1373029A (en) * | 2002-03-27 | 2002-10-09 | 辽宁工程技术大学 | Snake-shaped robot |
| CN101926565A (en) * | 2010-08-04 | 2010-12-29 | 浙江永艺家具有限公司 | Foldable revolving chair leg |
| TW201124295A (en) * | 2010-01-07 | 2011-07-16 | Univ Nat Taipei Technology | Automatic parking stand for two-wheeled vehicle |
| CN103009379A (en) * | 2012-12-24 | 2013-04-03 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
| CN203875891U (en) * | 2013-01-24 | 2014-10-15 | 韩国原子力研究院 | Driver module for double-far end support of S-shaped robot employing interior line |
| CN105150203A (en) * | 2015-09-22 | 2015-12-16 | 成都理工大学 | Method for detecting internal environment of nuclear equipment pipeline by snake-like robot |
| CN105945926A (en) * | 2016-07-05 | 2016-09-21 | 成都理工大学 | Nuclear decommissioning pipe reconfigurable snakelike robot |
| CN107127744A (en) * | 2017-05-31 | 2017-09-05 | 成都理工大学 | A kind of snake-shaped robot with orthogonal joint structure |
| CN107390530A (en) * | 2017-08-31 | 2017-11-24 | 哈尔滨工程大学 | A kind of bionical jellyfish design and control method based on memory alloy spring driving |
| US20180021945A1 (en) * | 2015-01-29 | 2018-01-25 | Eelume As | Underwater manipulator arm robot |
| CN112975931A (en) * | 2019-12-13 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Connecting rod type robot head movement mechanism |
| CN113211423A (en) * | 2021-04-21 | 2021-08-06 | 河海大学 | Spherical hinge pull wire variable auxiliary wheel type snake-shaped robot |
-
2022
- 2022-10-19 CN CN202211280654.5A patent/CN115416010A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010017335A1 (en) * | 1999-12-20 | 2001-08-30 | Iskender Kutlucinar | Shape memory alloy actuators for aircraft landing gear |
| CN1373029A (en) * | 2002-03-27 | 2002-10-09 | 辽宁工程技术大学 | Snake-shaped robot |
| TW201124295A (en) * | 2010-01-07 | 2011-07-16 | Univ Nat Taipei Technology | Automatic parking stand for two-wheeled vehicle |
| CN101926565A (en) * | 2010-08-04 | 2010-12-29 | 浙江永艺家具有限公司 | Foldable revolving chair leg |
| CN103009379A (en) * | 2012-12-24 | 2013-04-03 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
| CN203875891U (en) * | 2013-01-24 | 2014-10-15 | 韩国原子力研究院 | Driver module for double-far end support of S-shaped robot employing interior line |
| US20180021945A1 (en) * | 2015-01-29 | 2018-01-25 | Eelume As | Underwater manipulator arm robot |
| CN105150203A (en) * | 2015-09-22 | 2015-12-16 | 成都理工大学 | Method for detecting internal environment of nuclear equipment pipeline by snake-like robot |
| CN105945926A (en) * | 2016-07-05 | 2016-09-21 | 成都理工大学 | Nuclear decommissioning pipe reconfigurable snakelike robot |
| CN107127744A (en) * | 2017-05-31 | 2017-09-05 | 成都理工大学 | A kind of snake-shaped robot with orthogonal joint structure |
| CN107390530A (en) * | 2017-08-31 | 2017-11-24 | 哈尔滨工程大学 | A kind of bionical jellyfish design and control method based on memory alloy spring driving |
| CN112975931A (en) * | 2019-12-13 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Connecting rod type robot head movement mechanism |
| CN113211423A (en) * | 2021-04-21 | 2021-08-06 | 河海大学 | Spherical hinge pull wire variable auxiliary wheel type snake-shaped robot |
Non-Patent Citations (1)
| Title |
|---|
| 王大康、高国华: "《空间机构学与机器人设计方法》", 南京：东南大学出版社, pages: 220 - 225 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104843103B (en) | Novel operation robot in building environments | |
| CN110843952B (en) | Biped robot capable of wheeled movement and working method thereof | |
| CN109178135B (en) | Dual-drive mode closed-chain leg mechanism | |
| CN112550664B (en) | Variable camber wing structure based on shape memory alloy drive | |
| CN113103218B (en) | Utilize electromagnetic field driven foldable robot | |
| CN111452028A (en) | Multi-joint bionic robot and control method and application thereof | |
| CN112959331A (en) | Reloading robot and robot workstation | |
| CN113086134A (en) | Simulated bat underwater soft body robot based on liquid dielectric actuator | |
| CN115416010A (en) | Can realize not having interactive snakelike robot of wheeled and wheeled | |
| CN108974167A (en) | A kind of bionical memorial alloy robot and production method of novel spiral | |
| TW201637917A (en) | High maneuverability vehicle | |
| Zhou et al. | Kinematic modeling of a bio-inspired robotic fish | |
| CN113525558B (en) | Wheeled robot and separable wheel-leg composite robot | |
| CN214267807U (en) | Novel wheel-track leg robot | |
| CN113305821B (en) | Foldable peristaltic robot driven by temperature field and driving method thereof | |
| CN111717301B (en) | Claw-thorn type two-dimensional motion wall-climbing robot | |
| CN213168334U (en) | Obstacle crossing robot | |
| CN212497760U (en) | Multi-joint bionic robot | |
| CN210939268U (en) | Multi-section snake-shaped robot | |
| Chen et al. | A soft, lightweight flipping robot with versatile motion capabilities for wall-climbing applications | |
| CN216229361U (en) | Wheel type mobile robot with mechanical arm | |
| CN218431482U (en) | Active flexible waist structure of bionic quadruped robot | |
| CN216580771U (en) | Robot installation box wheel type machine convenient to move | |
| CN111071367A (en) | Crawling robot | |
| CN111301561A (en) | Omnidirectional vision intelligent vehicle convenient for secondary development |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |