Worm-like multi-joint crawling robot

Abstract

The application discloses a kind of imitated worm multi-section crawling robots, including first end body section, several middle body sections and second end body section, between first end body section and its adjacent middle body section, between second end body section and its adjacent middle body section and between adjacent two middle body sections, it is equipped with bending joint, the imitated worm multi-section crawling robot adopts multi-section structure, first end body section, middle body section and second end body section can realize the alternate expansion and contraction of radial and axial, in combination with bending joint with self-locking function and two degrees of freedom, the number of robot node and degree of freedom expansion is convenient, can imitate the movement mode of earthworm or geometer moth etc. Worm, so that robot has high flexibility, scalability and adaptability to various environments.

Description

Technical Field

[0001] The present invention relates to the field of robots, in particular to a worm-like multi-segment crawling robot. Background Art

[0002] Wheels, tracks, or legs are the primary means of locomotion for current robots. However, in complex environments such as household pipes, oil and gas pipelines, ruins, post-disaster sites, confined spaces, and soft, rugged terrain, wheeled, tracked, or legged locomotion mechanisms often face limitations in motion, difficulty in motion control, insufficient obstacle navigating capabilities, limited stability, and movement, and even difficulty in locomotion. In recent years, research on biomimetic robots has made continuous progress, becoming a frontier and hot topic in the field of robotics. Researchers draw inspiration from observing the various mechanisms and behaviors of animals in nature, aiming to mimic the morphology, function, and movement of living organisms. However, how to create robots that can adapt to complex environments and perform specific tasks based on biological characteristics, and how to improve robots' maneuverability and adaptability by mimicking biological locomotion strategies, remain unresolved. Existing crawling robots struggle to simultaneously adapt to diverse and complex terrains, such as sand, mud, or mountains, and are limited in the surface areas they can crawl on. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a worm-like multi-segment crawling robot.

[0004] In order to achieve the above objectives, the technical solution of the present invention is:

[0005] A worm-like multi-segment crawling robot comprises a first end segment, a plurality of middle segments and a second end segment, wherein bending joints are provided between the first end segment and its adjacent middle segment, between the second end segment and its adjacent middle segment, and between two adjacent middle segments, and the middle segment comprises a first bracket, a first drive motor, a first driving wheel, n groups of first driven wheels and a first sliding assembly, and m groups of second driven wheels, a second sliding assembly and a radially telescopic foot, wherein n ≥ 2, and n is an even number, and m ≥ 2, the first bracket, the first drive motor, the first driving wheel, n first driven wheels and m second driven wheels constitute a circumferentially uniformly distributed parallel driven wheel transmission mechanism, the first drive motor is mounted on the first bracket and connected to the first driving wheel to drive the first driving wheel to rotate, the n first driven wheels and the m second driven wheels are evenly distributed along the circumferential direction of the first driving wheel, each group of first driven wheels and second driven wheels are meshed with the first driving wheel, and the rotation of the first driving wheel drives the first The driven wheel and the second driven wheel are fixed on the first rotating shaft and rotate around the first rotating shaft. The first bracket, the first driving wheel, n groups of first driven wheels and first sliding assemblies and m groups of second driven wheels, second sliding assemblies and radial telescopic feet constitute an axial-radial linkage telescopic motion mechanism. Each first driven wheel is hinged to the corresponding first sliding assembly. The rotation of the first driven wheel drives the extension or retraction of its corresponding first sliding assembly. The first sliding assemblies corresponding to the two adjacent first driven wheels are respectively extended or retracted simultaneously along the axial ends of the middle body segment to push or pull back the bending joint connected to the first sliding assembly. Each second driven wheel is hinged to the corresponding second sliding assembly. Each second sliding assembly is fixedly connected to the corresponding radial telescopic foot. The rotation of the second driven wheel drives the extension or retraction of its corresponding second sliding assembly, and all the second sliding assemblies and radial telescopic feet are simultaneously extended or retracted along the radial direction of the middle body segment, and the first sliding assembly and the second sliding assembly are alternately extended and retracted.

[0006] Preferably, the first sliding assembly includes a first connecting rod and a sliding rod, the sliding rod is connected to the adjacent bending joint, the first connecting rod and the sliding rod and the first connecting rod and the first driven wheel are connected by a first rotating hinge, and the sliding rod slides in the first sliding hole of the first bracket; the second sliding assembly includes a second connecting rod and a slide, the slide is fixedly connected to the radial telescopic foot, the second connecting rod and the slide and the second driven wheel are connected by a second rotating hinge, and the slide slides in the second sliding hole of the first bracket.

