CN204076245U - A kind of snake-shaped robot - Google Patents
A kind of snake-shaped robot Download PDFInfo
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- CN204076245U CN204076245U CN201420264882.8U CN201420264882U CN204076245U CN 204076245 U CN204076245 U CN 204076245U CN 201420264882 U CN201420264882 U CN 201420264882U CN 204076245 U CN204076245 U CN 204076245U
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Abstract
The utility model discloses a kind of snake-shaped robot, comprise snakehead, snake body and ophiruid, snakehead comprises snakehead shell and is fixed on the joint male of snakehead shell tail end; Snake body front end, rear end are all provided with joint female; Ophiruid comprises ophiruid shell and is fixed on the joint male of ophiruid case nose; Snakehead, snake body are connected by the grafting of joint male with joint female in turn with ophiruid.The beneficial effects of the utility model are: the dual core processor in snake-shaped robot, solve the chip chamber Communication in traditional DSP+CPLD or DSP+RAM dual chip scheme, greatly improve speed and the efficiency of snake-shaped robot control, greatly reduce the complexity of snake-shaped robot.User-friendly for operation, control flexibly, parameter adjustment is simple, detection sensitivity is high, monitoring accuracy is strong, velocity control accuracy is high, speed dynamic response is fast, application of power rate is high.
Description
Technical field
The utility model relates to robotics, is specifically related to a kind of snake-shaped robot.
Background technology
Along with the development of embedded technology and the communication technology, the research in associated machine people field also more and more receives the concern of scientist and various circles of society, and has achieved very large achievement at present.Snake-shaped robot is a kind of novel imitative biorobot, and it achieving " without limb motion " as snake, is an important breakthrough of robot motion's mode.Snake-shaped robot has a wide range of applications in a lot of fields, as there being radiation, have severe toxicity, occasion that earthquake, narrow and small pipeline etc. are not suitable for human work, these advantages obtain sufficient confirmation in part producing application.For the research of snake-shaped robot, it is relatively many that the country such as Japan, the U.S. is studied.The domestic mainly National University of Defense technology, Shenyang automation research Suo Deng R&D institution of the Chinese Academy of Sciences have certain research in this respect.Snake-shaped robot, while achieving larger effect, also also exists the problems such as environmental suitability difference, motion control be unstable, can not make response in real time, accurately to disaster search-and-rescue work.In order to improve this kind of problem, the author devises the snake-shaped robot described in this research.This snake-shaped robot can advance in complex environment mesorelief, and can realize sidesway, upset, plane wriggle etc. multi-motion form, people can be freed from heavy, dangerous, monotonous work environment, and people can be replaced to complete complex job at dangerous situation.By the motion analysis to snake-shaped robot model, the utility model investigated a kind of motion mode of snake-shaped robot, on its basis, develop a kind of snake-shaped robot, and obtains effective performance, functional verification on its entity.
High-performance snake-shaped robot operator comprises the requirement of two aspects: snake body and operator can realize free-extension, freely convert, can universal adjustment, control performance can realize high-precision position and speeds control, and provide larger output torque, dynamic response is fast; Need to improve real-time in the communication function of snake-shaped robot and control system, host computer should be pursued succinct operation interface, provides EPA, support multiple fieldbus agreement etc.And traditional robot system is complicated, cost is higher, the construction cycle is longer.
Utility model content
The single homeworks such as directed fixed point can only be processed for solving existing Robotics, the technological deficiency of operation in the unstructuredness environment such as circumstance complication cannot be completed, the utility model designs a kind of intelligent snake-shaped robot, overcome the defect that ordinary robot's actual effect is poor, motion structure is fixed, being quick on the draw property is low, realize the motion work of high accuracy high complexity.
