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Attitude control method of snake-like robot for advancing in hole

A snake-like robot, attitude control technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of low efficiency and high power consumption

Inactive Publication Date: 2015-06-10
泰华宏业(天津)智能科技有限责任公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The adaptation to some complex terrain has certain limitations, for example, it is difficult to travel in a very narrow environment, and it has the disadvantages of low efficiency and high power consumption

Method used

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  • Attitude control method of snake-like robot for advancing in hole
  • Attitude control method of snake-like robot for advancing in hole
  • Attitude control method of snake-like robot for advancing in hole

Examples

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Embodiment Construction

[0015] figure 1 The structure, function and control mode of the snake-shaped robot adopted in the present invention are intuitively shown. The controller sends control signals to control the joints and the spiral shell to enter different postures and motion states, so that the whole snake robot can realize various shapes and motion modes, so as to move efficiently in different environments. figure 1 Listed are 4 kinds of postures that the snake robot can produce by controlling the joints to adapt to 4 typical environments. In addition, through the appropriate transformation of posture and movement, more functions such as climbing stairs and overcoming obstacles are realized.

[0016] The key parts of the whole snake-shaped robot are: the steering gear 4 is fixedly installed on the steering gear bracket 11, the steering gear disc 2 is fixed on one end of the U-shaped connecting rod 12, and the steering gear disc 2 is fixed on the rotating shaft of the steering gear 4, The othe...

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Abstract

The invention relates to an attitude control method of a snake-like robot for advancing in a hole. The snake-like robot comprises spiral casings (1) in groups of four, wherein spiral teeth are arranged on each spiral casing (1), the rotating directions of the spiral teeth of the two spiral casings (1) located in the middle are the same, and the rotating directions of the spiral teeth of the two spiral casings (1) located on two sides are opposite to the rotating directions of the spiral teeth of the two spiral casings (1) located in the middle; a universal joint is arranged between two adjacent spiral casings (1). The attitude control method of the snake-like robot for advancing in the hole comprises the following steps: the universal joints keep a straight line sate under control of actuators (4), the spiral casings (1) are driven by gear motors to rotate, so that the left and right friction force between the spiral teeth of two adjacent spiral casings with different rotating directions of the spiral teeth and the contact surface is offset, and one forward resultant force is formed. The robot can go forwards in a snake-like manner in a narrow environment.

Description

technical field [0001] The invention belongs to the field of special robots, and in particular relates to a snake-shaped robot. Background technique [0002] The current existing snake-like robots are basically composed of mutually perpendicular steering gears to form a snake-like robot with an orthogonal universal structure. The combination of such motions, such as patent CN201320573824.9, provides this type of snake robot. The adaptation to some complex terrains has certain limitations, for example, it is difficult to travel in a very narrow environment, and it has the disadvantages of low efficiency and high power consumption. Contents of the invention [0003] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art, based on a newly proposed snake-like robot that can move flexibly and efficiently in various complex environments, and provide a posture control method for its movement in holes. Technical scheme of the presen...

Claims

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Application Information

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IPC IPC(8): B62D57/036
Inventor 丁承君马汶锴刘咏名
Owner 泰华宏业(天津)智能科技有限责任公司
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