CN203779494U - Snakelike robot with creeping and swinging functions - Google Patents
Snakelike robot with creeping and swinging functions Download PDFInfo
- Publication number
- CN203779494U CN203779494U CN201420096033.6U CN201420096033U CN203779494U CN 203779494 U CN203779494 U CN 203779494U CN 201420096033 U CN201420096033 U CN 201420096033U CN 203779494 U CN203779494 U CN 203779494U
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- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 241001597062 Channa argus Species 0.000 claims abstract description 13
- 241000270295 Serpentes Species 0.000 claims abstract description 10
- 230000008855 peristalsis Effects 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000002572 peristaltic effect Effects 0.000 claims description 8
- 230000003014 reinforcing effect Effects 0.000 claims description 6
- 230000001737 promoting effect Effects 0.000 claims description 2
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 claims 9
- 230000010355 oscillation Effects 0.000 claims 9
- 241000361919 Metaphire sieboldi Species 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a snakelike robot with creeping and swinging functions. The snakelike robot comprises a snake head, a snake tail as well as a plurality of joint modules mounted between the snake head and the snake tail and connected sequentially end to end, wherein each joint module comprises a joint module body, a swinging part is arranged on the front side of each joint module body, a creeping part is arranged in the middle, and a rotating part is arranged on the rear side. According to the snakelike robot, the creeping motion function is added on the basis of traditional snakelike swinging motion, so that the snakelike robot can achieve snakelike creeping swinging motion in broad space and can achieve wriggling motion similar to an earthworm in narrow space, and the environmental adaptability of the snakelike robot is improved.
Description
Technical Field
The utility model relates to a snake-shaped robot especially relates to a snake-shaped robot with wriggling and swing function.
Background
The snake-shaped robot is a novel bionic robot developed by simulating the motion mechanism and behavior mode of a snake, and can walk in a narrow space with dense obstacles and climb over the obstacles due to the characteristics of slender body, small cross section, changeable shape and the like. The existing snake-shaped robot generally consists of a plurality of joint modules, wherein the internal structures of the joint modules are hydraulic, pneumatic or electric, and have a single-degree-of-freedom or multi-degree-of-freedom motion mode. In order to realize the snake-shaped movement on uneven ground, the joint modules of the snake-shaped robot are generally connected in a way that the adjacent joints are 90 degrees different, so that the snake-shaped robot has the swinging capability in the horizontal direction and the vertical direction. However, in order to realize the snake-shaped motion, the current snake-shaped robot must drive the body to do periodic swing motion by utilizing the motion of the joint module, the swing motion must occupy a larger swing space, when the snake-shaped robot traverses a narrow space such as a pipeline, the joints of the snake-shaped robot cannot swing due to the limitation of too small swing space, so that the snake-shaped robot loses the motion capability, and the working capability of the snake-shaped robot under a complex environment is limited.
It will thus be seen that the prior art is susceptible to further improvements and enhancements.
SUMMERY OF THE UTILITY MODEL
The utility model provides a snake-shaped robot with wriggling and swinging functions, which avoids the defects of the prior art.
The utility model discloses the technical scheme who adopts does:
snake-shaped robot with wriggling and swing function, include snake head, snake tail and install between snake head and the snake tail and a plurality of joint modules that the head and the tail link to each other in order, each joint module all includes joint module body, and the front side of each joint module body is provided with swing portion, the centre is provided with wriggling portion, the rear side is provided with the rotation portion.
The joint module body comprises two parallel positioning disks, namely a first positioning disk and a second positioning disk, and the first positioning disk and the second positioning disk are connected through two parallel connecting rods.
The swing portion comprises a swing plate, a swing shaft and a swing motor, the swing shaft is installed on the front side of the first positioning disc, the swing plate is located in front of the swing shaft, the swing motor is installed between the first positioning disc and the second positioning disc, the swing motor drives the swing shaft to rotate through the first gear transmission mechanism, and the swing plate is fixedly connected with the swing shaft through the swing arm.
The peristalsis part comprises a telescopic block and a peristalsis motor, the telescopic block is installed in the middle of the joint module body, the peristalsis motor is installed between the first positioning disc and the second positioning disc, and the peristalsis motor drives the telescopic block to do linear telescopic motion through the lead screw mechanism.
