CN2774717Y - Snaik shape robot of multiple freedom flexible joints - Google Patents

Snaik shape robot of multiple freedom flexible joints Download PDF

Info

Publication number
CN2774717Y
CN2774717Y CN 200520068382 CN200520068382U CN2774717Y CN 2774717 Y CN2774717 Y CN 2774717Y CN 200520068382 CN200520068382 CN 200520068382 CN 200520068382 U CN200520068382 U CN 200520068382U CN 2774717 Y CN2774717 Y CN 2774717Y
Authority
CN
China
Prior art keywords
snake
robot
joint
flexible joint
utility
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN 200520068382
Other languages
Chinese (zh)
Inventor
章军
须文波
吕兵
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangnan University
Original Assignee
Jiangnan University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangnan University filed Critical Jiangnan University
Priority to CN 200520068382 priority Critical patent/CN2774717Y/en
Application granted granted Critical
Publication of CN2774717Y publication Critical patent/CN2774717Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Abstract

The utility model relates to a snaky robot of a multiple freedom degree flexible joint, which has the characteristics of good stability, small cross section, flexibility, etc. The utility model can walk on various rough, abrupt and uneven complicated terrain and can scramble obstacles, and thus, the utility model has wide application prospect in the aspects of rescue, exploration, star exploration, etc. and provides an experimental main body for researching motion mechanism, dynamics, motion control methods, etc. of the motion of snakes. The utility model belongs to the technical field of robot application. The snaky robot of multiple freedom flexible joints comprises a flexible joint module which is a basic unit of the snaky robot, and the joint module is composed of the multiple freedom degree pneumatic flexible joint, a micro stepping motor, a micro stepping motor driver and a rotary distributing valve; the joint module is used as a trunk of the snaky robot to be connected to form a vertebra type structure like that of the snake, and the vertebra type structure is connected with a receiving and control device of a 'snake head' and a micro air pump of a 'snake tail' into a whole to form the snaky robot; remote control signals generated by a main control computer are utilized to control the motion of the snaky robot.