[0007] Preferably, the hinge position of the first connecting rod on the first driven wheel and the hinge position of the second connecting rod on the second driven wheel are respectively located on the circumference of the first driven wheel and the second driven wheel, and the circumferential angles differ by 90°; each first connecting rod that extends in the same direction has the same hinge position on the corresponding first driven wheel, the hinge position of the first connecting rod that extends toward one axial end of the middle body segment and the hinge position of the first connecting rod that extends toward the other axial end of the middle body segment on the first driven wheel differ by 180°, and the hinge position of each second connecting rod on the corresponding second driven wheel is the same.

[0008] Preferably, the sliding rods corresponding to the two adjacent first driven wheels slide in the first sliding holes at both ends of the first bracket respectively.

[0009] Preferably, the bending joint includes a second bracket, two groups of second drive motors, a second driving wheel, a third driven wheel and a connecting arm. The second drive motor is installed in the internal cavity of the second bracket. The output shaft of the second drive motor is connected to the second driving wheel to drive the second driving wheel to rotate. The third driven wheel is fixedly mounted on the second rotating shaft and engages with the second driving wheel. The second rotating shaft passes through the support hole on the second bracket and is fixedly connected to the connecting arm. The connecting arm is fixedly connected to the sliding rod. The axes of the two groups of second rotating shafts are perpendicular to each other.

[0010] Preferably, the second driving wheel comprises a worm, a bevel gear or a helical gear, and the third driven wheel comprises a gear.

[0011] Preferably, the first end body segment includes a circumferentially uniformly distributed parallel driven wheel transmission mechanism, an axial-radial linkage telescopic motion mechanism and a first equipment cabin, one end of which is not provided with a first sliding component. A camera with a fill light is installed on the surface of the other end of the first equipment cabin, and a first battery is installed in the card slot of the first equipment cabin. The second end body segment includes a circumferentially uniformly distributed parallel driven wheel transmission mechanism, an axial-radial linkage telescopic motion mechanism and a second equipment cabin, the other end of which is not provided with a first sliding component. The other end of the second end body segment is connected to one end of the second equipment cabin, and a second battery and a control board are installed in the card slot of the second equipment cabin. The n in the axial-radial linkage telescopic motion mechanism of the first end body segment and the second end body segment is an odd number or an even number.

[0012] Preferably, it further comprises a flexible skin, which is coated on the surface of the worm-like multi-segment crawling robot, and the flexible skin is sealedly connected to the first equipment compartment and the second equipment compartment respectively.

[0013] Preferably, it further includes a supporting beam, the first rotating shaft and the supporting beam are fixedly connected, and the supporting beam is fixedly mounted on the first bracket.

[0014] Preferably, the first driving wheel includes a worm, a bevel gear or a helical gear, and the first driven wheel and the second driven wheel are the first split worm wheel and the second split worm wheel or gear obtained by splitting the same worm wheel from the middle. When the first driven wheel and the second driven wheel are the first split worm wheel and the second split worm wheel obtained by splitting the same worm wheel from the middle, m=n.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) The entire surface of the worm-like multi-segment crawling robot proposed in the present invention can be used as a support, and a large friction or adhesion force can be generated between the robot and the climbing surface, so that the robot can adapt to crawling on surfaces of various materials and various inclination angles.

[0017] (2) The worm-like multi-segment crawling robot proposed in the present invention adopts a multi-segment structure. The first end segment, the middle segment and the second end segment can realize alternating radial and axial extension and contraction. Combined with a bending joint with a self-locking function and two degrees of freedom, the number of segments and degrees of freedom of the robot can be easily expanded. It can imitate the movement mode of worms such as earthworms or inchworms, so that the robot has high flexibility, scalability and adaptability to various environments.

[0018] (3) The worm-like multi-segment crawling robot proposed in the present invention can imitate various movement modes of worms such as earthworms and inchworms. It requires a small movement space, has a large ground contact area, has axisymmetry, adopts a fully sealed flexible skin, requires a small movement space, has no overturning stability problem, has amphibious movement capabilities, and has strong movement capabilities. It can move in complex environments such as various pipelines, ruins or post-disaster sites, small spaces or soft and rugged ground, and in harsh environments such as sand, mud and water. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a worm-like multi-segment crawling robot according to one embodiment of the present application;

[0020] Figure 2 A schematic diagram of a middle body segment of a worm-like multi-segment crawling robot according to one embodiment of the present application;

