Snakelike robot walking structure

Abstract

The utility model discloses a snakelike robot walking structure, and relates to the technical field of robots, the snakelike robot walking structure comprises a first moving module on the leftmost side and a second moving module on the rightmost side, one end of the first moving module is provided with three rotating modules, and two steering modules are arranged between every two adjacent rotating modules; a second moving module is mounted at the right end of the rotating module on the rightmost side, a plurality of through holes are formed in the surfaces of the first moving module and the second moving module, a moving wheel is rotationally connected to the interior of each through hole, and the moving wheels are divided into two groups; the two sets of moving wheels are located on the left side and the right side of the first moving module or the second moving module correspondingly. According to the snakelike robot, a series of structures are arranged, and the steering module, the rotating module, the first moving module and the second moving module are used in cooperation, so that the snakelike robot can move back and forth, roll and steer on different terrain surfaces, and the snakelike robot is more flexible and changeable.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a snake-like robot walking structure. Background Technology

[0002] Snake robots are a new type of biomimetic robot that can mimic the movement of a snake. Because they can achieve "limbless movement" like a living organism, they are known in the international robotics industry as "the most realistic robot".

[0003] Existing snake robots can perform well in complex environments and terrains, and they generally achieve their movement function by connecting multiple motion modules. However, many snake robots only have a single movement function, and the connection method between multiple motion modules is relatively simple, making it difficult for snake robots to perform more complex movements. Utility Model Content

[0004] The purpose of this invention is to provide a snake-like robot walking structure to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a snake-like robot walking structure, comprising a first moving module on the far left and a second moving module on the far right. Three rotating modules are installed at one end of the first moving module, and two steering modules are installed between two adjacent rotating modules. The second moving module is installed at the right end of the rightmost rotating module. Multiple through holes are provided on the surfaces of both the first and second moving modules. A moving wheel is rotatably connected inside each through hole. The multiple moving wheels are divided into two groups, and the two groups of moving wheels are located on the left and right sides of the first or second moving module, respectively. Cavities are provided inside the first moving module, the second moving module, the steering module, and the rotating module.

[0006] Preferably, each of the moving wheels is equipped with a first helical gear on both sides, and a second helical gear is meshed with the outer side of any one of the first helical gears. A rotating shaft is installed at the end of each of the second helical gears away from the moving wheel, and a driven gear is installed at the other end of the rotating shaft. The inner sides of the multiple driven gears are meshed with a driving gear, and a second driving device is installed at the end of the driving gear away from the moving wheel.

[0007] Preferably, the driven gear is rotatably connected to a support shaft at the end away from the moving wheel, and a support disk is mounted on the other end of multiple support shafts. The side of the support disk is fixedly connected to the inner wall of the first or second moving module, and the end of the support disk near the moving wheel is connected to the second drive device.

[0008] Preferably, two second mounting plates are symmetrically installed on the left end of both the steering module and the rotation module, and two first mounting plates are symmetrically installed on the right end of both the steering module and the rotation module. A third driving device is installed on the upper end of the lower first mounting plate, and a main shaft is installed on both the upper and lower ends of the third driving device. The two main shafts pass through the second mounting plate and the first mounting plate in sequence.

[0009] Preferably, the surface of the first mounting plate has a through hole, the surface of the second mounting plate has a slot, and two locking blocks are symmetrically installed on both sides of the spindle. The height of the locking blocks is the same as the thickness of the second mounting plate, and the two locking blocks and the slot cooperate with each other.

[0010] Preferably, the rotating module includes a rotating ring, a first connecting module, a second connecting module, an annular groove, a first driving device, an annular slider, and a connecting disk. Two second mounting plates are installed on the left side of the first connecting module and connected to a steering module. Two first mounting plates are installed on the right side of the second connecting module and connected to another steering module. An annular groove is provided on the right side of the first connecting module and the left side of the second connecting module. A rotating ring is rotatably connected to the inner sides of the first and second connecting modules. An annular slider matching the annular groove is installed on both the left and right sides of the rotating ring. A connecting disk is fixedly installed on the inner side of the rotating ring. A first driving device is installed on one side of the connecting disk, and the first driving device is fixedly installed inside the first connecting module.