Description

The snake-shaped robot in multiple degrees of freedom flexible joint
Technical field:
The utility model relates to the snake-shaped robot in multiple degrees of freedom flexible joint, this snake-shaped robot has characteristics such as good stability, cross section are little, flexibility, can on various coarse, precipitous, rugged complex-terrains, walk, also can climb barrier, this is to be difficult to accomplish with wheel or the leg robot as the walking instrument, therefore, rescue, detect, aspect such as celestial body detecting has broad application prospects, and, belong to the robot application technical field for the movement mechanism of research snake type games, dynamics, motion control method etc. provide experiment body.
Background technology:
Before the utility model is made, in prior art, for the snake robot anthropomorphic robot, difference according to version, can be divided into two classes: the first kind is to be connected in series by the module that has wheel, motion is directly driven by wheel or the propagation of snake bulk wave produces, and shortcoming is planar to move.Second class is the chain structure that rigid rod is formed, and motion is produced by the twisting action between the joint, can realize multiple plane and spatial movement, and its shortcoming of first kind snake-shaped robot is that movement velocity is low relatively.Above-mentioned two class snake-shaped robots are power with all kinds of motors all, employing be various pure frame for movements, be rigid structure, can not imitate the motion feature of snake class preferably, the action underaction.
Summary of the invention:
The purpose of this utility model is to overcome above-mentioned weak point, this practical snake-shaped robot is on the basis of design feature of copying snake and movement mechanism, conceived the elementary cell of snake---the flexible joint module, this joint module is made up of multiple degrees of freedom pneumatic type flexible joint, micro-step motor, micro-step motor driver, rotation distributing valve; With this joint module is the trunk of snake, connects into the structure as the vertebrae formula of snake, and is connected one with the reception of snakehead with the micro air pump of control device and ophiruid, constitutes snake-shaped robot; With the remote signal that main control computer sends, the motion of control snake-shaped robot.It is skeleton that universal ball joint is adopted in the multiple degrees of freedom flexible joint, and the ripple shell is subjected to axially to expand as muscular motivation behind the gas pressure, can realize multiple plane and spatial movement, as wriggling, go ripple, climbing, rolling, lateral movement etc., flexible movements, it is little to consume energy, and control is simple.
Main solution of the present utility model is achieved in that
The head of snake has the band reception of antenna and control device 1, a plurality of flexible joint modules 6 at middle part, the micro air pump 7 of afterbody, and they connect into the structure as the vertebrae formula of snake, and there is the main control computer 8 of the remote signal sent the outside; Consider that balanced weight, center of gravity are low, battery 3 is housed below the joint module junction dispersedly, be connected into battery pack by power line 2 at last, pneumatic soft house steward 4, data/address bus 5 are arranged in the top of snake; The installation of power line 2, battery 3, pneumatic soft house steward 4, data/address bus 5 is all on the center vertical plane of snake.
Compared with the prior art the utility model has the following advantages:
The utility model snake-shaped robot is by the elementary cell of snake---and the flexible joint module constitutes, and according to job requirement, module number is the amount doesn't matter; It is skeleton that universal ball joint is adopted in the multiple degrees of freedom flexible joint, and the ripple shell is subjected to axially to expand as muscular motivation behind the gas pressure, can realize multiple plane and spatial movement; Have characteristics such as good stability, cross section are little, flexibility.
Description of drawings:
Fig. 1 is the front view of the utility model snake-shaped robot
Fig. 2 is the vertical view of the utility model snake-shaped robot
Fig. 3 is the B-B cutaway view of the utility model snake-shaped robot flexible joint
Fig. 4 analyses and observe rotation diagram for the A-A of the utility model snake-shaped robot flexible joint
Fig. 5 rotates the A-A cutaway view of distributing valve for the utility model snake-shaped robot
Fig. 6 rotates the main cutaway view of distributing valve for the utility model snake-shaped robot
Fig. 7 rotates the E-E cutaway view of distributing valve for the utility model snake-shaped robot
Fig. 8 rotates the D-D cutaway view of distributing valve for the utility model snake-shaped robot
Fig. 9 rotates the C-C cutaway view of distributing valve for the utility model snake-shaped robot
Figure 10 rotates the B-B cutaway view of distributing valve for the utility model snake-shaped robot
Figure 11 rotates the I-I cutaway view of distributing valve for the utility model snake-shaped robot
