
基本信息:
- 专利标题: 一种模块化可重构的蛇形机器人
- 申请号:CN201710374258.1 申请日:2017-05-24
- 公开(公告)号:CN107116543B 公开(公告)日:2020-05-26
- 发明人: 孙永军 , 倪风雷 , 朱映远 , 史士财 , 周云虎 , 刘伊威 , 刘宏
- 申请人: 哈尔滨工业大学
- 申请人地址: 黑龙江省哈尔滨市南岗区西大直街92号
- 专利权人: 哈尔滨工业大学
- 当前专利权人: 哈尔滨工业大学
- 当前专利权人地址: 黑龙江省哈尔滨市南岗区西大直街92号
- 代理机构: 哈尔滨市松花江专利商标事务所
- 代理人: 牟永林
- 主分类号: B25J9/06
- IPC分类号: B25J9/06 ; B25J9/08
The invention discloses a modular reconfigurable snakelike robot, and relates to a snakelike robot. The problems that an existing snakelike robot has reverse tooth spaces and is small in driving force, long in control period, poor in control precision and not compact in structure are solved. The reconfigurable snakelike robot is formed by connecting a series of modular joints end to end. Every two adjacent modular joints are spaced by 90 degrees and are electrically connected in a spring-contact pin mode. The modular joints can achieve single-joint rotating motion in the way that a brushless DC motor drives a harmonic reducer, and the advantages of structural modularization, configuration compactness, high carrying capacity and the like are achieved. The snakelike robot can achieve separation at the adjacent joints in different working environments, and thus can be configured into two or more snakelike robots. In a similar way, two or more snakelike robots can be configured into one snakelike robot. The modular reconfigurable snakelike robot is suitable for the fields of pipeline detection, disaster relief, aerospace planet surface detection and the like.
公开/授权文献:
- CN107116543A 一种模块化可重构的蛇形机器人 公开/授权日:2017-09-01
IPC结构图谱:
B | 作业;运输 |
--B25 | 手动工具;轻便机动工具;手动器械的手柄;车间设备;机械手 |
----B25J | 机械手;装有操纵装置的容器 |
------B25J9/00 | 程序控制机械手 |
--------B25J9/06 | .以多铰接爪臂为特征的 |