[0011] Preferably, both sides of the first moving module, the second moving module, the steering module, and the rotating module are equipped with annular arc-shaped protective plates.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] This snake-like robot's walking structure features multiple through holes on the surfaces of the first and second moving modules. Rotating wheels are connected inside these holes, allowing the wheels to rotate within the holes under external force. Two sets of wheels on the surfaces of the first and second moving modules enable the snake-like robot to move in any direction, forward or backward. A rotating module installed between the first and second moving modules allows the snake-like robot to roll on the ground. Multiple steering modules meet the steering needs between different modules of the snake-like robot. The steering module, rotating module, first moving module, and second moving module work together to enable the snake-like robot to move forward and backward, roll, and turn on various terrain surfaces, making it more flexible and versatile. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0015] Figure 2 This is a schematic diagram of the connection structure of multiple movable wheels according to this utility model;

[0016] Figure 3 This utility model Figure 1 Enlarged view of A in the middle;

[0017] Figure 4 This is a schematic diagram of the steering module of this utility model;

[0018] Figure 5 This is a schematic diagram of the structure of the rotating module of this utility model.

[0019] In the diagram: 1. First moving module; 2. Rotating module; 201. Rotating ring; 202. First connecting module; 203. Second connecting module; 204. Annular groove; 205. First driving device; 206. Annular slider; 207. Connecting disc; 3. Steering module; 4. Second moving module; 5. Moving wheel; 6. First helical gear; 7. Second helical gear; 8. Rotating shaft; 9. Driven gear; 10. Driving gear; 11. Support shaft; 12. Second driving device; 13. Support disc; 14. Arc-shaped protective plate; 15. Third driving device; 16. First mounting plate; 17. Second mounting plate; 18. Main shaft; 19. Slot; 20. Through hole; 21. Locking block. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] like Figures 1 to 5As shown, the snake-like robot walking structure in this embodiment includes a first moving module 1 on the far left and a second moving module 4 on the far right. The first moving module 1 and the second moving module 4 function as movement modules. It should be noted that users can install other external structures on the outside of the first moving module 1 and the second moving module 4 as needed. Three rotating modules 2 are installed at one end of the first moving module 1. These three rotating modules 2 do not contact each other and function as rotation modules. The rotation direction of the rotating modules 2 is perpendicular to the movement direction of the first moving module 1 and the second moving module 4. Two rotating modules are installed between two adjacent rotating modules 2. The steering module 3 and any adjacent module can rotate at a certain angle to meet the turning requirements of the snake robot. A second moving module 4 is installed at the right end of the rightmost rotating module 2. Multiple through holes 20 are formed on the surfaces of both the first moving module 1 and the second moving module 4. Each through hole 20 is rotatably connected to a moving wheel 5. The moving wheels 5 are divided into two groups, located on the left and right sides of either the first moving module 1 or the second moving module 4. Cavities are formed inside the first moving module 1, the second moving module 4, the steering module 3, and the rotating module 2. Any two sets of moving wheels 5 on the surface of module 1 or the second moving module 4 can rotate, thereby driving the snake robot to move. The first moving module 1 or the second moving module 4 is located on the left and right sides of the snake robot, allowing the snake robot to move arbitrarily in two directions, increasing the robot's versatility. Multiple rotating modules 2 installed between the first moving module 1 or the second moving module 4 can make the snake robot roll on the ground. The steering module 3, rotating module 2, first moving module 1 and second moving module 4 work together to enable the snake robot to move forward and backward, roll and turn on different terrain surfaces, making it more flexible and versatile. It should be noted that the outermost edge of the moving wheel 5 is flush with the outermost edge of the rotating module 2, so that when the moving wheel 5 rotates, the outermost edge of the rotating module 2 is in contact with the ground, and when the rotating module 2 rotates, the moving wheel 5 is also in contact with the ground. There is a certain degree of mutual influence between them. An external control program is needed to control the moving wheel 5, rotating module 2 and steering module 3 to work together to further reduce mutual interference and influence. It should be noted that each steering module 3 has a detachable mobile power supply installed inside to provide power support for the snake robot.

[0023] Specifically, each movable wheel 5 has a first helical gear 6 installed on both sides. A second helical gear 7 is meshed with the outer side of any one of the first helical gears 6. A rotating shaft 8 is installed at the end of each of the second helical gears 7 away from the movable wheel 5. A driven gear 9 is installed at the other end of the rotating shaft 8. A driving gear 10 is meshed with the inner side of the driven gears 9. A second drive device 12 is installed at the end of the driving gear 10 away from the movable wheel 5. The second drive device 12 can drive the driving gear 10 to rotate. The driving gear 10 drives the driven gears 9 to rotate. The driven gears 9 drive the second helical gears 7 to rotate. The second helical gears 7 drive the first helical gears 6 to rotate. The first helical gears 6 will rotate synchronously with the movable wheel 5. It should be noted that each second helical gear 7 only meshes with one first helical gear 6. Therefore, the multiple second helical gears 7 will rotate in the same direction under the influence of the driving gear 10. The multiple first helical gears 6 and the movable wheel 5 will also rotate in the same direction under the influence of the second helical gears 7.