Figure 12 rotates the H-H cutaway view of distributing valve for the utility model snake-shaped robot
Figure 13 rotates the G-G cutaway view of distributing valve for the utility model snake-shaped robot
Figure 14 rotates the F-F cutaway view of distributing valve for the utility model snake-shaped robot
Figure 15 is the pneumatic connection layout of the utility model snake-shaped robot flexible joint module
The specific embodiment:
Embodiment during following the utility model is incited somebody to action in conjunction with the accompanying drawings is further described:
The essential structure of the snake-shaped robot shown in accompanying drawing 1,2 is: receive and compositions such as control device 1, power line 2, battery 3, pneumatic soft house steward 4, data/address bus 5, flexible joint module 6, micro air pump 7, main control computer 8.
The structure of the flexible joint module 6 of snake is shown in accompanying drawing 3,4: ripple shell 11 (vertical sectional shape of single-unit ripple shell is the rubber bellows of shapes such as " V ", " U ", " Ω ") is clamped on the bayonet socket of headstock 9 and tailstock 12 by clip 10, the enclosed cavity that ripple shell 11, headstock 9 and tailstock 12 constitute; Gas enters the joint cavity by flexible pipe 15 and joint 14, and 12 of joint 14 and tailstocks have sealing ring 13 sealings; Constituted an independently gas-powered muscle assembly by above-mentioned part.In the guiding square groove of the two ends of gas-powered muscle assembly by the regular polygon seat 19 at guide pad 17 location headstock 9, tailstock 12 and two ends, be fixed on the regular polygon seat 19 at two ends by hexagon socket head cap screw 16 again, the two ends of universal ball joint 18 are by nut and fastening with the regular polygon seat 19 at two ends, and the axle journal at universal ball joint 18 two ends is a matched in clearance with cooperating of regular polygon seat 19 interstitial holes.Micro-step motor 21 drives rotation distributing valve 22 and rotates or the location, and the driver 20 of micro-step motor 21, micro-step motor 21, rotation distributing valve 22 are installed on the support 23, and support 23 can be connected in series a plurality of flexible joint modules 6.
The vertical sectional shape of the single-unit ripple shell of ripple shell 11 described in the utility model is rubber bellows of shapes such as " V ", " U ", " Ω ".
The structure of rotating distributing valve 22 is shown in accompanying drawing 5～14: welded spool 24 is supported on protecgulum 25 and the bonnet 30 by needle bearing 29, protecgulum 25 and bonnet 30 are by the mesopore location of axial ledge seam and valve chest 27, and connect with sunk screw, the side of protecgulum 25 and bonnet 30 is embedded with sealing ring 26, sticks with glue in valve chest 27 mesopores and connects elastic packing lining 28.
Be the operation principle and the course of work of the utility model bionic machine snake-shaped robot below:
As shown in Figure 15, the ripple shell I-O in the flexible joint module 1Mouth links to each other, ripple shell IV-O 2Mouth links to each other, and they play the horizontal curvature effect, and O 1, O 2Mouth is adjacent, and the horizontal curvature reaction is fast, and the speed of moving about of snake is fast; Cause is stressed bigger when crooked up and down, and after II, III, V, the VI parallel connection in twos, the valve port with the rotation distributing valve is connected again, promptly forms II-III-O in the ripple shell in joint 3, V-VI-O 4Connection, so also reduced the axial dimension of rotation distributing valve.
Rotation distributing valve 22 by micro-step motor 21 drivings, the spool 24 of rotation distributing valve 22 processes after welding axle journal by the seamless steel pipe two ends, so both can reduce weight, processing simply, its cavity and pneumatic soft house steward 4 combine, and can play the effect of air accumulator again; Elastic packing lining 28 is bonded on the valve chest by glue.The gas that micro air pump pumps from pneumatic soft house steward 4 enter the rotation distributing valve 22 the P mouth, by annular groove, through the spool cavity, again from the narrow groove of small semi-ring to O 1Mouthful, enter the ripple shell I of flexible joint; At this moment, the ripple shell II-III of flexible joint is through O 3Behind mouth, the more than half ring width groove, by the logical atmosphere of outlet; The equally also logical atmosphere other ripple shell IV, V-VI this moment of flexible joint.After the valve core rotation, through conversion, the order that gas is pumped in the connection of ripple shell is successively: IV, II-III, V-VI, realize rotating the distribution effect; Micro-step motor can be parked in a certain position, keeps the qi of chong channel ascending adversely of corresponding ripple shell or the state of holding one's breath; During the swing of joint horizontal plane transverse curvature, the ripple shell I of relative direction, IV qi of chong channel ascending adversely repeatedly, hold one's breath, exit, by micro-step motor just, location stall and counter-rotating realize.

