The invention relates to the field of snakelike robots, in particular to a bionic snakelike peristaltic robot. The bionic snakelike peristaltic robot comprises a snake head driving device, a snake tail driving device, a plurality of snake body synchronous driving devices, a plurality of connecting and fixing outer frames, a plurality of transverse articulators and a plurality of longitudinal peristaltic articulators, longitudinal peristaltic articulators are fixedly connected into the multiple connecting and fixing outer frames correspondingly. The longitudinal connecting and fixing outer frames are hinged through longitudinal peristaltic hinge devices, the transverse connecting and fixing outer frames are hinged in a sliding mode through transverse hinge devices, and the snake head driving device and the snake tail driving device are fixedly connected to the connecting and fixing outer frames at the front end and the rear end respectively. The bionic snakelike peristaltic robot has the beneficial effects that the bionic snakelike peristaltic robot can move by imitating snakelike arching wriggling, and can quickly move and climb over obstacles through wriggling of the device; the bionic snakelike peristaltic robot is high in degree of freedom, large in adjustable and movable angle range and wide in practical range; and the movement direction can be adjusted through high-degree-of-freedom swing in the peristaltic advancing process.

    本发明涉及蛇形机器人领域,更具体的说是一种仿生蛇形蠕动机器人,包括蛇头驱动装置、蛇尾驱动装置、多个蛇身同步驱动装置、多个连接固定外框、多个横向铰接器和多个纵向蠕动铰接器,所述的多个连接固定外框内均固定连接有纵向蠕动铰接器,纵向之间的连接固定外框通过纵向蠕动铰接器铰接,横向之间的连接固定外框通过横向铰接器滑动铰接,蛇头驱动装置和蛇尾驱动装置分别固定连接在前端和后端的连接固定外框上;本发明的有益效果为可以使装置仿蛇形拱起蠕动进行运动,通过其蠕动快速移动并翻越障碍物;装置的自由度高,可调节和运动的角度范围大,实用范围广;可以在蠕动前进过程中通过高自由度的摆动调节运动方向。


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    Titel :

    Bionic snakelike peristaltic robot


    Weitere Titelangaben:

    一种仿生蛇形蠕动机器人


    Beteiligte:
    SUN YINGJIE (Autor:in)

    Erscheinungsdatum :

    2020-05-19


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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