Air bag advancing type snakelike crawling robot

Abstract

The invention relates to an air bag marching type snakelike crawling robot which comprises a plurality of marching units, a steering unit and detection units arranged on the marching units at the head end and the tail end, a marching motor in each marching unit is arranged on a rack, an output shaft of each marching motor is connected with a driving gear, and a transmission shaft is arranged in a transmission shaft through hole. One end of the transmission shaft is connected with the driven gear, the driven gear is in meshing transmission with the driving gear, the air bag is arranged on the outer side of the rack, the steering unit is arranged between every two adjacent advancing units, and the steering units are connected with the rack through annular end plates. The air bag structure can adapt to the complex unstructured environment, the crawling robot can rapidly advance through rolling of the air bags, reliable and lossless rapid advancing can be achieved under the complex and severe working conditions such as slopes, pipelines and ruins, meanwhile, the expansion state of pneumatic spherical hinges in the steering units can be controlled by controlling an air pump, and therefore the stability of the crawling robot is improved. Therefore, steering of the robot is controlled, and the active obstacle avoidance capability of the robot is improved.

Description

technical field [0001] The invention belongs to the technical field of soft robots, in particular to an airbag traveling snake-like crawling robot. Background technique [0002] With the development of science and technology, robots are gradually used in reconnaissance, detection, rescue and other fields. Traditional mobile robots are mostly rigid structures, and most of them realize fast forward through wheeled structures or crawler structures. However, such robots usually work in simple and specific environments, and are less suitable for complex environments. With the unstructured working environment, traditional rigid robots are difficult to meet the demand. Soft robots are composed of highly deformable flexible materials, which have higher adaptability and stability in complex environments because of their inherent flexibility. [0003] Because of its good flexibility and flexibility, soft crawling robots have good application prospects in the fields of reconnaissanc...

AI Technical Summary

Problems solved by technology

However, most of the current soft crawling robots rely on the mutual friction between their own soft body structure and the ground to achieve crawling forward, and it is difficult to achieve the functional requirements of fast travel

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