For achieving the above object, the technical solution adopted in the utility model is:
A kind of snake-shaped robot, comprise snakehead, snake body and ophiruid, snakehead comprises snakehead shell and is fixed on the joint male of snakehead shell tail end, snakehead enclosure is provided with master control system, servo-driver, operator and turns round beam joint, joint male is provided with wireless pinhole cameras and sensor group; Snake body front end, rear end are all provided with joint female; Be provided with from control system, steering engine controller, steering wheel group, ten free degree sensors, eight road steering engine controllers, supply unit and Temperature Humidity Sensor group in snake body; Ophiruid comprises ophiruid shell and is fixed on the joint male of ophiruid case nose, and male inside, joint is provided with detachable grabbing hand controls; Snakehead, snake body are connected by the grafting of joint male with joint female in turn with ophiruid; Master control system and communicating to connect from control system.
Further, master control system comprises the data sink, Data Fusion device and the data sending device that connect in turn; Ten free degree sensors of snake body comprise the three axis accelerometer, three-axis gyroscope, the three axle magnetometers that are fixed on snake body inside side by side; The output of three axis accelerometer, three-axis gyroscope and three axle magnetometers is all connected with the input of the data sink of master control system, and the output of data sending device is connected with the input of eight road steering engine controllers.The acceleration information of acquisition and angle of pitch information are exported to data sink by three axis accelerometer, three-axis gyroscope and three axle magnetometers, after data sink conversion, input to Data Fusion device to merge, output data after fusion enter eight road steering engine controllers by data sending device, after eight road steering engine controller process, control steering wheel moves, and realizes the closed-loop control to snake body.Sensor group and Temperature Humidity Sensor group comprise distance measuring sensor, pressure sensor, Temperature Humidity Sensor etc.Distance measuring sensor, pressure sensor, Temperature Humidity Sensor are by the ambient conditions around the snake body of acquisition, export to data sink, after data sink conditioning and conversion, input to the ambient conditions of the surrounding judging snake body from control system analysis module.
Further, master control system and the master & slave control system formed from control system comprise the rectifier, wave filter, brake, ATmega1281 (SCM system), signal gathering unit, analog operating unit and the dual core processor that are connected successively, the output of rectifier is connected with the input of dual core processor by accessory power supply, and the output of dual core processor is connected with the control end of ATmega1281 (SCM system); The output of (SCM system) is connected with the input of steering engine controller; Master & slave control system also comprises the protection circuit of the input being connected to dual core processor and is connected to the display of output and the telecommunication devices of dual core processor; wherein, telecommunication devices comprises Internet communication unit and the CAN communication unit of access network based on ethernet and CAN network respectively.Take dual core processor as all information needing data processing that the OMAP5432 of core is responsible for processing snake-shaped robot; Be mainly used in video sampling and compressing coding and pretreatment as ARM control core and adopt the mode of extended wireless USB network card and ground monitoring station to carry out wireless telecommunications; Be mainly used in the realization of joint motions control algolithm, the process of sample video information and the data for sensor group as DSP core and carry out information fusion, Attitude estimation and programming movement path, and program results is sent by CAN.Wherein, dual core processor is OMAP5432 dual core processor, and SCM system is Embedded A VR SCM system (ATmega1281).
Further, operator is arranged on snakehead case nose; Data sink, Data Fusion device and data sending device are arranged on snakehead outer casing back, and sensor is arranged on the outside of snakehead joint male, and wireless camera is arranged on the inner side of snakehead joint male.
Further, snake body comprises at least one section of snake body and is all provided with two sleeve joints between adjacent snake body.Two sleeve joint junctions between every section of snake body are shortened further, and the connector at connecting axle place is amplified, can be deformed into Hooke's joint distortion, use gear transmits the rotation between parallel axes, by and non-orthogonal axis is converted into quadrature-axis, achieve the design of Hooke's joint formula snake-shaped robot.The advantage of this cating nipple is that two power output shafts are necessary two normal axis of snake-shaped robot motion, and such normal axis is in same plane, completely orthogonal.