Claims (4)

1. the utility model relates to the snake-shaped robot in multiple degrees of freedom flexible joint, it is characterized in that: the head of snake has the band reception of antenna and control device (1), a plurality of flexible joint modules (6) at middle part, the micro air pump (7) of afterbody, they connect into the structure as the vertebrae formula of snake, and there is the main control computer (8) of the remote signal sent the outside; Below flexible joint module (6) junction battery (3) is housed dispersedly, is connected into battery pack by power line (2) at last, pneumatic soft house steward (4), data/address bus (5) are arranged in the top of snake; The installation of power line (2), battery (3), pneumatic soft house steward (4), data/address bus (5) is all on the center vertical plane of snake.
2. the snake-shaped robot in multiple degrees of freedom flexible according to claim 1 joint, the structure that it is characterized in that described flexible joint module (6) is as follows: ripple shell (11) is clamped on the bayonet socket of headstock (9) and tailstock (12) by clip (10), the enclosed cavity that ripple shell (11), headstock (9) and tailstock (12) constitute; Gas enters the joint cavity by flexible pipe (15) and joint (14), and sealing ring (13) sealing is arranged between joint (14) and tailstock (12), has constituted an independently gas-powered muscle assembly by above-mentioned part; In the guiding square groove of the two ends of gas-powered muscle assembly by the regular polygon seat (19) at guide pad (17) location headstock (9), tailstock (12) and two ends, be separately fixed on the regular polygon seat (19) at two ends by hexagon socket head cap screw (16) again, the two ends of universal ball joint (18) are fastening by the regular polygon seat (19) at nut and two ends, and the cooperating of regular polygon seat (19) interstitial hole at the axle journal at universal ball joint (18) two ends and two ends is matched in clearance; Micro-step motor (21) drives rotation distributing valve (22) rotation or location, the driver (20) of micro-step motor (21), micro-step motor (21), rotation distributing valve (22) are installed on the support (23), and support (23) can be connected in series a plurality of flexible joint modules (6).
3. the flexible joint module (6) of the snake-shaped robot in multiple degrees of freedom flexible according to claim 2 joint, it is characterized in that described rotation distributing valve (22) structure is as follows: spool (24) is supported on protecgulum (25) and the bonnet (30) by needle bearing (29), protecgulum (25) and bonnet (30) are by the mesopore location of axial ledge seam and valve chest (27), and connect with sunk screw, the side of protecgulum (25) and bonnet (30) is embedded with sealing ring (26), sticks with glue in valve chest (27) mesopore and connects elastic packing lining (28).
4. the flexible joint module (6) of the bionic machine fish of a kind of swing type flexible joint according to claim 2, the vertical sectional shape that it is characterized in that the single-unit ripple shell of described ripple shell (11) is the rubber bellows of shapes such as " V ", " U ", " Ω ".
CN 200520068382 2005-01-17 2005-01-17 Snaik shape robot of multiple freedom flexible joints Expired - Fee Related CN2774717Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200520068382 CN2774717Y (en) 2005-01-17 2005-01-17 Snaik shape robot of multiple freedom flexible joints

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 200520068382 CN2774717Y (en) 2005-01-17 2005-01-17 Snaik shape robot of multiple freedom flexible joints

Publications (1)

Publication Number Publication Date
CN2774717Y true CN2774717Y (en) 2006-04-26

Family

ID=36749022

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 200520068382 Expired - Fee Related CN2774717Y (en) 2005-01-17 2005-01-17 Snaik shape robot of multiple freedom flexible joints

Country Status (1)

Country Link
CN (1) CN2774717Y (en)

