Splittable snake-like robot with multiple motion modes

Abstract

The invention discloses a splittable snake-like robot with multiple motion modes. The snake-like robot comprises a head portion, body portions, a split portion, joint portions and a tail portion. The head portion and the tail portion are in the same cone shape; every body portion is provided with folding independent retractable wheel foot composite structures which are evenly distributed in six directions in an embedded mode, and the top of every body portion is provided with a driving wheel or a driven wheel; the split portion utilizes rod grooves to achieve dual use in one body or self-salvation when broken; and every joint portion utilizes double mutually-perpendicular steering engine housing structures to mount steering engines, thereby achieving the free horizontal and vertical steering of neighboring modules through double degrees of freedom. By adjusting the retraction angle and the retraction length of every wheel foot, the splittable snake-like robot can moves in multiple motion modes such as sliding, crawling and two-dimensional transformation besides snake-like motion modes of creeping, rolling and wiggling, thereby effectively improving the adaptability and the speed of the snake-like robot under various complex land hard terrain conditions.

Description

technical field [0001] The invention relates to a snake-like robot mechanism, in particular to a multi-movement-mode separable snake-like robot with a built-in wheel-leg composite structure and a split mechanism. Background technique [0002] The snake robot has the following advantages: reasonable structure, flexible control, reliable performance, strong scalability, strong adaptability, etc. Due to its natural multi-joints, multi-degrees of freedom, and multi-redundant degrees of freedom, snake-shaped robots can have a variety of motion modes, thus catering to the needs of some markets. At present, most of the existing snake-like robot mechanisms are designed for the traditional snake-like movement. With the advancement of bionic technology and the highly refined structural design, some advanced snake-like robots in the world have been able to reach or even exceed the natural snake. However, compared with four-legged jumping and running or wheeled movement, the traditiona...

AI Technical Summary

Problems solved by technology

At present, most of the existing snake-like robot mechanisms are designed for the traditional snake-like movement. With the advancement of bionic technology and the highly refined structural design, some advanced snake-like robots in the world have been able to reach or even exceed the natural snake. However, compared with four-legged jumping and running or wheeled movement, the traditional snake-like movement limits the speed of the snake body to a certain extent. Compared with crawling, the running ability of the snake-like movement in complex terrain environments is also much inferior

Especially for the field of disaster search and rescue and military investigation, where snake-like robots are widely used at this stage, due to reasons such as materials, structure, size and design, the movement ability of snake-like robots is greatly restricted, which seriously affects the search and rescue and investigation capabilities

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