基于模块化技术的仿生蛇形搜救机器人  

Biomimetic Search and Rescue Snake Robot Based on Modular Technology

作　　者：马文科 高强[1] 刘静[1] 李浩宁 赵博文 张闯 Ma Wenke;Gao Qiang;Liu Jing

机构地区：[1]沈阳工程学院,辽宁省沈阳市110042 [2]浙江大唐乌沙山发电有限责任公司

出　　处：《工程机械》2023年第9期7-12,I0016,共7页Construction Machinery and Equipment

基　　金：辽宁省教育厅2022年度高等学校基本科研项目(青年项目)(LJKQZ20222264)。

摘　　要：由仿生学引出的多关节、模块化结构等概念广泛应用于工业设计领域,而在搜救领域,相关技术仍存在较大缺口,在灾难面前,人工搜救的效率受到天气、环境等因素的影响波动较大,在此背景下,利用仿生技术设计一款仿生蛇形搜救机器人,在蛇身结构模块化的基础上,将履带驱动与以锥齿传动为基础的仿蛇无肢运动相结合,达到装置运动灵活性与效率的统一,同时可根据不同的环境来进行模块化装配。该装置可广泛应用于灾后救援、工业探测、军事侦察等领域。In recent years,the concepts of multijoint and modular structures introduced by biomimetics are widely applied in the field of industrial design,while in the field of search and rescue,there is still a large gap in the relevant technologies,and in the face of disasters,the efficiency of manual search and rescue fluctuates greatly due to the influence of the weather,the environment and other factors.In this context,a biomimetic search and rescue snake robot is designed based on biomimetic technology.On the basis of the modularity of the snake structure,the track drive is combined with the snakelike motion based on bevel gear transmission to achieve the unity of the flexibility and efficiency of the device movement.At the same time,modular assembly can be carried out according to different environments.This device can be widely applied to disaster rescue,industrial detection and military reconnaissance.

关 键 词：模块化 仿蛇无肢运动 锥齿传动 搜救 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]