[0024] Furthermore, the driven gear 9 is rotatably connected to a support shaft at the end away from the moving wheel 5, and a support disc 13 is mounted on the other end of multiple support shafts 11. The side of the support disc 13 is fixedly connected to the inner wall of the first moving module 1 or the second moving module 4, and the end of the support disc 13 near the moving wheel 5 is connected to the second drive device 12. The support disc 13 is fixedly connected to the inner wall of the first moving module 1 or the second moving module 4, and at the same time provides support for the second drive device 12, multiple support shafts 11 and driven gear 9.

[0025] Furthermore, two second mounting plates 17 are symmetrically installed on the left ends of both the steering module 3 and the rotation module 2, and two first mounting plates 16 are symmetrically installed on the right ends of both the steering module 3 and the rotation module 2. A third drive device 15 is installed on the upper end of the lower first mounting plate 16. A main shaft 18 is installed at both the upper and lower ends of the third drive device 15. The two main shafts 18 pass through the second mounting plate 17 and the first mounting plate 16 in sequence. The surface of the first mounting plate 16 has through holes 20, and the surface of the second mounting plate 17 has slots 19. Two locking blocks 21 are symmetrically installed on both sides of the main shafts 18. The height of the locking blocks 21 is the same as the thickness of the second mounting plate 17. The two locking blocks 21 and the slots 19 When used in conjunction with each other, during installation, the main shafts 18 at the upper and lower ends of the third drive device 15 are sequentially inserted into the interior of the second mounting plate 17 and the first mounting plate 16. When the main shaft 18 passes through the second mounting plate 17, the locking blocks 21 on both sides of the main shaft 18 will engage with the locking grooves 19 opened on the surface of the second mounting plate 17. The end of the main shaft 18 will be rotatably connected to the through hole 20 on the surface of the first mounting plate 16. This allows the third drive device 15 to drive the two main shafts 18 to rotate, thereby driving the two second mounting plates 17 and other modules connected to the second mounting plates 17 to rotate, while the modules connected to the first mounting plate 16 will not rotate, thus completing the steering function between the two different modules.

[0026] Furthermore, the rotating module 2 includes a rotating ring 201, a first connecting module 202, a second connecting module 203, an annular groove 204, a first driving device 205, an annular slider 206, and a connecting disk 207. Two second mounting plates 17 are installed on the left side of the first connecting module 202 and connected to a steering module 3. Two first mounting plates 16 are installed on the right side of the second connecting module 203 and connected to another steering module 3. An annular groove 204 is provided on the right side of the first connecting module 202 and the left side of the second connecting module 203. A rotating ring 201 is rotatably connected to the inner sides of the first connecting module 202 and the second connecting module 203. An annular slider 206 matching the annular groove 204 is installed on both the left and right sides of the rotating ring 201. A connecting disk 207 is fixedly installed on the inner side of the rotating ring 201. A first driving device 205 is installed on one side of the connecting disk 207. The first driving device 205 is fixedly installed inside the first connecting module 202. The first driving device 205 is fixed under the support of the connecting disk 207. The first driving device 205 drives the connecting disk 207 to rotate, and the connecting disk 207 drives the rotating ring 201 to rotate. The rotating ring 201 is rotatably connected to the first connecting module 202 and the second connecting module 203 through the annular sliders 206 installed on the left and right sides, so that when the rotating ring 201 rotates, the first connecting module 202 and the second connecting module 203 will not rotate synchronously. The first moving module 1, the second moving module 4, the steering module 3 and the rotating module 2 are all equipped with annular arc-shaped protective plates 14 on both sides. The arc-shaped protective plates 14 can reduce the impact of complex underground conditions on the internal modules of the snake robot to a certain extent.