Further, every section of snake body alternately connects to form by multiple rigidity joint and multiple flexible joint, wherein, rigidity joint is formed by snake body housing, two snake body joint females and two aluminium alloy stators, two snake body joint females are separately fixed at the two ends of snake body housing, and aluminium alloy stator symmetry is fixed on inside the female of snake body joint; Flexible joint is formed by wired hose, orthogonal steering wheel group and two snake body joint males, and two snake body joint males are separately fixed at the two ends of wired hose, and orthogonal steering wheel group to be placed in wired hose and to be fixed on inside the male of snake body joint.
Further, described steering wheel group is orthogonal steering wheel group, and it comprises two steering wheels, frame, a steering wheel support and two M type supports are turned round in a rotation; The front end of two steering wheels is separately fixed at steering wheel support and rotation is turned round on frame, and the rear end of two steering wheels is all connected with a M type support, and the orthogonal connection of two M type supports, to realize the three-dimensional motion of snake body segmentation.
Further, supply unit comprises battery pack and solar charging device, and solar charging device comprises stepup transformer and eight pieces of flexible solar panels, and wherein, eight pieces of flexible solar panels, stepup transformer and battery pack are sequentially connected in series.After the series connection of eight pieces of flexible solar panels by the voltage that obtains after stepup transformer promotes, flow to battery pack.
Further, detachable grabbing hand controls comprises mechanical gripping gloves, arbor wheel turns round beam, steering engine driver and the main fixed head of steering wheel.Detachable grabbing hand controls can be installed or removed as required, when needs hand-guided captures, this controller is connected to ophiruid, put mechanical gripping gloves and can control the action of snakehead operator; When only needing remote control operator, take off this controller.
The beneficial effects of the utility model are: containing ARM and DSP double-core in the dual core processor in this snake-shaped robot, solve the chip chamber Communication in traditional DSP+CPLD or DSP+RAM dual chip scheme, greatly improve speed and the efficiency of snake-shaped robot Systematical control, greatly reduce the complexity of snake-shaped robot.User-friendly for operation, control flexibly, parameter adjustment is simple, detection sensitivity is high, monitoring accuracy is strong, velocity control accuracy is high, speed dynamic response is fast, application of power rate is high.Be applicable to hazardous environment monitoring investigation, Precision measurement in disaster relief ruins, painless under the archaeology operation under complex environment, medical environment enters human body inspection and medical treatment.
Accompanying drawing explanation
Fig. 1 is the structural representation of snake-shaped robot described in the utility model;
Fig. 2 is the connection diagram of master & slave control system described in the utility model;
Fig. 3 is the circuit connection diagram of master control system described in the utility model;
Fig. 4 is the working state control schematic flow sheet of snake-shaped robot described in the utility model;
Fig. 5 is the motor connection diagram of operator described in the utility model.
In figure,
1, snakehead; 2, snake body; 3, ophiruid; 4, snake body; 5, bevel gear wheel; 6, bevel pinion; 7, motor fixing plate; 8, motor; 9, module housing; 10, inner ring is connected.
Detailed description of the invention
Below in conjunction with accompanying drawing, explanation is explained in detail to structure of the present utility model.
As shown in Figure 1, a kind of snake-shaped robot that the utility model provides, comprise snakehead 1, snake body 2 and ophiruid 3, snakehead comprises snakehead shell and is fixed on the joint male of snakehead shell tail end, snakehead enclosure is provided with master control system, servo-driver, operator and turns round beam joint, joint male is provided with wireless pinhole cameras and sensor group; Snake body front end, rear end are all provided with joint female; Be provided with from control system, steering engine controller, steering wheel group, ten free degree sensors, eight road steering engine controllers, supply unit and Temperature Humidity Sensor group in snake body; Ophiruid comprises ophiruid shell and is fixed on the joint male of ophiruid case nose, and male inside, joint is provided with detachable grabbing hand controls; Snakehead, snake body are connected by the grafting of joint male with joint female in turn with ophiruid; Master control system and communicating to connect from control system.
