Scale-controllable type snakelike robot

Abstract

The invention discloses a scale-controllable type snakelike robot and belongs to the technical field of bio-robots. The snakelike robot is formed by connecting and combining a plurality of unit modules end to end. Each unit module comprises a dual motor drive steering engine, a module framework and a scale mechanism. The two motor shafts of each dual motor drive steering engine are arranged in parallel. The dual motor drive steering engines are connected with the module frameworks through steering engine connecting arms, scale opening and closing control motors of the scale mechanisms are installed on the module frameworks and drive guiding plates through screw rods and nuts, and the roots of scales are hinged to the module frameworks. The middles of the scales are connected with the guiding plates through connecting rods. According to the scale-controllable type snakelike robot, compared with the prior art, the scale mechanisms with the opening and closing function are introduce in for the first time, under the action of friction anisotropism of the scales, the scales can be in an opening state or a closing state, meanwhile, the adjacent unit modules are controlled to get close to each other or get away from each other through the dual motor drive steering engines, the snakelike robot can move forwards or backwards, and therefore the applicability of the snakelike robot is improved.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, in particular to a scale-controllable snake-like robot. Background technique [0002] Snake robot is a kind of bionic robot that can imitate the movement mechanism and behavior of snake. Because of its strong environmental adaptability, good movement flexibility and easy modular structure, it has great research value and application prospect. [0003] At present, most of the snake-like robots use the driving wheel method or the belt-covered driving wheel method to provide forward power. Although the snake-like robot with this structure can realize forward and backward functions, the structure is very complicated, although to a certain extent It can adapt to a variety of different terrains, but limited by its own structure, it cannot realize the straight-line telescopic movement like a real biological snake, which leads to application limitations. [0004] Aiming at the inadequacies of the ...

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Problems solved by technology

[0003] At present, most of the snake-like robots use the driving wheel method or the belt-covered driving wheel method to provide forward power. Although the snake-like robot with this structure can realize forward and backward functions, the structure is very complicated, although to a certain extent It can adapt to a variety of different terrains. However, due to the limitation of its own structure, it cannot realize the straight-line telescopic movement like a real biological snake, which leads to the limitation of application.

[0004] Aiming at the inadequacies of the snake-shaped robot with the driving wheel mode or the belt-covered driving wheel mode, relevant technical personnel have designed a snake-shaped robot that can realize linear telescopic movement, or through the elongation and extension of several control unit modules of the snake-shaped robot. Shorten to realize the telescopic movement of the snake-shaped robot; or simply fix the scales on the control unit module of the snake-shaped robot, and realize the telescopic movement of the snake-shaped robot by using the friction anisotropy of the scales. , so the use effect is not very ideal, and the problem of application limitations is still not solved

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