The rotation part comprises a rotation plate, a rotation shaft, a rotation motor and a potentiometer for measuring the rotation angle of the rotation shaft, the rotation shaft is installed on the rear side of the joint module body, and the rotation motor drives the rotation plate to rotate around the rotation shaft through a second gear transmission mechanism.
The rotating part comprises a rotating plate, a rotating shaft and a rotating motor, the rotating shaft is installed on the rear side of the joint module body, and the rotating motor drives the rotating plate to rotate around the rotating shaft through a second gear transmission mechanism.
A third positioning disc is fixedly connected to the front of the first positioning disc, and a first positioning frame used for mounting the swinging shaft is arranged at the front end of the third positioning disc; the swing arm is U-shaped, one end of the swing arm is fixedly connected with the swing plate, and the other end of the swing arm is fixedly connected with two ends of the swing shaft; the first gear transmission mechanism comprises a first gear arranged on an output shaft of the swing motor, a second gear meshed with the first gear, a third gear sleeved on the same rotating shaft with the second gear, a fourth gear meshed with the third gear, a first spiral gear sleeved on the same rotating shaft with the fourth gear, and a second spiral gear sleeved on the swing shaft, wherein the first, second, third and fourth gears are all positioned between a first positioning disc and a third positioning disc, a first rotating shaft for mounting the second and third gears is arranged between the first and third positioning discs, the first spiral gear is positioned in front of the third positioning disc and below the second spiral gear, the fourth gear and the first spiral gear are arranged on the second rotating shaft, a second positioning frame for mounting the second rotating shaft is arranged on the front end face of the third positioning disc, one end of the second rotating shaft is arranged on the first positioning disc, the other end is arranged on the second positioning frame.
The one end of flexible piece is located between first, the second positioning disk, and the other end is located the rear side of second positioning disk, and flexible piece is hollow structure, screw mechanism includes that lead screw and cover put the promotion piece on the lead screw, offers on the flexible piece to be used for carrying out spacing draw-in groove to promoting the piece, and the relative position department of first, the second positioning disk has all seted up the lead screw and has changeed the hole, and the peristaltic motor passes through third gear drive mechanism drive lead screw and rotates, and third gear drive mechanism includes fifth gear and the sixth gear with fifth gear engaged with, and the fifth gear cover is put on the output shaft of peristaltic motor, and the one end at the lead screw is put to the sixth gear cover, and fifth, sixth gear all are located between first, the second positioning disk.
A fourth positioning disc is arranged between the rear end of the telescopic block and the rotating plate, the fourth positioning disc is fixedly connected with the rear end of the telescopic block, a gap exists between the fourth positioning disc and the rotating plate, the rotating shaft is installed between the fourth positioning disc and the rotating plate, a third rotating shaft is further arranged between the fourth positioning disc and the rotating plate, and the rotating motor is located on the rear side of the fourth positioning disc; the second gear transmission mechanism comprises a seventh gear installed on an output shaft of the rotating motor, an eighth gear sleeved on the third rotating shaft and meshed with the seventh gear, a tenth gear sleeved on the third rotating shaft, a ninth gear sleeved on the rotating shaft and meshed with the tenth gear, a twelfth gear sleeved on the rotating shaft and an eleventh gear meshed with the twelfth gear, and the potentiometer is installed at the shaft end of a gear shaft of the eleventh gear and is positioned between the second positioning disc and the fourth positioning disc.
Each joint module is provided with a joint motor controller used for controlling the swinging part, the creeping part and the rotating part, and the snake head is provided with a complete machine controller used for controlling each joint motor controller.
A reinforcing frame is further arranged between the first positioning disc and the second positioning disc and comprises two positioning plates and a connecting plate, the two positioning plates are respectively connected with the first positioning disc and the second positioning disc, and the connecting plate is connected with the two positioning blocks.
Since the technical scheme is used, the utility model discloses the beneficial effect who gains does:
1. the utility model discloses peristaltic movement function has been increased on traditional snakelike swing motion's basis for snakelike robot not only can realize snakelike swing motion in wide space, can also realize the peristaltic movement similar to the earthworm in narrow space, has enlarged snakelike robot's environmental suitability.
2. The utility model discloses compact structure, degree of automation is higher, and the installation is maintained conveniently.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the joint module of the present invention viewed from one side.