A kind of snake-shaped robot that the utility model provides, master control system comprises the data sink, Data Fusion device and the data sending device that connect in turn; Ten free degree sensors of snake body comprise the three axis accelerometer, three-axis gyroscope, the three axle magnetometers that are fixed on snake body inside side by side; The output of three axis accelerometer, three-axis gyroscope and three axle magnetometers is all connected with the input of the data sink of master control system, and the output of data sending device is connected with the input of eight road steering engine controllers.The acceleration information of acquisition and angle of pitch information are exported to data sink by three axis accelerometer, three-axis gyroscope and three axle magnetometers, after data sink conversion, input to Data Fusion device to merge, output data after fusion enter eight road steering engine controllers by data sending device, after eight road steering engine controller process, control steering wheel moves, and realizes the closed-loop control to snake body.Sensor group and Temperature Humidity Sensor group comprise distance measuring sensor, pressure sensor, Temperature Humidity Sensor etc.Distance measuring sensor, pressure sensor, Temperature Humidity Sensor are by the ambient conditions around the snake body of acquisition, export to data sink, after data sink conditioning and conversion, input to the ambient conditions of the surrounding judging snake body from control system analysis module.
As Figure 2-3, a kind of snake-shaped robot that the utility model provides, master control system and the master & slave control system formed from control system comprise the rectifier, wave filter, brake, ATmega1281 (SCM system), signal gathering unit, analog operating unit and the dual core processor that are connected successively, the output of rectifier is connected with the input of dual core processor by accessory power supply, and the output of dual core processor is connected with the control end of ATmega1281 (SCM system); The output of (SCM system) is connected with the input of steering engine controller; Master & slave control system also comprises the protection circuit of the input being connected to dual core processor and is connected to the display of output and the telecommunication devices of dual core processor; wherein, telecommunication devices comprises Internet communication unit and the CAN communication unit of access network based on ethernet and CAN network respectively.Take dual core processor as all information needing data processing that the OMAP5432 of core is responsible for processing snake-shaped robot; Be mainly used in video sampling and compressing coding and pretreatment as ARM control core and adopt the mode of extended wireless USB network card and ground monitoring station to carry out wireless telecommunications; Be mainly used in the realization of joint motions control algolithm, the process of sample video information and the data for sensor group as DSP core and carry out information fusion, Attitude estimation and programming movement path, and program results is sent by CAN.Wherein, dual core processor is OMAP5432 dual core processor, and SCM system is Embedded A VR SCM system (ATmega1281).
Master & slave control system adopts Multistage Control pattern, and master control system issues the servos control order from control system, and pass to the steering wheel position feedback information of master control system from control system, sensor group passes to the Detection Information of master control system.Monitoring level is mainly monitored all sidedly to the motion of snake-shaped robot and the state of operator, sends enforceable control instruction, to guarantee the safety of snake-shaped robot and operator where necessary by WLAN to the operator of snake-shaped robot; The OMAP5432 dual core processor of master control system is the control core of robot, mainly complete the information fusion to sensor, motion planning, IMAQ is encoded, the realization of image procossing and algorithm for pattern recognition, its abundant multimedia function meets aforementioned claim greatly; The FEEDBACK CONTROL of decoding control variables and steering wheel is mainly realized from control system.Adopt multilevel distributed control mode can alleviate the heavy computing task of master controller, by secondary task matching to other processor, be convenient to optimization system performance, be conducive to the real-time of raising system.
A kind of snake-shaped robot that the utility model provides, operator is arranged on snakehead case nose;
Data sink, Data Fusion device and data sending device are arranged on snakehead outer casing back, and sensor is arranged on the outside of snakehead joint male, and wireless camera is arranged on the inner side of snakehead joint male.
