Crawler-type multi-joint snakelike robot

Abstract

The invention provides a crawler-type multi-joint snakelike robot which comprises joint modules, drive modules and connecting modules. Each joint module comprises three 'V'-shaped side plates, wherein three wheel axles are installed between every two adjacent 'V'-shaped side plates through bearings so that the three 'V'-shaped side plates can be connected to form equilateral triangle distribution; two crawler wheels are fixedly installed on each wheel axle, so that two rows of crawler wheels are formed on the three wheel axles; a crawler belt is installed on each row of crawler wheels, and a joint chain wheel is also fixedly installed on the wheel axle located on the end portion. The drive modules are installed inside the joint modules. Each connecting module is located between every two adjacent joint modules. A worm bracket of each drive module is connected with a part of a connecting plate frame of the corresponding connecting module so that the two adjacent joint modules can be connected. A drive chain wheel of each drive module and the joint chain wheel of the corresponding joint module are in chain transmission. The crawler-type multi-joint snakelike robot is good in stability, strong in ground adaptive capacity, and applicable to disaster relief, detection, firefighting, transportation, space exploration and other fields.

Description

technical field [0001] The invention relates to a robot, in particular to a crawler-type multi-joint snake-like robot. Background technique [0002] Snake-shaped robots have the characteristics of strong ground adaptability, good stability, and flexible structure. They can walk in various complex terrains and have strong obstacle-surmounting capabilities. At present, many snake-like robots with different structures have been researched at home and abroad, but most of the existing snake-like robots only realize two-dimensional motion, and are difficult to adapt to the three-dimensional work space. A Snake Robot with Ground Adaptability", and the design in the "Modular Variable Structure Snake Robot" disclosed in the patent document No. 02280911.2 has a certain three-dimensional motion capability, but its single connection module only has The two-dimensional movement form cannot realize three-dimensional movement at the same time. Moreover, current snake-shaped robots also h...

AI Technical Summary

Problems solved by technology

At present, many snake-like robots with different structures have been researched at home and abroad, but most of the existing snake-like robots only realize two-dimensional motion, and are difficult to adapt to the three-dimensional work space. A Snake Robot with Ground Adaptability", and the design in the "Modular Variable Structure Snake Robot" disclosed in the patent document No. 02280911.2 has a certain three-dimensional motion capability, but its single connection module only has Two-dimensional movement form, cannot realize three-dimensional movement at the same time

Moreover, current snake-like robots also have shortcomings such as insufficient power, which greatly limits the practical application of snake-like robots.

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