Fig. 3 is a schematic structural view of the joint module according to the present invention as viewed from the other side.
Fig. 4 is a partially enlarged view of a portion a in fig. 3.
Fig. 5 is a partially enlarged view of fig. 3 at B.
Wherein,
1. the snake head 2, the snake tail 3, the joint module body 301, the first positioning disc 302, the second positioning disc 303, the connecting rod 304, the positioning plate 305, the connecting plate 4, the swinging part 401, the swinging motor 402, the swinging plate 403, the first gear 404, the second gear 405, the third gear 406, the fourth gear 407, the first spiral gear 408, the second spiral gear 409, the swinging arm 410, the swinging shaft 411, the first positioning frame 412, the second positioning frame 413, the third positioning disc 5, the creeping part 501, the creeping motor 502, the pushing block 503, the lead screw 504, the sixth gear 505, the telescopic block 506, the clamping groove 507, the lead screw rotating hole 6, the fourth positioning disc 7, the rotating part 701, the rotating plate 702, the rotating motor 703, the seventh gear 704, the eighth gear 705, the third rotating shaft 706, the tenth gear 707, the ninth gear 708, the lead screw rotating hole 6, the fourth positioning disc 7, the rotating part 701, the rotating plate 702, Twelfth gear 709, rotating shaft
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific embodiments, but the present invention is not limited to these embodiments.
As shown in fig. 1, 2 and 3, the snake-shaped robot with peristalsis and swing functions comprises a snake head 1, a snake tail 2 and a plurality of joint modules which are arranged between the snake head 1 and the snake tail 2 and are sequentially connected end to end, wherein each joint module comprises a joint module body 2, a swing part 4 is arranged at the front side of each joint module body 3, a peristalsis part 5 is arranged in the middle of each joint module body, and a rotation part 7 is arranged at the rear side of each joint module body; the joint module body 3 comprises two positioning discs which are parallel to each other, wherein the first positioning disc 301 and the second positioning disc 302 are connected through two connecting rods 303 which are parallel to each other, a reinforcing frame is arranged between the first positioning disc and the second positioning disc, and the reinforcing frame comprises two positioning plates 304 which are connected with the first positioning disc and the second positioning disc respectively and a connecting plate 305 which is connected with the two positioning blocks; each joint module is provided with a joint motor controller for controlling the swinging part 4, the peristalsis part 5 and the rotating part 7, and the overall motion tracks of the joint modules are the same, but the motion tracks of the joint modules at a certain moment are different, so the snake head 1 is provided with a complete machine controller for controlling the joint motor controllers.
As shown in fig. 2, 3 and 4, the swing portion 4 includes a swing plate 402, a swing shaft 410 and a swing motor 401, the swing shaft 410 is installed at the front side of the first positioning plate 301, the swing plate 402 is located in front of the swing shaft 410, the swing motor 401 is installed between the first positioning plate and the second positioning plate, the swing motor 401 drives the swing shaft 410 to rotate through a first gear transmission mechanism, and the swing plate 402 is fixedly connected with the swing shaft 410 through a swing arm 409; a third positioning disc 413 is fixedly connected to the front of the first positioning disc 301, and a first positioning frame 411 for mounting the swinging shaft 410 is arranged at the front end of the third positioning disc 413; the swing arm 409 is U-shaped, one end of the swing arm is fixedly connected with the swing plate 402, and the other end of the swing arm is fixedly connected with two ends of the swing shaft 410; the first gear transmission mechanism comprises a first gear 403 arranged on an output shaft of the swing motor 401, a second gear 404 engaged with the first gear 403, a third gear 405 sleeved on the same rotating shaft with the second gear 404, a fourth gear 406 engaged with the third gear 405, a first spiral gear 407 sleeved on the same rotating shaft with the fourth gear 406, and a second spiral gear 408 sleeved on the swing shaft 410, wherein the first, second, third, and fourth gears are all positioned between the first positioning disk 301 and the third positioning disk 413, a first rotating shaft for mounting the second and third gears is arranged between the first and third positioning disks, the first spiral gear 407 is positioned in front of the third positioning disk 413 and below the second spiral gear 408, the fourth gear 406 and the first spiral gear 407 are arranged on the second rotating shaft, a second positioning frame 412 for mounting the second rotating shaft is arranged on the front end face of the third positioning disk 413, one end of the second rotating shaft is mounted on the first positioning plate 301, and the other end is mounted on the second positioning frame 412.