A kind of snake-shaped robot that the utility model provides, snake body comprises at least one section of snake body 4 and is all provided with two sleeve joints between adjacent snake body.Snake body adopts makrolon material to make.Every section of snake body alternately connects to form by multiple rigidity joint and multiple flexible joint, wherein, rigidity joint is formed by snake body housing, two snake body joint females and two aluminium alloy stators, two snake body joint females are separately fixed at the two ends of snake body housing, and aluminium alloy stator symmetry is fixed on inside the female of snake body joint; Flexible joint is formed by wired hose, orthogonal steering wheel group and two snake body joint males, and two snake body joint males are separately fixed at the two ends of wired hose, and orthogonal steering wheel group to be placed in wired hose and to be fixed on inside the male of snake body joint.
A kind of snake-shaped robot that the utility model provides, described steering wheel group is orthogonal steering wheel group, and it comprises two steering wheels, frame, a steering wheel support and two M type supports are turned round in a rotation; The front end of two steering wheels is separately fixed at steering wheel support and rotation is turned round on frame, and the rear end of two steering wheels is all connected with a M type support, and the orthogonal connection of two M type supports.
A kind of snake-shaped robot that the utility model provides, supply unit comprises battery pack and solar charging device, solar charging device comprises stepup transformer and eight pieces of flexible solar panels, and wherein, eight pieces of flexible solar panels, stepup transformer and battery pack are sequentially connected in series.
A kind of snake-shaped robot that the utility model provides, detachable grabbing hand controls comprises mechanical gripping gloves, arbor wheel turns round beam, steering engine driver and the main fixed head of steering wheel.
As shown in Figure 4, the working state control schematic flow sheet of operator described in the utility model is shown.Operator relies on navigation sensor, autokinetic movement planning is carried out after the information fusion such as the result of pressure sensor and Attitude estimation, in the process of motion planning, go back Binding distance minimize optimum control, and monitoring level directly can carry out intervention control to the movement locus of operator, remote measuring and controlling to robot can be carried out like this at some faulty sensor or other clutch, to ensure the safety of operator, the result of motion planning is passed to secondary control level with a kind of form of control variables by CAN by master controller, from the period of motion and the movement angle information that draw steering wheel after controlled variable decomposes by controller, and change into the motion that corresponding pwm signal drives servos control operator realization planning.
As shown in Figure 5, the motor connection diagram into operator described in the utility model is shown.Above-mentioned operator adopts alpha titanium alloy material, is made up of module housing 9, connection inner ring 10, bevel gear wheel 5 and bevel pinion 6 etc.Bevel gear wheel be connected inner ring consolidation, steering wheel is fixed on motor fixing plate 7, motor fixing plate is fixedly connected with module housing, therefore the output torque of motor 8 is directly passed to bevel gear wheel by bevel pinion, realize the universal movement of snake-shaped robot operator, meanwhile, the flexible material of alpha titanium alloy material, ensure that the free convergent-divergent that operator is mentioned.Collapsiblely enter narrow gap, cut and capture, draw all kinds of molecule, achieving the meticulous treatment in therapeutic treatment, and the careful process such as military field, the disaster relief be on-the-spot.What the utility model designed is the universal free degree module of a kind of operator, and each free degree has independent driving and control system, is shortened further two sleeve joint junctions, and is amplified by the connector at connecting axle place, changes Hooke's joint distortion into.Power output shaft oblique place, make snake body operator axle connect compact, so use figure middle gear transmits the rotation between parallel axes, by and non-orthogonal axis is converted into quadrature-axis.This two-freedom forms by with lower part: motor fixing plate, control unit, module housing, connection inner ring, bevel gear wheel, bevel pinion etc.Bevel gear wheel be connected inner ring consolidation, motor consolidation bevel gear wheel, realizes the universal movement of snake-shaped robot.Control unit is primarily of motor and circuit control panel composition, and each circuit control panel controls two motors, but the control program between motor is relatively independent.Motor fixing plate, bevel gear wheel, bevel pinion need large, the on-deformable material of hardness in these structures, select alloy steel material; Module housing, connecting ring are relatively low to hardness requirement, select aluminum alloy materials.Achieve the design of Hooke's joint Wrest bar type snake-shaped robot operator.The advantage of this universal joint Niu Liang mechanism is that 4 power output shafts are necessary 2 oblique axis of snake-shaped robot operator motion, such oblique axis is in same plane, each body segment all has 6 frees degree, the feature of complete oblique eliminate the adjacent connection of monomer joint formula orthogonal time body segment deviation, make control easier and accurate, and the body segment that same motion and the free degree this arrangement eliminates half will be realized.