[0021] Figure 3 A schematic diagram of a bending joint of a worm-like multi-segmented crawling robot according to one embodiment of the present application;

[0022] Figure 4 A schematic diagram of a first end segment of a worm-like multi-segment crawling robot according to one embodiment of the present application;

[0023] Figure 5 A schematic diagram of a second end segment of a worm-like multi-segment crawling robot according to one embodiment of the present application;

[0024] Figure 6 Schematic diagram of a middle body segment of a worm-like multi-segment crawling robot according to another embodiment of the present application Figure 1 ;

[0025] Figure 7 Schematic diagram of a middle body segment of a worm-like multi-segment crawling robot according to another embodiment of the present application Figure 2 ;

[0026] BRIEF DESCRIPTION OF DRAWINGS: 1, end body segment; 2, bending joint; 3, middle body segment; 4, second end body segment; 5, flexible skin; 6, camera; 10, first support; 11, first driving motor; 12, first worm; 13, first split worm wheel; 14, second split worm wheel; 15, support cross beam; 16, first rotating shaft; 17, first connecting rod; 18, slide rod; 19, first rotating hinge; 20, second connecting rod; 21, slide table; 22, second rotating hinge; 23, radial telescopic foot; 24, motor end cover; 25, second support; 26, second driving motor; 27, second worm; 28, third worm wheel; 29, second rotating shaft; 30, connecting arm; 31, first equipment cabin; 32, first battery; 33, second equipment cabin; 34, second battery; 35, control board. DETAILED DESCRIPTION

[0027] The present application will be further described by reference to the following drawings and embodiments. The drawings described are only schematic and the proportions of the parts do not correspond exactly to the dimensions of the actual device, the embodiments are illustrated by way of example only, and multiple embodiments can be devised without departing from the scope of the present application. Reference signs in the claims are not to be construed as limiting the scope of the claims.

[0028] REFERENCE Figures 1-5The embodiments of the present application provide a worm-like multi-segment crawling robot, comprising a first end segment 1, several middle segments 3, a second end segment 4, and a flexible skin 5. Bending joints 2 are provided between the first end segment 1 and its adjacent middle segment 3, between the second end segment 4 and its adjacent middle segment 3, and between two adjacent middle segments 3. The flexible skin 5 covers the surface of the worm-like multi-segment crawling robot. The middle segment 3 includes a first bracket 10, a first drive motor 11, a first driving wheel, several supporting beams 15, n groups of first driven wheels and first sliding assemblies, m groups of second driven wheels and second sliding assemblies, and radially retractable feet 23, where n is an even number and m is ≥ 2. The first bracket 10, the first drive motor 11, the first driving wheel, n first driven wheels and m second driven wheels constitute a circumferentially uniformly distributed parallel driven wheel transmission mechanism, the first drive motor 11 is installed on the first bracket 10 and connected to the first driving wheel to drive the first driving wheel to rotate, the n first driven wheels and m second driven wheels are evenly distributed along the circumferential direction of the first driving wheel, the first driven wheel and the second driven wheel are both engaged with the first driving wheel, and the rotation of the first driving wheel drives the first driven wheel and the second driven wheel to be fixed on the first rotating shaft 16 and rotate around the first rotating shaft 16, the first bracket 10, the first driving wheel, n groups of first driven wheels and the first sliding assembly, m second driven wheels, the second sliding assembly and the radial telescopic foot 23 constitute an axial radial linkage extension Retraction movement mechanism, each first driven wheel is hinged to the corresponding first sliding component, the rotation of the first driven wheel drives the extension or retraction of its corresponding first sliding component, the first sliding components corresponding to the two adjacent first driven wheels are respectively extended or retracted simultaneously along the axial ends of the middle body segment 3 to push or pull back the bending joint 2 connected to the first sliding component, each second driven wheel is hinged to the corresponding second sliding component, each second sliding component is fixedly connected to the corresponding radial telescopic foot 23, the rotation of the second driven wheel drives the extension or retraction of its corresponding second sliding component, and all the second sliding components and the radial telescopic feet 23 are simultaneously extended or retracted along the radial direction of the middle body segment 3, and the first sliding component and the second sliding component are alternately extended and retracted.