As shown in fig. 2 and 3, the peristalsis part 5 includes a telescopic block 505 and a peristalsis motor 501, the telescopic block 505 is installed in the middle of the joint module body 3, the peristalsis motor 501 is installed between the first positioning plate and the second positioning plate, and the peristalsis motor 501 drives the telescopic block 505 to do linear telescopic motion through a screw mechanism; one end of the telescopic block 505 is located between the first positioning plate and the second positioning plate, the other end of the telescopic block 505 is located on the rear side of the second positioning plate 302, the telescopic block 505 is of a hollow structure, the screw mechanism comprises a screw 503 and a pushing block 502 sleeved on the screw 503, a clamping groove 506 used for limiting the pushing block 502 is formed in the telescopic block 505, screw rotating holes 507 are formed in the positions, opposite to the first positioning plate and the second positioning plate, of the first positioning plate and the second positioning plate, the peristaltic motor 501 drives the screw 503 to rotate through a third gear transmission mechanism, the third gear transmission mechanism comprises a fifth gear and a sixth gear 504 meshed with the fifth gear, the fifth gear is sleeved on an output shaft of the peristaltic motor 501, the sixth gear 504 is sleeved at one end of the screw 503, and the fifth gear and the sixth gear are located between the first positioning plate and the second positioning plate.
As shown in fig. 2, 3 and 5, the rotating part 7 includes a rotating plate 701, a rotating shaft 709, a rotating motor 702 and a potentiometer 711 for measuring the rotation angle of the rotating shaft 709, the rotating shaft 709 is installed at the rear side of the joint module body, and the rotating motor 702 drives the rotating plate 701 to rotate around the rotating shaft 709 through a second gear transmission mechanism; a fourth positioning disk 6 is arranged between the rear end of the telescopic block 505 and the rotating plate 701, the fourth positioning disk 6 is fixedly connected with the rear end of the telescopic block 505, a gap exists between the fourth positioning disk 6 and the rotating plate 701, the rotating shaft 709 is installed between the fourth positioning disk 6 and the rotating plate 701, a third rotating shaft 705 is further arranged between the fourth positioning disk 6 and the rotating plate 701, and the rotating motor 702 is located on the rear side of the fourth positioning disk 6; the second gear transmission mechanism comprises a seventh gear 703 mounted on an output shaft of the rotating motor 702, an eighth gear 704 sleeved on a third rotating shaft 705 and meshed with the seventh gear 703, a tenth gear 706 sleeved on the third rotating shaft 705, a ninth gear 707 sleeved on a rotating shaft 709 and meshed with the tenth gear 706, a twelfth gear 708 sleeved on the rotating shaft 709 and meshed with the twelfth gear 708, and an eleventh gear 710 meshed with the twelfth gear 708, wherein the potentiometer 711 is mounted at the shaft end of a gear shaft of the eleventh gear 710 and is positioned between the second positioning plate 302 and the fourth positioning plate 6; when the rotating motor 702 operates, the seventh gear 703 is driven to rotate, the seventh gear 703 drives the eighth gear 704 to rotate, so as to drive the tenth gear 706, which is also sleeved on the third rotating shaft 705 as the eighth gear 704, to rotate, the ninth gear 707, which is meshed with the tenth gear 706, rotates, so as to drive the rotating plate 701 to rotate, the twelfth gear, which is also sleeved on the rotating shaft 709 as the ninth gear 707, drives the eleventh gear 710 to rotate, so as to drive the potentiometer 711 to rotate, so as to measure the rotating angle of the rotating shaft 709.
The snake-shaped robot comprises a plurality of joint modules which are sequentially connected end to end, wherein the swing plate 402 of the previous joint module is fixed on the swing plate 701 of the next joint module, so that the serial connection among the joint modules is realized, and the snake-shaped robot has the functions of swinging, twisting around a rotating shaft and stretching along the body of the snake-shaped robot; when the operation environment that snakelike robot person department is different, joint motor controller can control and operate with operation environment adaptive motor to make snakelike robot carry out different motions, strengthened snakelike robot's adaptive capacity to environment.
