Worm-imitating robot

Abstract

The invention relates to a worm-imitating robot. The worm-imitating robot comprises a telescopic transmission shaft, a driving unit, a bottom unit disc, a first semicircular ring assembly, a middle unit disc, a second semicircular ring assembly and a top unit disc, and the driving unit, the bottom unit disc, the first semicircular ring assembly, the middle unit disc, the second semicircular ring assembly and the top unit disc are sequentially connected from bottom to top. The bottom unit disc is provided with bottom radial driving gears and bottom radial racks which mesh with each other correspondingly. The top unit disc is provided with top radial driving gears and top radial racks which mesh with each other correspondingly, the bottom unit disc is provided with a bottom inner gear ring, each bottom radial driving gear meshes with the bottom inner gear ring, the top unit disc is provided with a top inner gear ring, and each top radial driving gear meshes with the top inner gear ring. The lower portion of the telescopic transmission shaft is provided with a bottom gear meshing with the bottom inner gear ring, the upper end of the telescopic transmission shaft is provided with a top gear meshing with the top inner gear ring, and the telescopic transmission shaft is driven by the driving unit to rotate. Radial stretching of the robot is achieved through single-motor driving, the overall structure is simple and compact, control is exquisite, and the deformability is high.

Description

technical field [0001] The invention relates to the field of robots, in particular to a worm-like robot. Background technique [0002] With the development of science and technology, various bionic robots have appeared in the existing technology. Among them, the worm-like robot has the advantages of strong continuous deformation ability and good environmental adaptability, and is widely used. The worm-like robot needs to control the radial expansion and contraction, but now Some worm-like robots usually adopt the form of multi-motor drive, and are generally redundant or super-redundant robots, which are not only complex in structure, but also difficult to design and model. Contents of the invention [0003] The purpose of the present invention is to provide a worm-like robot, which is driven by a single motor to realize the radial expansion and contraction of the robot. The overall structure is simple and compact, the control is exquisite, and the deformation ability is st...

AI Technical Summary

Problems solved by technology

[0002] With the development of science and technology, various bionic robots have appeared in the existing technology. Among them, the worm-like robot has the advantages of strong continuous deformation ability and good environmental adaptability, and is widely used. The worm-like robot needs to control the radial expansion and contraction, but now Some worm-like robots usually adopt the form of multi-motor drive, and are generally redundant or super-redundant robots. Not only the structure is complex, but also the design and modeling are relatively difficult

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