The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model, all do in the utility model flesh and blood any amendment, equivalent to replace and simple modifications etc., all should be included within protection domain of the present utility model.
Claims (9)
1. a snake-shaped robot, comprise snakehead, snake body and ophiruid, it is characterized in that, snakehead comprises snakehead shell and is fixed on the joint male of snakehead shell tail end, snakehead enclosure is provided with master control system, servo-driver, operator and turns round beam joint, joint male is provided with wireless pinhole cameras and sensor group; Snake body front end, rear end are all provided with joint female; Be provided with from control system, steering engine controller, steering wheel group, ten free degree sensors, eight road steering engine controllers, supply unit and Temperature Humidity Sensor group in snake body; Ophiruid comprises ophiruid shell and is fixed on the joint male of ophiruid case nose, and male inside, joint is provided with detachable grabbing hand controls;
Snakehead, snake body are connected by the grafting of joint male with joint female in turn with ophiruid; Master control system and communicating to connect from control system.
2. snake-shaped robot according to claim 1, is characterized in that, master control system comprises the data sink, Data Fusion device and the data sending device that connect in turn; Ten free degree sensors of snake body comprise the three axis accelerometer, three-axis gyroscope, the three axle magnetometers that are fixed on snake body inside side by side; The output of three axis accelerometer, three-axis gyroscope and three axle magnetometers is all connected with the input of the data sink of master control system, and the output of data sending device is connected with the input of eight road steering engine controllers.
3. snake-shaped robot according to claim 1, it is characterized in that, master control system comprises with the master & slave control system formed from control system the rectifier, wave filter, brake, SCM system, signal gathering unit, analog operating unit and the dual core processor that are connected successively, the output of rectifier is connected with the input of dual core processor by accessory power supply, and the output of dual core processor is connected with the control end of SCM system; The output of SCM system is connected with the input of steering engine controller; Master & slave control system also comprises the protection circuit of the input being connected to dual core processor and is connected to the display of output and the telecommunication devices of dual core processor; wherein, telecommunication devices comprises Internet communication unit and the CAN communication unit of access network based on ethernet and CAN network respectively.
4. snake-shaped robot according to claim 1, is characterized in that, operator is arranged on snakehead case nose; Data sink, Data Fusion device and data sending device are installed in snakehead outer casing back, and sensor group is arranged on the outside of the joint male of snakehead, and wireless camera is arranged on the inner side of the joint male of snakehead.
5. snake-shaped robot according to claim 1, is characterized in that, snake body comprises at least one section of snake body and is all provided with two sleeve joints between adjacent snake body.
6. snake-shaped robot according to claim 5, it is characterized in that, every section of snake body alternately connects to form by multiple rigidity joint and multiple flexible joint, wherein, rigidity joint is formed by snake body housing, two snake body joint females and two aluminium alloy stators, two snake body joint females are separately fixed at the two ends of snake body housing, and aluminium alloy stator symmetry is fixed on inside the female of snake body joint; Flexible joint is formed by wired hose, orthogonal steering wheel group and two snake body joint males, and two snake body joint males are separately fixed at the two ends of wired hose, and orthogonal steering wheel group to be placed in wired hose and to be fixed on inside the male of snake body joint.