Cited By (55)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100410128C (en) * 2006-09-28 2008-08-13 哈尔滨工业大学 Crawler type multiple joint hinged robot suitable for search and detection in coal mine
CN101265813B (en) * 2008-05-14 2010-04-14 哈尔滨工业大学 Mine searching multi-robot system based on wireless sensor network
CN101961870A (en) * 2010-08-12 2011-02-02 燕山大学 Danger rescue and pipe parallel robot
US8002365B2 (en) 2006-11-13 2011-08-23 Raytheon Company Conformable track assembly for a robotic crawler
US8002716B2 (en) 2007-05-07 2011-08-23 Raytheon Company Method for manufacturing a complex structure
CN102167103A (en) * 2011-03-31 2011-08-31 西北工业大学 Machine body of bionic quadruped robot
CN102198655A (en) * 2010-03-22 2011-09-28 常州机械电子工程研究所 Search and rescue robot
US8042630B2 (en) 2006-11-13 2011-10-25 Raytheon Company Serpentine robotic crawler
CN102416622A (en) * 2011-09-13 2012-04-18 上海交通大学 Bionic snake mouth mechanism
US8185241B2 (en) 2006-11-13 2012-05-22 Raytheon Company Tracked robotic crawler having a moveable arm
CN102582710A (en) * 2012-03-09 2012-07-18 北京化工大学 Rope robot with serial driving wheels
US8317555B2 (en) 2009-06-11 2012-11-27 Raytheon Company Amphibious robotic crawler
CN102837307A (en) * 2012-09-13 2012-12-26 南京航空航天大学 Amphibious S-shaped robot on basis of MDOF (Multiple Degree of Freedom) flexible motion units
US8392036B2 (en) 2009-01-08 2013-03-05 Raytheon Company Point and go navigation system and method
US8393422B1 (en) 2012-05-25 2013-03-12 Raytheon Company Serpentine robotic crawler
CN103042535A (en) * 2012-12-26 2013-04-17 安科智慧城市技术（中国）有限公司 Three-degree-of-freedom movable joint mechanism and bionic robot
CN103144103A (en) * 2011-12-06 2013-06-12 中国科学院合肥物质科学研究院 Mixed joint continuous robot
CN103203742A (en) * 2013-04-24 2013-07-17 武汉大学 Snakelike robot
CN103231388A (en) * 2013-05-10 2013-08-07 南开大学 Flexible operating arm used for service robot
CN101784435B (en) * 2007-07-10 2013-08-28 雷神萨科斯公司 Modular robotic crawler
CN103302677A (en) * 2013-06-03 2013-09-18 哈尔滨工程大学 Hydraulically-driven two-freedom degree bionic spinal joint module
CN103692440A (en) * 2013-12-06 2014-04-02 中国民航大学 Spatial path tracking method of continuous robot
CN103753524A (en) * 2013-12-16 2014-04-30 北京化工大学 Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof
CN103786166A (en) * 2014-01-22 2014-05-14 北华大学 Pneumatic rotation stretching type double-spiral flexible joint
CN103978485A (en) * 2014-05-15 2014-08-13 郑天江 Snake-like soft-bodied robot control system and control method
CN104015197A (en) * 2014-06-04 2014-09-03 山东省科学院自动化研究所 Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system
US8935014B2 (en) 2009-06-11 2015-01-13 Sarcos, Lc Method and system for deploying a surveillance network
US9031698B2 (en) 2012-10-31 2015-05-12 Sarcos Lc Serpentine robotic crawler
CN104626157A (en) * 2015-01-16 2015-05-20 上海大学 Electric steering device used for ruins rescue guiding
CN104691648A (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 for advancing in hole
CN104742152A (en) * 2015-04-02 2015-07-01 中国科学院合肥物质科学研究院 Tandem type multi-joint mechanical arm
CN104858889A (en) * 2014-07-12 2015-08-26 都瑛娜 Hydraulically or pneumatically controlled joint mechanism capable of performing bending, twisting and stretching motions and used for numerical-control soft-bodied robot
CN104924305A (en) * 2015-06-19 2015-09-23 上海交通大学 Deformable flexible spherical modular robot
CN105108747A (en) * 2015-08-04 2015-12-02 深圳市金刚蚁机器人技术有限公司 Device for achieving seamless motion of head and neck of robot and method for device
CN105539619A (en) * 2015-12-16 2016-05-04 安徽工业大学 Worm-drive active multi-wheel S-shaped robot with universal joint
CN105619450A (en) * 2016-03-17 2016-06-01 上海交通大学 Flexible mechanical arm and control method thereof
US9409292B2 (en) 2013-09-13 2016-08-09 Sarcos Lc Serpentine robotic crawler for performing dexterous operations
US9566711B2 (en) 2014-03-04 2017-02-14 Sarcos Lc Coordinated robotic control
CN106829470A (en) * 2017-04-05 2017-06-13 李良杰 Flexible grabbing device
CN106927000A (en) * 2017-03-06 2017-07-07 浙江大学 Transformation compound bending module, S types advance around module and soft robot
WO2018006145A1 (en) * 2016-07-07 2018-01-11 Lepri Lincoln José Improvement to a snake robot movement mechanism
CN107627324A (en) * 2017-11-08 2018-01-26 江门市众能电控科技有限公司 A kind of flexible mechanical arm based on universal joint
CN107749547A (en) * 2017-10-31 2018-03-02 朱森 A kind of charging wire for new-energy automobile
CN107757409A (en) * 2017-10-31 2018-03-06 朱森 A kind of charging line control system for new-energy automobile
CN107933339A (en) * 2017-10-31 2018-04-20 朱森 A kind of control method of charging line control system for new-energy automobile
CN108583724A (en) * 2018-07-13 2018-09-28 长沙紫宸科技开发有限公司 A kind of bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band
CN108583725A (en) * 2018-07-13 2018-09-28 长沙紫宸科技开发有限公司 A kind of easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap
CN109476019A (en) * 2016-07-26 2019-03-15 Groove X 株式会社 Articulated robot
CN109984806A (en) * 2017-12-29 2019-07-09 江苏木偶医疗科技有限公司 Joint structure, flexible joint and Minimally Invasive Surgery pincers
CN110014430A (en) * 2019-05-22 2019-07-16 黄卫良 A kind of control device of robot
CN111360801A (en) * 2020-03-20 2020-07-03 哈尔滨工程大学 Eel-imitated robot based on electromagnetic artificial muscle and working method thereof
CN112498639A (en) * 2020-12-31 2021-03-16 夏秀芬 Bionic fishtail paddle
CN112518726A (en) * 2020-12-10 2021-03-19 中国科学院沈阳自动化研究所 Multi-module flexible water snake robot
CN113428260A (en) * 2021-06-25 2021-09-24 中国人民解放军63653部队 Trolley for observing dangerous situation
CN115092280B (en) * 2022-06-21 2024-03-22 中南大学 Soft flexible trunk and soft flexible bionic wall climbing robot