The parts not mentioned in the utility model can be realized by adopting or using the prior art for reference.
In the description of the present invention, it is to be understood that the terms "middle", "upper", "lower", "front", "rear", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Although the terms of the snake head 1, the joint module body 3, the first positioning plate 301, the connecting plate 305, the swinging plate 4, the swinging plate 402, the swinging arm 409, the peristalsis part 5, the peristalsis motor 501, the lead screw 503, the clamping slot 506, the rotating part 7, the rotating motor 702, the ninth gear 704, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed in a manner that is inconsistent with the spirit of the invention.
It is further understood that the specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (10)
1. Snake-shaped robot with wriggling and swing functions, its characterized in that: including snake head, snake tail and install between snake head and the snake tail and a plurality of joint modules that the head and the tail link to each other in order, each joint module all includes joint module body, and the front side of each joint module body is provided with swing portion, the centre is provided with wriggling portion, the rear side is provided with the rotation portion.
2. The serpentine robot having the peristalsis and oscillation functions of claim 1, wherein: the joint module body comprises two parallel positioning disks, namely a first positioning disk and a second positioning disk, and the first positioning disk and the second positioning disk are connected through two parallel connecting rods.
3. The serpentine robot having the peristalsis and oscillation functions of claim 2, wherein: the swing portion comprises a swing plate, a swing shaft and a swing motor, the swing shaft is installed on the front side of the first positioning disc, the swing plate is located in front of the swing shaft, the swing motor is installed between the first positioning disc and the second positioning disc, the swing motor drives the swing shaft to rotate through the first gear transmission mechanism, and the swing plate is fixedly connected with the swing shaft through the swing arm.
4. The serpentine robot having the peristalsis and oscillation functions of claim 2, wherein: the peristalsis part comprises a telescopic block and a peristalsis motor, the telescopic block is installed in the middle of the joint module body, the peristalsis motor is installed between the first positioning disc and the second positioning disc, and the peristalsis motor drives the telescopic block to do linear telescopic motion through the lead screw mechanism.
5. The serpentine robot having the peristalsis and oscillation functions of claim 4, wherein: the rotation part comprises a rotation plate, a rotation shaft, a rotation motor and a potentiometer for measuring the rotation angle of the rotation shaft, the rotation shaft is installed on the rear side of the joint module body, and the rotation motor drives the rotation plate to rotate around the rotation shaft through a second gear transmission mechanism.
6. The serpentine robot having the peristalsis and oscillation functions of claim 3, wherein: a third positioning disc is fixedly connected to the front of the first positioning disc, and a first positioning frame used for mounting the swinging shaft is arranged at the front end of the third positioning disc; the swing arm is U-shaped, one end of the swing arm is fixedly connected with the swing plate, and the other end of the swing arm is fixedly connected with two ends of the swing shaft; the first gear transmission mechanism comprises a first gear arranged on an output shaft of the swing motor, a second gear meshed with the first gear, a third gear sleeved on the same rotating shaft with the second gear, a fourth gear meshed with the third gear, a first spiral gear sleeved on the same rotating shaft with the fourth gear, and a second spiral gear sleeved on the swing shaft, wherein the first, second, third and fourth gears are all positioned between a first positioning disc and a third positioning disc, a first rotating shaft for mounting the second and third gears is arranged between the first and third positioning discs, the first spiral gear is positioned in front of the third positioning disc and below the second spiral gear, the fourth gear and the first spiral gear are arranged on the second rotating shaft, a second positioning frame for mounting the second rotating shaft is arranged on the front end face of the third positioning disc, one end of the second rotating shaft is arranged on the first positioning disc, the other end is arranged on the second positioning frame.
7. The serpentine robot having the peristalsis and oscillation functions of claim 4, wherein: the one end of flexible piece is located between first, the second positioning disk, and the other end is located the rear side of second positioning disk, and flexible piece is hollow structure, screw mechanism includes that lead screw and cover put the promotion piece on the lead screw, offers on the flexible piece to be used for carrying out spacing draw-in groove to promoting the piece, and the relative position department of first, the second positioning disk has all seted up the lead screw and has changeed the hole, and the peristaltic motor passes through third gear drive mechanism drive lead screw and rotates, and third gear drive mechanism includes fifth gear and the sixth gear with fifth gear engaged with, and the fifth gear cover is put on the output shaft of peristaltic motor, and the one end at the lead screw is put to the sixth gear cover, and fifth, sixth gear all are located between first, the second positioning disk.