[0027] The usage method of this embodiment is as follows: During installation, the main shafts 18 at both ends of the third drive device 15 are sequentially inserted into the interiors of the second mounting plate 17 and the first mounting plate 16. When the main shaft 18 passes through the second mounting plate 17, the locking blocks 21 on both sides of the main shaft 18 will engage with the slots 19 opened on the surface of the second mounting plate 17. The end of the main shaft 18 will be rotatably connected to the through hole 20 on the surface of the first mounting plate 16. This allows the third drive device 15 to drive the two main shafts 18 to rotate, which in turn drives the two second mounting plates 17 and other modules connected to the second mounting plates 17 to rotate. However, the modules connected to the first mounting plate 16 will not rotate, thus completing the steering function between the two different modules. This is achieved through the openings on the surfaces of the first moving module 1 and the second moving module 4. Multiple through holes 20 are provided, and movable wheels 5 are rotatably connected inside the through holes 20. The movable wheels 5 can rotate inside the through holes 20 under the action of external force. Two sets of movable wheels 5 are installed on the surfaces of the first moving module 1 and the second moving module 4, which can drive the snake robot to move in any direction in the forward and backward direction. The rotating module 2 installed between the first moving module 1 and the second moving module 4 can drive the snake robot to roll on the ground. Multiple steering modules 3 can meet the steering needs between multiple different modules of the snake robot. The steering module 3, rotating module 2, first moving module 1 and second moving module 4 work together to enable the snake robot to move forward and backward, roll and turn on different terrain surfaces, making it more flexible and versatile.

[0028] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A snake-like robot walking structure, comprising a leftmost first moving module (1) and a rightmost second moving module (4), characterized in that: Three rotating modules (2) are installed at one end of the first moving module (1), and two steering modules (3) are installed between two adjacent rotating modules (2). A second moving module (4) is installed at the right end of the rightmost rotating module (2). Multiple through holes (20) are opened on the surface of the first moving module (1) and the second moving module (4). A moving wheel (5) is rotatably connected inside each through hole (20). The multiple moving wheels (5) are divided into two groups. The two groups of moving wheels (5) are located on the left and right sides of the first moving module (1) or the second moving module (4) respectively. A cavity is opened inside the first moving module (1), the second moving module (4), the steering module (3) and the rotating module (2).

2. The snake-like robot walking structure according to claim 1, characterized in that: Each of the moving wheels (5) is equipped with a first helical gear on both sides. A second helical gear is meshed with the outer side of any one of the first helical gears. A rotating shaft (8) is installed at the end of the multiple second helical gears away from the moving wheel (5). A driven gear (9) is installed at the other end of the rotating shaft (8). A driving gear (10) is meshed with the inner side of the multiple driven gears (9). A second driving device (12) is installed at the end of the driving gear (10) away from the moving wheel (5).

3. The snake-like robot walking structure according to claim 2, characterized in that: The driven gear (9) is rotatably connected to a support shaft (11) at one end away from the moving wheel (5). The other ends of the multiple support shafts (11) are jointly mounted on a support disc (13). The side of the support disc (13) is fixedly connected to the inner wall of the first moving module (1) or the second moving module (4). The end of the support disc (13) near the moving wheel (5) is connected to the second drive device (12).

4. The snake-like robot walking structure according to claim 1, characterized in that: Two second mounting plates (17) are symmetrically installed on the left end of both the steering module (3) and the rotation module (2). Two first mounting plates (16) are symmetrically installed on the right end of both the steering module (3) and the rotation module (2). A third drive device (15) is installed on the upper end of the first mounting plate (16). A main shaft (18) is installed on both the upper and lower ends of the third drive device (15). The two main shafts (18) pass through the second mounting plate (17) and the first mounting plate (16) in sequence.

5. The snake-like robot walking structure according to claim 4, characterized in that: The surface of the first mounting plate (16) is provided with a through hole (20), and the surface of the second mounting plate (17) is provided with a slot (19). Two locking blocks (21) are symmetrically installed on both sides of the spindle (18). The height of the locking block (21) is the same as the thickness of the second mounting plate (17). The two locking blocks (21) and the slot (19) cooperate with each other.

6. The snake-like robot walking structure according to claim 1, characterized in that: The rotating module (2) includes a rotating ring (201), a first connecting module (202), a second connecting module (203), an annular groove (204), a first driving device (205), an annular slider (206), and a connecting disc (207). Two second mounting plates (17) are installed on the left side of the first connecting module (202) and connected to a steering module (3). Two first mounting plates (16) are installed on the right side of the second connecting module (203) and connected to another steering module (3). The right side of the first connecting module (202) and the second connecting module (203) are connected to each other. On the left side of each of the first connecting module (202) and the second connecting module (203), a rotating ring (201) is rotatably connected to the inner side of the first connecting module (202). On the left and right sides of the rotating ring (201), a ring slider (206) matching the annular groove (204) is installed. A connecting disc (207) is fixedly installed on the inner side of the rotating ring (201). A first driving device (205) is installed on one side of the connecting disc (207). The first driving device (205) is fixedly installed inside the first connecting module (202).

7. The snake-like robot walking structure according to claim 1, characterized in that: Both sides of the first moving module (1), the second moving module (4), the steering module (3) and the rotating module (2) are equipped with annular arc-shaped protective plates (14).

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