Cited By (72)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100410128C (en) * 2006-09-28 2008-08-13 哈尔滨工业大学 Crawler type multiple joint hinged robot suitable for search and detection in coal mine
US8205695B2 (en) 2006-11-13 2012-06-26 Raytheon Company Conformable track assembly for a robotic crawler
US8002365B2 (en) 2006-11-13 2011-08-23 Raytheon Company Conformable track assembly for a robotic crawler
US8042630B2 (en) 2006-11-13 2011-10-25 Raytheon Company Serpentine robotic crawler
US8185241B2 (en) 2006-11-13 2012-05-22 Raytheon Company Tracked robotic crawler having a moveable arm
US8434208B2 (en) 2007-05-07 2013-05-07 Raytheon Company Two-dimensional layout for use in a complex structure
US8002716B2 (en) 2007-05-07 2011-08-23 Raytheon Company Method for manufacturing a complex structure
CN101784435B (en) * 2007-07-10 2013-08-28 雷神萨科斯公司 Modular robotic crawler
US8571711B2 (en) 2007-07-10 2013-10-29 Raytheon Company Modular robotic crawler
CN101265813B (en) * 2008-05-14 2010-04-14 哈尔滨工业大学 Mine searching multi-robot system based on wireless sensor network
US8392036B2 (en) 2009-01-08 2013-03-05 Raytheon Company Point and go navigation system and method
US8317555B2 (en) 2009-06-11 2012-11-27 Raytheon Company Amphibious robotic crawler
US8935014B2 (en) 2009-06-11 2015-01-13 Sarcos, Lc Method and system for deploying a surveillance network
CN102198655A (en) * 2010-03-22 2011-09-28 常州机械电子工程研究所 Search and rescue robot
CN102198655B (en) * 2010-03-22 2013-04-03 常州机械电子工程研究所 Search and rescue robot
CN101961870A (en) * 2010-08-12 2011-02-02 燕山大学 Danger rescue and pipe parallel robot
CN102167103B (en) * 2011-03-31 2012-10-10 西北工业大学 Machine body of bionic quadruped robot
CN102167103A (en) * 2011-03-31 2011-08-31 西北工业大学 Machine body of bionic quadruped robot
CN102416622A (en) * 2011-09-13 2012-04-18 上海交通大学 Bionic snake mouth mechanism
CN102416622B (en) * 2011-09-13 2013-10-16 上海交通大学 Bionic snake mouth mechanism
CN103144103A (en) * 2011-12-06 2013-06-12 中国科学院合肥物质科学研究院 Mixed joint continuous robot
CN102582710B (en) * 2012-03-09 2013-07-03 北京化工大学 Rope robot with serial driving wheels
CN102582710A (en) * 2012-03-09 2012-07-18 北京化工大学 Rope robot with serial driving wheels
US8393422B1 (en) 2012-05-25 2013-03-12 Raytheon Company Serpentine robotic crawler
CN102837307A (en) * 2012-09-13 2012-12-26 南京航空航天大学 Amphibious S-shaped robot on basis of MDOF (Multiple Degree of Freedom) flexible motion units
US9031698B2 (en) 2012-10-31 2015-05-12 Sarcos Lc Serpentine robotic crawler
CN103042535A (en) * 2012-12-26 2013-04-17 安科智慧城市技术（中国）有限公司 Three-degree-of-freedom movable joint mechanism and bionic robot
CN103042535B (en) * 2012-12-26 2015-01-14 安科智慧城市技术（中国）有限公司 Three-degree-of-freedom movable joint mechanism and bionic robot
CN103203742B (en) * 2013-04-24 2015-04-15 武汉大学 Snakelike robot
CN103203742A (en) * 2013-04-24 2013-07-17 武汉大学 Snakelike robot
CN103231388A (en) * 2013-05-10 2013-08-07 南开大学 Flexible operating arm used for service robot
CN103231388B (en) * 2013-05-10 2015-06-24 南开大学 Flexible operating arm used for service robot
CN103302677A (en) * 2013-06-03 2013-09-18 哈尔滨工程大学 Hydraulically-driven two-freedom degree bionic spinal joint module
US9409292B2 (en) 2013-09-13 2016-08-09 Sarcos Lc Serpentine robotic crawler for performing dexterous operations
CN103692440B (en) * 2013-12-06 2015-06-17 中国民航大学 Spatial path tracking method of continuous robot
CN103692440A (en) * 2013-12-06 2014-04-02 中国民航大学 Spatial path tracking method of continuous robot
CN103753524A (en) * 2013-12-16 2014-04-30 北京化工大学 Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof
CN103753524B (en) * 2013-12-16 2015-07-15 北京化工大学 Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof
CN103786166B (en) * 2014-01-22 2017-01-04 北华大学 Type Double helix flexible joint is stretched in pneumatic rotation
CN103786166A (en) * 2014-01-22 2014-05-14 北华大学 Pneumatic rotation stretching type double-spiral flexible joint
US9566711B2 (en) 2014-03-04 2017-02-14 Sarcos Lc Coordinated robotic control
CN103978485A (en) * 2014-05-15 2014-08-13 郑天江 Snake-like soft-bodied robot control system and control method
CN104015197A (en) * 2014-06-04 2014-09-03 山东省科学院自动化研究所 Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system
CN104858889A (en) * 2014-07-12 2015-08-26 都瑛娜 Hydraulically or pneumatically controlled joint mechanism capable of performing bending, twisting and stretching motions and used for numerical-control soft-bodied robot
CN104691648A (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 for advancing in hole
CN104626157A (en) * 2015-01-16 2015-05-20 上海大学 Electric steering device used for ruins rescue guiding
CN104742152A (en) * 2015-04-02 2015-07-01 中国科学院合肥物质科学研究院 Tandem type multi-joint mechanical arm
CN104924305A (en) * 2015-06-19 2015-09-23 上海交通大学 Deformable flexible spherical modular robot
CN105108747A (en) * 2015-08-04 2015-12-02 深圳市金刚蚁机器人技术有限公司 Device for achieving seamless motion of head and neck of robot and method for device
CN105539619A (en) * 2015-12-16 2016-05-04 安徽工业大学 Worm-drive active multi-wheel S-shaped robot with universal joint
CN105619450A (en) * 2016-03-17 2016-06-01 上海交通大学 Flexible mechanical arm and control method thereof
WO2018006145A1 (en) * 2016-07-07 2018-01-11 Lepri Lincoln José Improvement to a snake robot movement mechanism
CN109476019B (en) * 2016-07-26 2021-09-21 Groove X 株式会社 Multi-joint robot
CN109476019A (en) * 2016-07-26 2019-03-15 Groove X 株式会社 Articulated robot
CN106927000A (en) * 2017-03-06 2017-07-07 浙江大学 Transformation compound bending module, S types advance around module and soft robot
CN106927000B (en) * 2017-03-06 2019-02-26 浙江大学 Transformation compound bending module, S type advance around module and soft robot
CN106829470A (en) * 2017-04-05 2017-06-13 李良杰 Flexible grabbing device
CN107749547A (en) * 2017-10-31 2018-03-02 朱森 A kind of charging wire for new-energy automobile
CN107933339A (en) * 2017-10-31 2018-04-20 朱森 A kind of control method of charging line control system for new-energy automobile
CN107757409A (en) * 2017-10-31 2018-03-06 朱森 A kind of charging line control system for new-energy automobile
CN107627324A (en) * 2017-11-08 2018-01-26 江门市众能电控科技有限公司 A kind of flexible mechanical arm based on universal joint
CN109984806A (en) * 2017-12-29 2019-07-09 江苏木偶医疗科技有限公司 Joint structure, flexible joint and Minimally Invasive Surgery pincers
CN108583725A (en) * 2018-07-13 2018-09-28 长沙紫宸科技开发有限公司 A kind of easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap
CN108583724A (en) * 2018-07-13 2018-09-28 长沙紫宸科技开发有限公司 A kind of bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band
CN110014430A (en) * 2019-05-22 2019-07-16 黄卫良 A kind of control device of robot
CN110014430B (en) * 2019-05-22 2022-05-03 中科瑞启机器人科技(山东)有限公司 Control device of robot
CN111360801A (en) * 2020-03-20 2020-07-03 哈尔滨工程大学 Eel-imitated robot based on electromagnetic artificial muscle and working method thereof
CN112518726A (en) * 2020-12-10 2021-03-19 中国科学院沈阳自动化研究所 Multi-module flexible water snake robot
CN112518726B (en) * 2020-12-10 2023-12-19 中国科学院沈阳自动化研究所 Multi-module flexible water snake robot
CN112498639A (en) * 2020-12-31 2021-03-16 夏秀芬 Bionic fishtail paddle
CN113428260A (en) * 2021-06-25 2021-09-24 中国人民解放军63653部队 Trolley for observing dangerous situation
CN115092280B (en) * 2022-06-21 2024-03-22 中南大学 Soft flexible trunk and soft flexible bionic wall climbing robot