[0029] The embodiments of this application are described using n=4 and m=4 as examples. The worm-like multi-segmented crawling robot is constructed from seven segments connected in series: a first end segment 1, two middle segments 3, and a second end segment 4. Adjacent segments are connected by bending joints 2. The end segments and middle segments can mimic the telescopic movement of earthworm segments. The robot coordinates the movement rhythm of the first end segment 1 or the second end segment 4 with the middle segment 3 to form a peristaltic motion pattern, thereby propelling the robot forward. The bending joints 2 have two degrees of freedom, enabling the robot to turn in multiple directions. The robot is externally mounted with a flexible skin 5 made of a material such as rubber. The radially telescopic foot of each segment is secured to the flexible skin 8 by screws. The shape of the flexible skin 8 between the fixed points changes with the robot's movement. The flexible skin 8 also isolates the robot's internal components from the outside world, enabling the robot to maneuver in harsh environments such as sand, mud, and water. The end segments 1 are equipped with cameras 9 with fill lights for environmental detection. The robot is constructed by connecting multiple body segments in sequence through bending joints, which is the same as the body of worms such as earthworms, which are constructed by connecting multiple body segments in series. In other embodiments, n and m can be other values, which are set according to specific circumstances. The first sliding component acts as an axially retractable push rod. Since each push rod is offset from the middle axis, in order to balance the thrust, a group (one direction) of at least 2 push rods. If the structural space allows, multiple push rods can be arranged in a balanced manner, as long as they are evenly spaced along the circumference. If there are 3 push rods, they are spaced 120 degrees apart. If there are 4 push rods, they are spaced 90 degrees apart, and so on.

[0030] Specifically, refer to Figure 2When n=4 and m=4, the middle segment 3 has four sets of first driven wheels, second driven wheels, first sliding assemblies, second sliding assemblies, support beams 15, and radial telescopic feet 23. That is, it includes four first driven wheels, four second driven wheels, four first sliding assemblies, four second sliding assemblies, and four radial telescopic feet 23. The first bracket 10, the first drive motor 11, the first driving wheel, four sets of first driven wheels, second driven wheels, support beams 15, and the first rotating shaft 16 together constitute a circumferentially uniformly distributed parallel worm gear transmission mechanism. The first drive motor 11 is fixedly mounted in the internal cavity of the bracket by the motor end cover 24. The output shaft of the first drive motor 11 is connected to the first driving wheel to drive the first driving wheel to rotate. The four support beams 15 are evenly fixed in the slots of the first bracket 10 along the circumference of the first driving wheel. The first rotating shaft 16 is fixedly connected to the middle of the support beam 15. In this embodiment, the first driving gear is a first worm 12, and the first and second driven gears are first and second split worm gears 13, 14, which are obtained by splitting the same worm gear meshing with the first driving gear from the middle. The first and second split worm gears 13, 14 form a group of split worm gears. The group of split worm gears shares a first rotating shaft 16 and a supporting beam 15. The first and second split worm gears 13, 14 rotate about the first rotating shaft 16. The first and second split worm gears 13, 14 can be arranged relative to each other and mesh with the first worm 12 at the same time. A total of four groups of split worm gears are evenly distributed along the circumference of the first worm 12 and mesh with the first worm 12 at the same time. In other embodiments, the relative positions of the first and second split worm gears 13, 14 can be adjusted according to actual conditions. It is worth noting that when a group of split worm gears is used, m = n. In other cases, m and n may not be equal.

[0031] In a specific embodiment, the first bracket 10, the first driving wheel, the first driven wheel, the second driven wheel, the support beam 15, the first rotating shaft 16, the first connecting rod 17, the sliding rod 18, the first rotating hinge 19, the second connecting rod 20, the slide 21, the second rotating hinge 22, and the radial telescopic foot 23 constitute an axial-radial linkage telescopic motion mechanism. In each group, the first driven wheel is hinged to the first sliding assembly, the second driven wheel is hinged to the second sliding assembly, and the second sliding assembly is fixedly connected to the radial telescopic foot 23. Specifically, the first sliding assembly includes a first connecting rod 17 and a sliding rod 18. The sliding rod 18 is connected to the adjacent bending joint 2. The first connecting rod 17 and the sliding rod 18 and the first connecting rod 17 and the first driven wheel are connected by a first rotating hinge 19. The sliding rod 18 slides in the first sliding hole of the first bracket 10. In other words, the rotation of the first split worm gear 13 drives the first connecting rod 17 and the sliding rod 18, causing the sliding rod 18 to slide in the first sliding hole of the first bracket 10. Each set of split worm gears drives a slide 18, and two symmetrical slides 18 push the segments connected to them. The second sliding assembly includes a second connecting rod 20 and a slide 21. The slide 21 is fixedly connected to a radially telescopic foot 23. A second rotating hinge 22 connects the second connecting rod 20 and the slide 21, as well as the second connecting rod 20 and the second driven wheel. The slide 21 slides in the second sliding hole of the first bracket 10. The slide 21 and the radially telescopic foot 23 are connected by bolts. Specifically, the rotation of the second split worm gear 14 drives the second connecting rod 20 and the slide 21, causing the slide 21 to slide in the second sliding hole of the first bracket 10 and push the radially telescopic foot 23 to move. Each set of split worm gears drives one slide 21, and each slide 21 pushes one radially telescopic foot 23. The hinge point of the first connecting rod 17 on the first driven wheel and the hinge point of the second connecting rod 20 on the second driven wheel are located circumferentially of the first and second driven wheels, respectively, and the circumferential angles differ by 90 degrees. That is, when the first connecting rod 17 extends, the second connecting rod 20 retracts, and when the first connecting rod 17 retracts, the second connecting rod 20 extends. The position of the first connecting rod 17 on the first split worm gear 13 and the position of the second connecting rod 20 on the second split worm gear 14 differ by 90 degrees, so that when the slide rod 18 extends, the radial telescopic foot 23 retracts, or when the slide rod 18 retracts, the radial telescopic foot 23 extends, thereby mimicking the movement pattern of the earthworm segment. Each first connecting rod 17 that extends in the same direction has the same hinge position on the corresponding first driven wheel, and each second connecting rod 20 has the same hinge position on the corresponding second driven wheel.That is, the hinge positions of the first connecting rod 17 that extends toward one axial end of the middle segment 3 and the first connecting rod 17 that extends toward the other axial end of the middle segment 3 on the first split worm gear 13 differ by 180°. The first connecting rod 17 that extends toward one axial end of the middle segment 3 and the first connecting rod 17 that extends toward the other axial end of the middle segment 3 have the same hinge position on the first split worm gear 13, allowing the four sliding rods 18 to extend or retract simultaneously along the axial direction of the middle segment 3. All second connecting rods 20 have the same relative position on the second split worm gear 14, allowing the four radially retractable feet 23 to extend or retract simultaneously. The sliding rods 18 corresponding to the two adjacent first driven wheels slide in the first sliding holes at both ends of the first bracket 10. Each of the first end segment 1, middle segment 3, and second end segment 4 is independently controlled by its corresponding first drive motor 11, thereby enabling the coordinated movement rhythm of each segment to mimic the peristaltic motion pattern of an earthworm.

[0032] In a specific embodiment, the bending joint 2 includes a second bracket 25, two sets of second drive motors 26, a second driving wheel, a third driven wheel, and a connecting arm 30. The second drive motor 26 is mounted in the internal cavity of the second bracket 25. The output shaft of the second drive motor 26 is connected to the second driving wheel to drive the second driving wheel to rotate. The third driven wheel is fixedly mounted on a second rotating shaft 29 and meshes with the second driving wheel. The second rotating shaft 29 passes through a support hole on the second bracket 25 and is fixedly connected to the connecting arm 30. The connecting arm 30 is fixedly connected to the slide bar 18. The axes of the two sets of second rotating shafts 29 are perpendicular to each other. In the embodiment of the present application, the second driving wheel is a second worm 27 and the third driven wheel is a third worm gear 28 as an example. The bending joint 2 mainly consists of the second bracket 25, the second drive motor 26, the second worm 27, the third worm gear 28, the second rotating shaft 29, and the connecting arm 30. The second drive motor 26 is fixedly mounted in the internal cavity of the second bracket 25. The output shaft of the second drive motor 26 is connected to the second worm 27 to drive the second worm 27 to rotate. The third worm gear 28 is fixedly mounted on the second rotating shaft 29 and meshes with the second worm 27. The second rotating shaft 29 is fixed to the connecting arm 30 through the support hole on the second bracket 25. The connecting arm 30 is fixed to the slide bar 18 by bolts. The second drive motor 26 drives the connecting arm 30 to rotate around the second rotating shaft 29 through the worm transmission system. The bending joint 2 shares two sets of second drive motors 26, second worm 27, third worm gears 28, second rotating shaft 29 and connecting arm 30, wherein the axes of the two second rotating shafts 29 are perpendicular to each other, thereby forming a bending mechanism with two degrees of freedom. The bending joint 2 can imitate the bending of the body of the inchworm during movement, thereby imitating the movement pattern of the inchworm. At the same time, due to the use of the worm transmission system, the bending joint 2 has self-locking ability. In other embodiments, the second driving wheel can also be a bevel gear or a helical gear, and the third driven wheel is a gear that cooperates with the bevel gear or the helical gear.

[0033] In a specific embodiment, the first end segment 1 includes a circumferentially uniformly distributed parallel driven wheel transmission mechanism, an axial radial linkage telescopic motion mechanism, and a first equipment compartment 31, one end of which is not provided with a first sliding component. One end of the first end segment 1 is connected to one end of the first equipment compartment 31. A camera 6 with a fill light is mounted on the surface of the other end of the first equipment compartment 31. A first battery 32 is installed in the card slot of the first equipment compartment 31. The second end segment 4 includes a circumferentially uniformly distributed parallel driven wheel transmission mechanism, an axial radial linkage telescopic motion mechanism, and a second equipment compartment 33, the other end of which is not provided with a first sliding component. The other end of the second end segment 4 is connected to one end of the second equipment compartment 33. A second battery 34 and a control board 35 are installed in the card slot of the second equipment compartment 33. Figure 4 and Figure 5The circumferentially uniformly distributed parallel worm gear transmission mechanism and the axial radial linkage telescopic motion mechanism of the first end segment 1 are the same as those of the middle segment 3. The difference is that only at one end of the first end segment 1 are there a sliding rod 18 and the corresponding first rotating hinge 19 and the first connecting rod 17, while the other end of the first end segment 1 does not have a sliding rod 18 and the corresponding first rotating hinge 19 and the first connecting rod 17. The other end of the first end segment 1 is connected to one end of the first equipment compartment 31 by bolts. A camera 6 is installed on the surface of the other end of the first equipment compartment 31, and the camera 6 may be equipped with a fill light. A first battery 32 is installed in the card slot in the first equipment compartment 31. The first equipment compartment 31 is sealed with the flexible skin 5 through surface grooves and screws. The circumferentially uniformly distributed parallel worm gear transmission mechanism and the axial radial linkage telescopic motion mechanism of the second end body segment 4 are the same as those of the middle body segment 3. The difference is that only the other end of the second end body segment 4 has a sliding rod 18 and the corresponding first rotating hinge 19 and the first connecting rod 17, while one end of the second end body segment 4 does not have a sliding rod 18 and the corresponding first rotating hinge 19 and the first connecting rod 17. One end of the second end body segment 4 is connected to one end of the second equipment compartment 33 by a bolt. A second battery 34 and a control board 35 are installed in the card slot in the second equipment compartment 33. The second equipment compartment 33 is sealed with the flexible skin 5 by surface grooves and screws. It is worth noting that n in the axial radial linkage telescopic motion mechanism of the first end body segment 1 and the second end body segment 4 can be an odd number or an even number, because only one end needs to be telescoped.

[0034] In other embodiments, the first driving wheel can also be a bevel gear or a helical gear that can realize the transmission mode of orthogonal axes. The first driven wheel and the second driven wheel are gears that cooperate with the bevel gear or the helical gear. The transmission mode of orthogonal axes includes worm gear transmission, bevel gear transmission or helical gear transmission. The common point is that the first driven wheel and the second driven wheel are arranged in the space along the first driving wheel, and the arrangement and connection method of the slide rod 18 relative to the gear are the same.

[0035] The circumferentially uniformly distributed parallel driven wheel transmission mechanism and the axial radially linked telescopic motion mechanism proposed in the embodiments of the present application can form an orthogonal 2+m-directional columnar cooperative telescopic mechanism. The following uses m=4 as an example. If m=4, the circumferentially uniformly distributed parallel driven wheel transmission mechanism and the axial radially linked telescopic motion mechanism form an orthogonal six-directional columnar cooperative telescopic mechanism. The characteristics of this orthogonal six-directional columnar cooperative telescopic mechanism include:

[0036] (1) Only one drive motor is required to achieve coordinated telescopic motion in six directions.

[0037] (2) The six stretching directions are divided into three groups, each group consisting of two parallel and opposite directions. One of the three groups of directions is along the axis of the cylindrical middle body segment 3, and the other two groups are perpendicular to the axis of the cylindrical middle body segment 3. The directions of the groups are perpendicular to each other.

[0038] (3) The telescopic movements in the three directions are coordinated according to a given law of motion. The telescopic movements in the two directions perpendicular to the cylindrical axis are identical, i.e., they extend or retract simultaneously. The telescopic movements along the cylindrical axis are opposite to those along the direction perpendicular to the cylindrical axis, i.e., if the movement extends in the axial direction, it retracts in the direction perpendicular to the axial direction, and vice versa. The above-mentioned six-way coordinated telescopic mechanism cannot be achieved by using a conventional worm drive alone.

[0039] Furthermore, the six-way coordinated telescopic mechanism of the embodiment of the present application is a coupled three-dimensional spatial mechanism consisting of a worm, a worm wheel, a connecting rod, and a sliding rod. Its characteristics lie in the spatial arrangement of the worm wheel and the sliding rod, the specific size and shape requirements of the worm and worm wheel, and the connection position and method of the connecting rod and the worm wheel, including:

[0040] (1) The first split worm gear and the second split worm gear are evenly arranged along the circumferential direction of the first worm, and the sliding rod is arranged along three groups of mutually orthogonal telescopic directions.

[0041] (2) The diameter of the first worm is larger than that of the worm in a general worm gear transmission (in this embodiment, the diameter of the first worm is equal to the diameter of the first split worm wheel or the second split worm wheel), and the axial tooth profile of the first split worm wheel or the second split worm wheel is an arc-shaped tooth profile that circumferentially envelopes the worm.

[0042] (3) The first connecting rod and the first split worm gear, the second connecting rod and the second split worm gear, and the first connecting rod and the sliding rod are all connected by a rotating hinge. The connection position between the first connecting rod and the first split worm gear and the connection position between the second connecting rod and the second split worm gear are close to the worm gear tooth top circle. The relationship between the motion phases of the sliding rods connecting different worm gears is determined by the connection position of the connecting rod and the worm gear. Taking the common perpendicular line of the axis of the first worm gear and the first split worm gear or the second split worm gear as the consistent position reference of different worm gears, the radian difference of the connection position of different connecting rods on the worm gear along the circumference of the worm gear is the difference in the motion phase of the sliding rod corresponding to the different connecting rod connection positions. According to the above relationship, the connection position of the connecting rod corresponding to the sliding rod along the axis direction of the cylindrical middle body segment 3 and perpendicular to the axis direction of the cylindrical middle body segment 3 is set on the worm gear, so as to realize the coordinated telescopic motion in six directions according to the given motion law.

[0043] As an example, in another embodiment, reference Figure 6 and Figure 7The four groups of split worm gears in the middle segment can be replaced by eight complete thin worm gears evenly distributed along the circumference of the first worm 12 and simultaneously meshing with the first worm 12. The thin worm gears in the four directions of up, down, left, and right control the simultaneous extension or retraction of four radial telescopic feet 23 through the second rotating hinge 22 and the second connecting rod 20. The other two opposing worm gears in the other four worm gears control the simultaneous extension or retraction of two sliding rods 18 in one axial direction through the first rotating hinge 19 and the first connecting rod 17.

[0044] The above embodiments are only used to further illustrate the technical solutions of the present invention, but the present invention is not limited to the embodiments. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention fall within the protection scope of the technical solutions of the present invention.

Claims

1. A worm-like multi-segment crawling robot, characterized by: The invention comprises a first end body segment, a plurality of middle body segments and a second end body segment, a bending joint is provided between the first end body segment and its adjacent middle body segment, between the second end body segment and its adjacent middle body segment, and between two adjacent middle body segments, the middle body segment comprises a first bracket, a first driving motor, a first driving wheel, n groups of first driven wheels and a first sliding assembly, and m groups of second driven wheels, a second sliding assembly and a radial telescopic foot, wherein n≥2, and n is an even number, m≥2, the first bracket, the first driving motor, the first driving wheel, n first driven wheels and m second driven wheels constitute a circumferentially uniformly distributed parallel driven wheel transmission mechanism, the first driving motor is mounted on the first bracket and connected to the first driving wheel to drive the first driving wheel to rotate, the n first driven wheels and the m second driven wheels are evenly distributed along the circumferential direction of the first driving wheel, the first driven wheel and the second driven wheel are both engaged with the first driving wheel, and the rotation of the first driving wheel drives the first driven wheel and the second driven wheel The wheel is fixed on the first rotating shaft and rotates around the first rotating shaft, the first bracket, the first driving wheel, n groups of first driven wheels and first sliding components and m groups of second driven wheels, second sliding components and radial telescopic feet constitute an axial-radial linkage telescopic motion mechanism, each of the first driven wheels is hinged to the corresponding first sliding component, the rotation of the first driven wheel drives the extension or retraction of its corresponding first sliding component, the first sliding components corresponding to the two adjacent first driven wheels are respectively extended or retracted simultaneously along the axial ends of the middle body segment to push or pull back the bending joint connected to the first sliding component, each of the second driven wheels is hinged to the corresponding second sliding component, and each of the second sliding components is fixedly connected to the corresponding radial telescopic foot, the rotation of the second driven wheel drives the extension or retraction of its corresponding second sliding component, and all the second sliding components and radial telescopic feet are simultaneously extended or retracted along the radial direction of the middle body segment, and the first sliding component and the second sliding component are alternately extended and retracted.

2. The worm-like multi-segment crawling robot according to claim 1, characterized in that: The first sliding assembly includes a first connecting rod and a sliding rod, the sliding rod is connected to an adjacent bending joint, the first connecting rod and the sliding rod, as well as the first connecting rod and the first driven wheel are connected by a first rotating hinge, and the sliding rod slides in the first sliding hole of the first bracket; the second sliding assembly includes a second connecting rod and a sliding table, the sliding table is fixedly connected to the radial telescopic foot, the second connecting rod and the sliding table, as well as the second connecting rod and the second driven wheel are connected by a second rotating hinge, and the sliding table slides in the second sliding hole of the first bracket.

3. The worm-like multi-segment crawling robot according to claim 2, characterized in that: The hinge position of the first connecting rod on the first driven wheel and the hinge position of the second connecting rod on the second driven wheel are respectively located on the circumference of the first driven wheel and the second driven wheel, and the circumferential angles differ by 90°; each of the first connecting rods that extend in the same direction has the same hinge position on the corresponding first driven wheel, the hinge position of the first connecting rod that extends toward one axial end of the middle body segment and the hinge position of the first connecting rod that extends toward the other axial end of the middle body segment on the first driven wheel differ by 180°, and the hinge position of each second connecting rod on the corresponding second driven wheel is the same.

4. The worm-like multi-segment crawling robot according to claim 2, characterized in that: The sliding rods corresponding to the two adjacent first driven wheels slide in the first sliding holes at both ends of the first bracket respectively.

5. The worm-like multi-segment crawling robot according to claim 2, characterized in that: The bending joint includes a second bracket, two groups of second drive motors, a second driving wheel, a third driven wheel and a connecting arm. The second drive motor is installed in the internal cavity of the second bracket. The output shaft of the second drive motor is connected to the second driving wheel to drive the second driving wheel to rotate. The third driven wheel is fixedly mounted on the second rotating shaft and meshes with the second driving wheel. The second rotating shaft passes through the support hole on the second bracket and is fixedly connected to the connecting arm. The connecting arm is fixedly connected to the sliding rod. The axes of the two groups of second rotating shafts are perpendicular to each other.

6. The worm-like multi-segment crawling robot according to claim 5, characterized in that: The second driving wheel includes a worm, a bevel gear or a helical gear, and the third driven wheel includes a gear.

7. The worm-like multi-segment crawling robot according to claim 1, characterized in that: The first end body segment includes a circumferentially uniformly distributed parallel driven wheel transmission mechanism, an axial-radial linkage telescopic motion mechanism and a first equipment cabin, one end of which is not provided with the first sliding component. One end of the first end body segment is connected to one end of the first equipment cabin, and a camera with a fill light is installed on the surface of the other end of the first equipment cabin. A first battery is installed in the card slot of the first equipment cabin. The second end body segment includes a circumferentially uniformly distributed parallel driven wheel transmission mechanism, an axial-radial linkage telescopic motion mechanism and a second equipment cabin, the other end of which is not provided with the first sliding component. The other end of the second end body segment is connected to one end of the second equipment cabin, and a second battery and a control board are installed in the card slot of the second equipment cabin. n in the axial-radial linkage telescopic motion mechanism of the first end body segment and the second end body segment is an odd number or an even number.

8. The worm-like multi-segment crawling robot according to claim 7, characterized in that: It also includes a flexible skin, which is covered on the surface of the worm-like multi-segment crawling robot, and the flexible skin is sealed and connected to the first equipment compartment and the second equipment compartment respectively.

9. The worm-like multi-segment crawling robot according to claim 1, characterized in that: It also includes a supporting beam, the first rotating shaft and the supporting beam are fixedly connected, and the supporting beam is fixedly installed on the first bracket.

10. The worm-like multi-segment crawling robot according to claim 1, characterized in that: The first driving wheel includes a worm, a bevel gear or a helical gear, and the first driven wheel and the second driven wheel are the first split worm wheel and the second split worm wheel or gears obtained by splitting the same worm wheel from the middle. When the first driven wheel and the second driven wheel are the first split worm wheel and the second split worm wheel obtained by splitting the same worm wheel from the middle, m=n.

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