8. The serpentine robot having the peristalsis and oscillation functions of claim 5, wherein: a fourth positioning disc is arranged between the rear end of the telescopic block and the rotating plate, the fourth positioning disc is fixedly connected with the rear end of the telescopic block, a gap exists between the fourth positioning disc and the rotating plate, the rotating shaft is installed between the fourth positioning disc and the rotating plate, a third rotating shaft is further arranged between the fourth positioning disc and the rotating plate, and the rotating motor is located on the rear side of the fourth positioning disc; the second gear transmission mechanism comprises a seventh gear installed on an output shaft of the rotating motor, an eighth gear sleeved on the third rotating shaft and meshed with the seventh gear, a tenth gear sleeved on the third rotating shaft, a ninth gear sleeved on the rotating shaft and meshed with the tenth gear, a twelfth gear sleeved on the rotating shaft and an eleventh gear meshed with the twelfth gear, and the potentiometer is installed at the shaft end of a gear shaft of the eleventh gear and is positioned between the second positioning disc and the fourth positioning disc.
9. The serpentine robot having the peristalsis and oscillation functions of claim 1, wherein: each joint module is provided with a joint motor controller used for controlling the swinging part, the creeping part and the rotating part, and the snake head is provided with a complete machine controller used for controlling each joint motor controller.
10. The serpentine robot having the peristalsis and oscillation functions of claim 2, wherein: a reinforcing frame is further arranged between the first positioning plate and the second positioning plate, the reinforcing frame is further arranged between the first positioning plate and the second positioning plate, and the reinforcing frame comprises two positioning plates connected with the first positioning plate and the second positioning plate respectively and a connecting plate connected with the two positioning plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420096033.6U CN203779494U (en) | 2014-03-04 | 2014-03-04 | Snakelike robot with creeping and swinging functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420096033.6U CN203779494U (en) | 2014-03-04 | 2014-03-04 | Snakelike robot with creeping and swinging functions |
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| Publication Number | Publication Date |
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| CN203779494U true CN203779494U (en) | 2014-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420096033.6U Expired - Lifetime CN203779494U (en) | 2014-03-04 | 2014-03-04 | Snakelike robot with creeping and swinging functions |
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| Country | Link |
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| CN (1) | CN203779494U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103909520A (en) * | 2014-03-04 | 2014-07-09 | 青岛海艺自动化技术有限公司 | Snakelike robot with creeping and swinging function |
| CN104690725A (en) * | 2015-01-06 | 2015-06-10 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Attitude control method of snake-like robot |
| CN107187568A (en) * | 2017-06-14 | 2017-09-22 | 桂林电子科技大学 | A kind of move in mud robot under water of imitative earthworm |
| CN107756386A (en) * | 2017-10-31 | 2018-03-06 | 广西大学 | A kind of gear type reverses i-axis snake-shaped robot |
-
2014
- 2014-03-04 CN CN201420096033.6U patent/CN203779494U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103909520A (en) * | 2014-03-04 | 2014-07-09 | 青岛海艺自动化技术有限公司 | Snakelike robot with creeping and swinging function |
| CN103909520B (en) * | 2014-03-04 | 2016-01-20 | 青岛海艺自动化技术有限公司 | There is the snake-shaped robot of wriggling and oscillating function |
| CN104690725A (en) * | 2015-01-06 | 2015-06-10 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Attitude control method of snake-like robot |
| CN104690725B (en) * | 2015-01-06 | 2016-04-27 | 泰华宏业（天津）机器人技术研究院有限责任公司 | The attitude control method of snake-shaped robot |
| CN107187568A (en) * | 2017-06-14 | 2017-09-22 | 桂林电子科技大学 | A kind of move in mud robot under water of imitative earthworm |
| CN107756386A (en) * | 2017-10-31 | 2018-03-06 | 广西大学 | A kind of gear type reverses i-axis snake-shaped robot |
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Granted publication date: 20140820 Effective date of abandoning: 20160120 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |