技术领域technical field
本发明属于机器人技术领域，具体提供了一种融合履带式行进机构和蛇脖关节的多步态蛇形机器人。The invention belongs to the technical field of robots, and specifically provides a multi-gait snake-shaped robot which combines a crawler-type traveling mechanism and a snake-neck joint.
背景技术Background technique
与传统的轮式、足式等移动机器人相比，蛇形机器人是一种具有多步态运动能力的高冗余度系统，具有很高的运动稳定性和环境适应能力，不仅广泛应用在地震、火灾、矿难等灾害搜救工作中，而且也可以应用于军事侦察、地外探索、管道勘察等恶劣环境和危险领域。Compared with traditional mobile robots such as wheeled and legged, snake-like robots are a highly redundant system with multi-gait motion capabilities, and have high motion stability and environmental adaptability. They are not only widely used in earthquakes It can be used in disaster search and rescue work such as fires, mine disasters, etc., and can also be used in harsh environments and dangerous fields such as military reconnaissance, extraterrestrial exploration, and pipeline investigation.
生物学的研究将蛇的运动分为四种运动模式：蜿蜒爬行、伸缩运动、直线爬行、侧向盘旋前进。国内外的大多数学者都是从仿生的角度出发，对蛇的运动原理和运动形式做了大量的研究，其结构上主要有两大特点：一是具有连接机器人躯干单元的赋有转动功能的连接关节；二是具有机器人与外界接触的轮关节。目前，蛇形机器人躯干单元均采用连杆式结构，轮关节可分为主动轮和从动轮，主动轮通过带有动力的轮子为蛇形机器人提供动力，提高其爬行能力，但该结构的蛇形机器人体积大，运动灵活度低；从动轮则是通过蛇形机器人蜿蜒运动时摩擦力的各向异性条件向前运动，该结构运动灵活度高但越障能力不足。Biological research divides the movement of snakes into four movement modes: meandering crawling, telescopic movement, straight crawling, and sideways spiraling forward. Most scholars at home and abroad have done a lot of research on the movement principle and form of snakes from the perspective of bionics. There are two main characteristics in its structure: one is the connection with the rotation function of the robot trunk unit. joint; the second is a wheel joint with the robot in contact with the outside world. At present, the torso units of snake-shaped robots all adopt a link structure, and the wheel joints can be divided into driving wheels and driven wheels. The snake-shaped robot has a large volume and low mobility; the driven wheel moves forward through the anisotropic condition of the friction force when the snake-shaped robot moves in a meandering manner.
对现有专利检索发现，专利申请公开号：CN108748124A，发明名称：蛇形机器人，该发明的蛇头和蛇尾采用履带式设计，虽然能够提高运动的灵活度，但其倒梯形式的履带式设计使其不易做出翻滚动作并且只能身体的单面触地行走，翻滚后的另一面不易触底行走，运动步态比较单一，并且该蛇形机器人的设计不易安装控制系统和电源系统。Searching the existing patents found that the patent application publication number: CN108748124A, the name of the invention: snake-shaped robot, the snake head and snake tail of the invention adopts crawler design, although it can improve the flexibility of movement, but its crawler design in the form of an inverted ladder makes It is not easy to make rolling movements and can only walk on one side of the body touching the ground. After rolling, the other side is not easy to touch the bottom and walk.
检索发现，专利申请公开号：CN101583820A，发明名称：蛇形机器人履带车，该发明虽然可以变换各种姿态进行运动，但其两头长中间短的设计不易使其能抬升头部或者尾部，越过具有一定高度的障碍物的能力有限，且不易在狭小较为封闭的环境中运动。The search found that the patent application publication number: CN101583820A, the name of the invention: snake-shaped robot crawler vehicle, although this invention can change various postures for movement, but the design of its two ends long and the middle short makes it difficult to lift the head or tail, and cross the Obstacles of a certain height have limited ability, and it is not easy to move in a narrow and closed environment.
为了解决这些不足，本领域需要设计出一种新的蛇形机器人。In order to solve these deficiencies, this area needs to design a kind of new snake robot.
发明内容Contents of the invention
为了解决上述问题，即为了解决现有蛇形机器人地面适应能性差、越障能力弱和运动灵活度低的问题，本发明提供了一种融合履带式行进机构和蛇脖关节的多步态蛇形机器人，可实现直线前进、蠕动爬行以及侧向翻滚运动等运动步态。In order to solve the above problems, that is, in order to solve the problems of poor ground adaptability, weak obstacle surmounting ability and low movement flexibility of existing snake-shaped robots, the present invention provides a multi-gait snake that integrates crawler-type traveling mechanism and snake-neck joints. Shaped robot can realize motion gaits such as straight forward, creeping and crawling, and sideways rolling.
上述的蛇形机器人包括蛇头组件、蛇尾组件、蛇脖组件以及连接于所述蛇脖组件与所述蛇尾组件之间的蛇身组件。The above-mentioned snake robot includes a snake head assembly, a snake tail assembly, a snake neck assembly and a snake body assembly connected between the snake neck assembly and the snake tail assembly.
在上述蛇形机器人的优选方案中，蛇头组件和蛇尾组件均包括固定构件、动力机构、行走机构。In the preferred solution of the above-mentioned snake robot, both the snake head assembly and the snake tail assembly include a fixed component, a power mechanism, and a walking mechanism.
在上述蛇形机器人的优选方案中，动力机构包括第一驱动构件和从动构件。驱动构件与从动构件均与固定构件所连接。In a preferred solution of the above snake robot, the power mechanism includes a first driving component and a driven component. Both the driving component and the driven component are connected with the fixed component.
在上述蛇形机器人的优选方案中，行走机构为履带。In a preferred solution of the above-mentioned snake-like robot, the running mechanism is a crawler belt.
在上述蛇形机器人的优选方案中，第一驱动构件为驱动减速电机，从动构件包括主动轮、从动轮、从动轴。驱动减速电机与主动轮连接，从动轴以转动的方式与固定构件连接，从动轮固定在从动轴上。In a preferred solution of the above-mentioned snake-like robot, the first driving component is a driving reduction motor, and the driven component includes a driving wheel, a driven wheel, and a driven shaft. The driving reduction motor is connected with the driving wheel, the driven shaft is connected with the fixed member in a rotational manner, and the driven wheel is fixed on the driven shaft.
在上述蛇形机器人的优选方案中，履带的内表面与主动轮和从动轮的外表面相啮合，并且主动轮与从动轮支撑起履带。In a preferred solution of the above snake-like robot, the inner surface of the track is engaged with the outer surfaces of the driving wheel and the driven wheel, and the driving wheel and the driven wheel support the track.
在上述蛇形机器人的优选方案中，固定构件包括中心架、外骨架和驱动减速电机固定盖板以及螺丝，驱动减速电机通过螺丝固定在中心架和驱动减速电机固定盖板之间。In the preferred solution of the above-mentioned snake robot, the fixed member includes a center frame, an outer skeleton, a drive gear motor fixed cover and screws, and the drive gear motor is fixed between the center frame and the drive gear motor fixed cover through screws.
在上述蛇形机器人的优选方案中，外骨架包括蛇头外骨架和蛇尾外骨架，蛇头外骨架与蛇脖组件的连接处是以竖直的方式连接，蛇尾外骨架与蛇身的连接处是以水平的方式连接。In the preferred solution of the above-mentioned snake-shaped robot, the exoskeleton includes a snake head exoskeleton and a snake tail exoskeleton, the joint between the snake head exoskeleton and the snake neck assembly is connected in a vertical manner, and the snake tail exoskeleton and the snake body are connected by connected horizontally.
在上述蛇形机器人的优选方案中，蛇脖构件包括颈骨架和第二驱动构件，第二驱动构件通过螺丝固定在颈骨架上，第二驱动构件的输出端与相邻的蛇头固定构件的外骨架的连接部连接。In the preferred solution of the above-mentioned snake-shaped robot, the snake neck component includes a neck frame and a second drive component, the second drive component is fixed on the neck frame by screws, and the output end of the second drive component is connected to the outer surface of the adjacent snake head fixing component. The connecting part of the skeleton is connected.
在上述蛇形机器人的优选方案中，蛇身组件包括一个身尾连接模块和多个蛇身模块，身尾连接模块设置在蛇尾组件和蛇身模块之间，多个蛇身模块串联且正交地设置在身尾连接模块和蛇脖组件之间。In the preferred solution of the above-mentioned snake-shaped robot, the snake body assembly includes a body-tail connection module and a plurality of snake-body modules, the body-tail connection module is arranged between the snake-tail assembly and the snake body module, and the plurality of snake body modules are connected in series and are orthogonal to each other. The ground is arranged between the body tail connection module and the snake neck assembly.
在上述蛇形机器人的优选方案中，蛇身模块包括身骨架和第三驱动构件，第三驱动构件设置在身骨架上并且第三驱动构件的输出端与相邻的蛇脖组件的颈骨架的连接部连接。In the preferred scheme of the above-mentioned snake-shaped robot, the snake body module includes a body skeleton and a third drive member, the third drive member is arranged on the body skeleton and the output end of the third drive member is connected to the neck skeleton of the adjacent snake neck assembly. The connecting part is connected.
在上述蛇形机器人的优选方案中，身骨架包括肚骨架和骨架盖。In the preferred solution of the above-mentioned snake robot, the body frame includes a belly frame and a frame cover.
在上述蛇形机器人的优选方案中，蛇尾连接模块包括连接骨架和第四驱动构件，第四驱动构件设置在连接骨架上并且第四驱动构件的输出端与相邻的蛇身组件的骨架的连接部连接。In the preferred solution of the above-mentioned snake-like robot, the snake tail connection module includes a connecting skeleton and a fourth driving member, the fourth driving member is arranged on the connecting skeleton and the output end of the fourth driving member is connected to the skeleton of the adjacent snake body assembly department connection.
本发明与现有技术相比，具有以下明显的优势和有益效果：Compared with the prior art, the present invention has the following obvious advantages and beneficial effects:
1、与传统的轮式、足式等移动机器人相比，具备非结构化地形的穿越能力，可以攀爬台阶、跨越障碍物、沟壑等特殊地形。1. Compared with traditional wheeled and legged mobile robots, it has the ability to traverse unstructured terrain, and can climb steps, cross obstacles, ravines and other special terrains.
2、相比结合具有转动关节和轮式的蛇形机器人，履带式的行进机构使其具备移动速度快、攀爬能力强等优势。2. Compared with the snake-shaped robot with rotating joints and wheels, the crawler-type traveling mechanism makes it have the advantages of fast moving speed and strong climbing ability.
3、蛇脖关节的设计允许其翻越更高的障碍物。3. The design of the snake neck joint allows it to climb over higher obstacles.
4、蛇身骨架采用中空的设计，既减少了自身的重量又为控制系统和电源系统等提供了安装空间。4. The skeleton of the snake body adopts a hollow design, which not only reduces its own weight, but also provides installation space for the control system and power supply system.
附图说明Description of drawings
图1是本发明的蛇形机器人的整体结构示意图一。FIG. 1 is a first schematic diagram of the overall structure of the snake robot of the present invention.
图2是本发明的蛇头组件的结构示意图。Fig. 2 is a structural schematic diagram of the snake head assembly of the present invention.
图3是本发明的蛇头组件的结构爆炸图。Fig. 3 is an exploded view of the structure of the snake head assembly of the present invention.
图4是本发明的蛇尾组件的结构示意图。Fig. 4 is a schematic structural view of the snake tail assembly of the present invention.
图5是本发明的蛇脖组件的结构示意图。Fig. 5 is a schematic structural view of the snake neck assembly of the present invention.
图6是本发明的单个蛇身组件的结构示意图。Fig. 6 is a schematic structural view of a single snake body assembly of the present invention.
图7是本发明的单个蛇身组件的结构爆炸图。Fig. 7 is an exploded view of the structure of a single snake body assembly of the present invention.
图8是本发明的蛇身组件中的肚骨架结构示意图。Fig. 8 is a schematic diagram of the belly skeleton structure in the snake body assembly of the present invention.
图9是本发明的蛇头组件与蛇脖组件连接示意图。Fig. 9 is a schematic diagram of the connection between the snake head assembly and the snake neck assembly of the present invention.
图10是本发明的蛇头组件与蛇脖组件连接爆炸图。Fig. 10 is an exploded view of the connection between the snake head assembly and the snake neck assembly of the present invention.
图11是本发明的蛇脖组件与蛇身组件连接示意图。Fig. 11 is a schematic diagram of the connection between the snake neck assembly and the snake body assembly of the present invention.
图12是本发明的蛇脖组件与蛇身组件连接爆炸图。Fig. 12 is an exploded view of the connection between the snake neck assembly and the snake body assembly of the present invention.
图13是本发明的蛇身组件之间的连接示意图。Fig. 13 is a schematic diagram of connections between snake body components of the present invention.
图14是本发明的蛇身组件之间的连接爆炸图。Fig. 14 is an exploded view of the connection between the snake body components of the present invention.
图15是本发明的蛇身组件与蛇尾组件连接示意图。Fig. 15 is a schematic diagram of the connection between the snake body component and the snake tail component of the present invention.
图16是本发明的蛇身组件与蛇尾组件连接爆炸图。Fig. 16 is an exploded view of the connection between the snake body assembly and the snake tail assembly of the present invention.
图17是本发明的蛇形机器人的整体结构示意图二。Fig. 17 is a second schematic diagram of the overall structure of the snake robot of the present invention.
图18是本发明的蛇形机器人的直线行进步态示意图。Fig. 18 is a schematic diagram of the straight-line traveling state of the snake robot of the present invention.
图19是本发明的蛇形机器人的蠕动爬行步态示意图。Fig. 19 is a schematic diagram of the crawling gait of the snake robot of the present invention.
图20是本发明的蛇形机器人的侧向翻滚步态示意图。Fig. 20 is a schematic diagram of the sideways rolling gait of the snake robot of the present invention.
具体实施方式Detailed ways
针对背景技术中指出的现有的蛇形机器人地面适应能性差、越障能力弱和运动灵活度低的问题，本发明提供了一种融合履带式行进机构和正交关节的多步态蛇形机器人，可实现直线前进、蠕动爬行以及侧向翻滚运动等运动步态，旨在提高蛇形机器人的地面适应能力、越障能力和运动灵活度，使其更好地应用在地震、火灾、矿难等灾害搜救工作中。Aiming at the problems of poor ground adaptability, weak obstacle-surmounting ability and low movement flexibility of existing snake-like robots pointed out in the background technology, the present invention provides a multi-gait snake-like robot that combines crawler-type traveling mechanism and orthogonal joints. The robot can realize motion gaits such as straight forward, creeping crawling and sideways rolling, aiming to improve the ground adaptability, obstacle surmounting ability and movement flexibility of snake-like robots, so that it can be better used in earthquakes, fires, mine disasters, etc. Waiting for disaster search and rescue work.
具体的，如图1所示，一种融合履带式行进机构和正交关节的多步态蛇形机器人包括蛇头组件1、蛇尾组件4、蛇脖组件2以及连接于蛇脖组件2与蛇尾组件4之间的蛇身组件3。蛇头组件1和蛇尾组件4均包括固定构件、动力机构和行走机构。动力机构和行走机构均设置在固定构件上，动力机构与行走机构连接并能够驱动行走机构行走。蛇头的固定构件与蛇脖组件2相连，蛇尾组件4的固定构件与蛇身组件3相连，蛇身组件3和蛇脖组件2相连。Specifically, as shown in Figure 1, a multi-gait snake-like robot that combines a crawler-type traveling mechanism and an orthogonal joint includes a snake head assembly 1, a snake tail assembly 4, a snake neck assembly 2, and a snake neck assembly 2 connected to the snake tail assembly. 4 between the snake body components 3 . Both the snake head assembly 1 and the snake tail assembly 4 include a fixed component, a power mechanism and a running mechanism. Both the power mechanism and the running mechanism are arranged on the fixed component, and the power mechanism is connected with the running mechanism and can drive the running mechanism to walk. The fixing member of the snake head is connected with the snake neck assembly 2, the fixing member of the snake tail assembly 4 is connected with the snake body assembly 3, and the snake body assembly 3 is connected with the snake neck assembly 2.
优选地，如图2、图3和图4所示，因为蛇头组件1和蛇尾组件4的结构类似，所以下面仅以蛇头组件1为例进行阐述。蛇头组件1的动力机构包括第一驱动构件和从动构件。第一驱动构件与从动构件均与蛇头组件1的固定构件所连接。第一驱动构件通过从动构件与行走机构相连以驱动行走机构行走。其中第一驱动构件为驱动减速电机5，从动构件为传动齿轮6、从动轴7和从动轮8，行走机构为履带9。Preferably, as shown in FIG. 2 , FIG. 3 and FIG. 4 , since the structures of the snake head assembly 1 and the snake tail assembly 4 are similar, the following only takes the snake head assembly 1 as an example for illustration. The power mechanism of the snakehead assembly 1 includes a first driving component and a driven component. Both the first driving component and the driven component are connected to the fixing component of the snake head assembly 1 . The first driving component is connected with the running gear through the driven component to drive the running gear to walk. Wherein the first driving member is a driving reduction motor 5, the driven member is a transmission gear 6, a driven shaft 7 and a driven wheel 8, and the running mechanism is a crawler belt 9.
优选地，如图2和图3所示，固定构件包括中心架10、外支架11以及驱动减速电机盖板12。驱动减速电机5通过螺栓固定在中心架10上，驱动减速电机盖板12通过螺栓固定在驱动减速电机5和中心架10上，从动轴7以转动方式设置在中心架10上，并且从动轴7与中心架10的连接处安装有轴承(图中未示出)，从而减小从动轴7与中心架10间的摩擦力。从动轮8通过紧定螺钉13固定在从动轴7上，同样地，传动齿轮6通过紧定螺钉13固定在驱动减速电机5的电机轴上；从动轮8的数量为两个且分别设置在从动轴7的左右两端，并且两个从动轮8呈对称设置，同样地，传动齿轮6的数量为两个且分别设置在驱动减速电机5的电机轴的左右两端，并且两个传动齿轮6呈对称设置，紧定螺钉13的数量为四个，分别连接两个从动轮8和两个传动齿轮6。两个传动齿轮6和两个从动轮8与履带9相啮合，并支撑起履带9。驱动减速电机5驱动传动齿轮6传动，从而带动履带9转动，使行走机构向前行进。Preferably, as shown in FIG. 2 and FIG. 3 , the fixing member includes a center frame 10 , an outer frame 11 and a cover plate 12 for the driving reduction motor. The drive reduction motor 5 is fixed on the center frame 10 by bolts, the drive reduction motor cover plate 12 is fixed on the drive reduction motor 5 and the center frame 10 by bolts, the driven shaft 7 is arranged on the center frame 10 in a rotational manner, and driven A bearing (not shown in the figure) is installed at the joint between the shaft 7 and the center frame 10, thereby reducing the frictional force between the driven shaft 7 and the center frame 10. Driven wheel 8 is fixed on the driven shaft 7 by set screw 13, similarly, transmission gear 6 is fixed on the motor shaft of driving reduction motor 5 by set screw 13; The quantity of driven wheel 8 is two and is arranged on respectively The left and right ends of the driven shaft 7, and two driven wheels 8 are arranged symmetrically. Similarly, the quantity of the transmission gear 6 is two and is respectively arranged on the left and right ends of the motor shaft driving the reduction motor 5, and the two transmission gears The gears 6 are arranged symmetrically, and the number of set screws 13 is four, respectively connecting two driven wheels 8 and two transmission gears 6 . Two transmission gears 6 and two driven wheels 8 mesh with the crawler belt 9 and support the crawler belt 9 . The driving reduction motor 5 drives the transmission gear 6 to drive, thereby driving the crawler belt 9 to rotate, so that the traveling mechanism moves forward.
优选地，如图5所示，蛇脖组件2包括颈骨架14和第二驱动构件，第二驱动构件包括第一驱动舵机15和舵盘16。第一驱动舵机15通过螺丝固定在颈骨架14上，舵盘16通过螺丝固定在第二驱动构件的输出端。参阅图1，舵盘16通过四颗螺丝与蛇头固定构件的外支架的相连接。Preferably, as shown in FIG. 5 , the snake neck assembly 2 includes a neck frame 14 and a second driving component, and the second driving component includes a first driving steering gear 15 and a steering wheel 16 . The first driving steering gear 15 is fixed on the neck frame 14 by screws, and the steering wheel 16 is fixed on the output end of the second driving member by screws. Referring to Fig. 1, the steering wheel 16 is connected with the outer bracket of the snake head fixing member by four screws.
继续参阅图1、图14和图15，蛇身组件3包括多个蛇身模块，多个蛇身模块相邻正交的串联设置在蛇脖组件2和蛇尾组件4之间。蛇身模块数量为五个，其中与蛇尾组件4连接的第一个蛇身模块301与其他四个蛇身模块结构不同，与蛇尾组件4连接的第一蛇身模块301一体成形，与其他四个蛇身模块相比中间部分较短。如图6、图7所示，其他四个蛇身模块结构相同，均包括身骨架17和第三驱动构件。身骨架17包括肚骨架18和骨架盖19，骨架盖19通过螺丝固定在肚骨架18上，且骨架盖19和肚骨架18的两侧均留有圆孔，方便线路的通过。第三驱动构件包括第二驱动舵机20和舵盘16，舵盘16通过螺丝固定在第二驱动舵机20输出轴的两端。通过实验表明，蛇身模块的数量应不少于三个，本领域技术人员在实际应用中，可以根据实际环境灵活的设置蛇身模块的具体数量。Continuing to refer to FIG. 1 , FIG. 14 and FIG. 15 , the snake body assembly 3 includes a plurality of snake body modules, and the plurality of snake body modules are adjacently and orthogonally arranged in series between the snake neck assembly 2 and the snake tail assembly 4 . The number of snake body modules is five, and the first snake body module 301 connected with the snake tail assembly 4 is different in structure from the other four snake body modules. The first snake body module is shorter than the middle part. As shown in FIG. 6 and FIG. 7 , the other four snake body modules have the same structure, and all include the body frame 17 and the third driving member. Body frame 17 comprises belly frame 18 and skeleton cover 19, and frame cover 19 is fixed on the belly frame 18 by screw, and the both sides of frame cover 19 and belly frame 18 all leave round hole, the passing of convenient circuit. The third driving member includes a second driving steering gear 20 and a steering wheel 16, and the steering wheel 16 is fixed to both ends of the output shaft of the second driving steering gear 20 by screws. Experiments show that the number of snake body modules should be no less than three, and those skilled in the art can flexibly set the specific number of snake body modules according to the actual environment in practical applications.
优选地，如图8所示，肚骨架18采用中空式设计，方便安置蛇形机器人的控制系统，电源系统等。Preferably, as shown in FIG. 8 , the belly frame 18 adopts a hollow design, which is convenient for arranging the control system and power supply system of the snake robot.