7. snake-shaped robot according to claim 1, is characterized in that, steering wheel group is orthogonal steering wheel group, and it comprises two steering wheels, frame, a steering wheel support and two M type supports are turned round in a rotation; The front end of two steering wheels is separately fixed at steering wheel support and rotation is turned round on frame, and the rear end of two steering wheels is all connected with a M type support, and the orthogonal connection of two M type supports.
8. snake-shaped robot according to claim 1, it is characterized in that, supply unit comprises battery pack and solar charging device, solar charging device comprises stepup transformer and eight pieces of flexible solar panels, wherein, eight pieces of flexible solar panels, stepup transformer and battery pack are sequentially connected in series.
9. snake-shaped robot according to claim 1, is characterized in that, detachable grabbing hand controls comprises mechanical gripping gloves, arbor wheel turns round beam, steering engine driver and the main fixed head of steering wheel.
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| CN201420264882.8U CN204076245U (en) | 2014-05-20 | 2014-05-20 | A kind of snake-shaped robot |
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| CN201420264882.8U CN204076245U (en) | 2014-05-20 | 2014-05-20 | A kind of snake-shaped robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015182A (en) * | 2014-05-20 | 2014-09-03 | 郑天江 | Snakelike robot |
| CN105128032A (en) * | 2015-09-22 | 2015-12-09 | 成都理工大学 | Snake-shaped robot with nuclear equipment pipeline detecting function |
| CN106903680A (en) * | 2017-03-01 | 2017-06-30 | 华南理工大学 | Snake-shaped robot based on elastic envelope climbs safely control method |
| CN108638036A (en) * | 2018-07-13 | 2018-10-12 | 长沙紫宸科技开发有限公司 | A kind of multifunctional bionic machinery chela of the autonomous distributed power of band |
| CN109371557A (en) * | 2018-11-21 | 2019-02-22 | 杭州之山智控技术有限公司 | Straight-bar machines plays plate control system and its method |
| US11034026B2 (en) | 2019-01-10 | 2021-06-15 | General Electric Company | Utilizing optical data to dynamically control operation of a snake-arm robot |
-
2014
- 2014-05-20 CN CN201420264882.8U patent/CN204076245U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015182A (en) * | 2014-05-20 | 2014-09-03 | 郑天江 | Snakelike robot |
| CN104015182B (en) * | 2014-05-20 | 2016-06-01 | 郑天江 | A kind of snake-shaped robot |
| CN105128032A (en) * | 2015-09-22 | 2015-12-09 | 成都理工大学 | Snake-shaped robot with nuclear equipment pipeline detecting function |
| CN106903680A (en) * | 2017-03-01 | 2017-06-30 | 华南理工大学 | Snake-shaped robot based on elastic envelope climbs safely control method |
| CN106903680B (en) * | 2017-03-01 | 2019-06-25 | 华南理工大学 | Snake-shaped robot based on elastic envelope climbs safely control method |
| CN108638036A (en) * | 2018-07-13 | 2018-10-12 | 长沙紫宸科技开发有限公司 | A kind of multifunctional bionic machinery chela of the autonomous distributed power of band |
| CN109371557A (en) * | 2018-11-21 | 2019-02-22 | 杭州之山智控技术有限公司 | Straight-bar machines plays plate control system and its method |
| CN109371557B (en) * | 2018-11-21 | 2024-02-20 | 杭州之山智控技术有限公司 | Flat knitting machine lifting plate control system and method thereof |
| US11034026B2 (en) | 2019-01-10 | 2021-06-15 | General Electric Company | Utilizing optical data to dynamically control operation of a snake-arm robot |
| US11801607B2 (en) | 2019-01-10 | 2023-10-31 | General Electric Company | Utilizing optical data to control operation of a snake-arm robot |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20150107 Effective date of abandoning: 20160601 |
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