Gear type torsional H-shaped shaft snake-shaped robot

Abstract

A gear type torsional H-shaped shaft snake-shaped robot is composed of a snake body, a snake head and a snake tail. The snake body is formed by repeatedly connecting first joints and second joints. Each first joint is composed of a first motor, a first U-shaped frame, a second motor, a first gear, a first gear shaft, a second gear, two third gears, a torsional H-shaped shaft, two fourth gears andtwo fifth gears. Each second joint is composed of a second U-shaped frame, a third motor, a fourth motor, a fifth gear, a second gear shaft, a seventh gear, two eighth gear, a ninth gear, a wheel shaft, a tenth gear and two wheels. The snake head is fixedly connected with the foremost first joint of the snake body. The snake tail is fixedly connected with the last second joint of the snake body. The snake-shaped robot is simple in structure, a ball-hinge-like function is achieved through a joint connecting module formed by being connected through the torsional H-shaped shafts, control is facilitated, different motions in a three-dimensional space are achieved flexibly by controlling the work of motors different in number and position, and the control and function balance is achieved.

Description

Technical field [0001] The invention relates to the field of snake-shaped robots for ships, in particular to a gear-type torsion I-axis snake-shaped robot. Background technique [0002] The snake-shaped robot is a multi-joint, multi-degree-of-freedom chain-type flexible robot, which is connected by multiple identical or similar unit modules without a fixed base. The snake-shaped robot has a variety of motion patterns and stable motion, which is extremely strong. The ability to adapt to the environment can be applied in many fields such as battlefield raids, search and rescue expeditions. When the snake-like robot is moving toward the target, it will inevitably encounter obstacles or the direction of travel and the target will be offset. This requires the snake-like robot to make direction adjustments or changes in the way of movement according to its own structure and the current environment. To realize free movement of a snake-shaped robot, its execution unit must have a comple...

AI Technical Summary

Problems solved by technology

[0004] At present, there is no invention of a snake-like robot connected by a gear-type torsional I-shaft that is simple in structure, easy to control, and can realize a complete three-dimensional workspace, good space flexibility, and strong adaptability.

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