Similar Documents

Publication Publication Date Title
CN2774717Y (en) Snaik shape robot of multiple freedom flexible joints
CN103056876B (en) Variable rigidity parallel joint snake-shaped robot mechanism
CN202580477U (en) Spiral pipe robot
CN201493846U (en) Stimulator with three rotational degrees of freedom of pneumatic hybrid mechanism
CN103231751B (en) Single-joint-sealed amphibious multi-legged robot
CN203172751U (en) Spherical robot with stabilization platform
CN103332235B (en) Modularized walking robot with flexible torso
CN102126210B (en) 7-DOF (Degree of Freedom) pneumatic muscle flexible mechanical arm
CN107323555B (en) The sufficient climbing robot of Alcula type six and its movement technique
CN101033000A (en) Multi-joint fluctuation-propulsion fish-shape robot
CN103273979A (en) Splittable snake-like robot with multiple motion modes
CN102390460A (en) Twelve-degree-of-freedom four-footed walker with hybrid leg structure
CN102990676A (en) Snakelike mechanical arm
CN102673674B (en) Bionic elastic spine mechanism of quadruped robots
CN103587601A (en) Long journey continuing wind power driven type spherical robot in polar region
CN102390453A (en) Reconfigurable wall climbing robot and collaborative obstacle-detouring method thereof
CN106741774A (en) A kind of bionic machine fish
CN101423074A (en) Modular double-wheel driven mobile robot capable of the changing wheel span and wheel direction
CN110549322A (en) modularized robot based on integral tensioning structure
CN102490884A (en) Ray-imitating robot body structure with underwater three-dimensional athletic ability
CN101537621A (en) Three freedom degree motion simulator of pneumatic hybrid mechanism
CN108001558A (en) A kind of bio-robot with flexible waist joint
CN110293543A (en) A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint
CN103419854B (en) Multi-joint pneumatic snake-shaped robot
CN212605739U (en) Hay ray robot

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
C19 Lapse of patent right due to non-payment of the annual fee
CF01 Termination of patent right due to non-payment of annual fee