优选地，如图9、图10所示，蛇头组件1通过蛇脖组件2中固定在第一驱动舵机15上的舵盘16与蛇脖组件相连接。Preferably, as shown in FIG. 9 and FIG. 10 , the snake head assembly 1 is connected to the snake neck assembly through the steering wheel 16 fixed on the first driving steering gear 15 in the snake neck assembly 2 .
优选地，如图11、图12所示，蛇脖组件2通过蛇身组件3中固定在第一驱动舵机15上的舵盘16与蛇脖组件2相连接。再参阅图8、图9，蛇头组件1、蛇脖组件2均在竖直平面内进行运动，以便蛇形机器人做出抬头的动作。Preferably, as shown in FIG. 11 and FIG. 12 , the snake neck assembly 2 is connected to the snake neck assembly 2 through the steering wheel 16 fixed on the first driving steering gear 15 in the snake body assembly 3 . Referring to Fig. 8 and Fig. 9 again, the snake head assembly 1 and the snake neck assembly 2 both move in the vertical plane, so that the snake robot can raise its head.
优选地，如图13、图14所示，蛇身组件3之间通过固定在第一驱动舵机15上的舵盘16与相邻的蛇身组件3相连接。再参阅图1，相邻蛇身组件3之间正交连接，以便蛇形机器人能够在三维空间中灵活运动。Preferably, as shown in FIG. 13 and FIG. 14 , the snake body components 3 are connected to the adjacent snake body components 3 through the steering wheel 16 fixed on the first driving steering gear 15 . Referring to FIG. 1 again, adjacent snake body components 3 are connected orthogonally so that the snake robot can move flexibly in three-dimensional space.
优选地，如图15、图16所示，与蛇尾组件4连接的第一个蛇身模块301通过固定在第一驱动舵机15上的舵盘16与蛇尾组件4相连接。Preferably, as shown in FIG. 15 and FIG. 16 , the first snake body module 301 connected to the snake tail assembly 4 is connected to the snake tail assembly 4 through the steering wheel 16 fixed on the first driving steering gear 15 .
优选地，如图17所示，V1，V2，V3，V4为蛇形机器人的关节俯仰，即控制蛇形机器人在竖直平面内运动；H1，H2，H3为蛇形机器人的偏航关节，即控制蛇形机器人在水平平面内运动；同时控制蛇形机器人的俯仰关节和偏航关节，可实现蛇形机器人在三维空间中实现多种步态(图18为直线行进，图19为蠕动爬行，图20为侧向翻滚)的运动。Preferably, as shown in Figure 17, V1, V2, V3, V4 are the joint pitches of the snake-like robot, that is, control the movement of the snake-like robot in the vertical plane; H1, H2, H3 are the yaw joints of the snake-like robot, That is to control the movement of the snake-like robot in the horizontal plane; at the same time control the pitch joints and yaw joints of the snake-like robot, so that the snake-like robot can realize various gaits in three-dimensional space (Fig. , Figure 20 is the movement of sideways rollover).
在上文中结合附图所示的优选实施方式描述了本发明的技术方案，但是，应当理解，可在不脱离由所附权利要求限定的本发明的范围的情况下进行修改和变型，这些修改和变型之后的技术方案都将落入本发明的保护范围之内。The technical solution of the present invention has been described above in conjunction with the preferred embodiments shown in the accompanying drawings, but it should be understood that modifications and variations can be made without departing from the scope of the present invention defined by the appended claims. All technical solutions after modification and modification will fall within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910633259.2ACN110293543A (en) | 2019-07-15 | 2019-07-15 | A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910633259.2ACN110293543A (en) | 2019-07-15 | 2019-07-15 | A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint |
| Publication Number | Publication Date |
|---|---|
| CN110293543Atrue CN110293543A (en) | 2019-10-01 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910633259.2APendingCN110293543A (en) | 2019-07-15 | 2019-07-15 | A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint |
| Country | Link |
|---|---|
| CN (1) | CN110293543A (en) |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20191001 | |
| RJ01 | Rejection of invention patent application after publication |