CN103612683B - A kind of crawler-type multi-joint snakelike robot - Google Patents

Abstract

The invention provides a crawler-type multi-joint snake-like robot. Including joint module, drive module and connection module. The joint module includes three "V"-shaped side plates, and three wheel axles are installed between two adjacent side plates to connect the three "V"-shaped side plates to form an equilateral triangle distribution. Two axles are fixedly installed on each wheel axle. Two crawler wheels are formed on the three axles, and a track is installed on each row of crawler wheels, and a joint sprocket is fixedly installed on a wheel axle at the end. The drive module is installed inside the joint module, and the connection module is located between two adjacent joint modules. A worm frame of the drive module is connected with a part of the connection plate frame of the connection module to realize the connection between the two joint modules. The drive module Chain transmission between the driving sprocket and the joint sprocket of the joint module. The invention has good stability and strong ground adaptability, and is suitable for the fields of disaster rescue, detection, fire protection, transportation, space exploration and the like.

Description

A crawler-type multi-joint snake-like robot

technical field

The invention relates to a robot, in particular to a crawler-type multi-joint snake-like robot.

Background technique

Snake-shaped robots have the characteristics of strong ground adaptability, good stability, and flexible structure. They can walk in various complex terrains and have strong obstacle-surmounting capabilities. At present, many snake-like robots with different structures have been researched at home and abroad, but most of the existing snake-like robots only realize two-dimensional motion, and are difficult to adapt to the three-dimensional work space. A Snake Robot with Ground Adaptability", and the design in the "Modular Variable Structure Snake Robot" disclosed in the patent document No. 02280911.2 has a certain three-dimensional motion capability, but its single connection module only has The two-dimensional movement form cannot realize three-dimensional movement at the same time. Moreover, current snake-shaped robots also have shortcomings such as insufficient power, which greatly limits the practical application of snake-shaped robots.

Contents of the invention

The object of the present invention is to provide a crawler-type multi-joint snake robot with strong ground adaptability and three-dimensional space operation ability.

The purpose of the present invention is achieved like this:

Including joint module, drive module and connection module;

The joint module includes three "V"-shaped side plates, and three wheel axles are installed between two adjacent side plates to connect the three "V"-shaped side plates to form an equilateral triangle distribution. Two axles are fixedly installed on each wheel axle. Two crawler wheels, two rows of crawler wheels are formed on three axles, crawler tracks are installed on each row of crawler wheels, and a joint sprocket is fixedly installed on a wheel axle at the end;

The drive module includes a drive motor, two worm racks, and three drive gear racks. The two worm racks are respectively fixed on the two ends of the three drive gear racks to form a supporting frame distributed in an equilateral triangle. The worms are installed on the two worm racks. Between them, three worm gears mesh with the worm, each worm gear has a coaxial drive pinion gear, the drive pinion gear meshes with the drive bull gear, and the drive bull gear has a coaxial drive sprocket, the worm gear, drive pinion gear . The driving gear and the driving sprocket are installed on the support frame, and the output shaft of the driving motor is connected with the worm through a coupling;

The connection module is composed of two parts with the same structure, and the structure of one part is: the steering gear is installed on the connecting plate frame through the steering gear frame, and two connecting plate frames are fixedly installed on the steering gear frame to connect the large gear and two The connecting pinion is coaxially installed between the two connecting plates, and the two half gears are respectively installed on the two connecting plates through the half gear shaft. The steering gear is installed on the output shaft of the steering, and the steering gear is connected to the The large gear meshes, the two connecting pinions mesh with the two half gears respectively, the two half gear shafts are connected to the opposite ends of the connecting cross shaft, and the other opposite ends of the connecting cross shaft are connected to the two half gear shafts of the other part join the two parts together;

The drive module is installed inside the joint module, and the connection module is located between two adjacent joint modules. A worm frame of the drive module is connected with a part of the connection plate frame of the connection module to realize the connection between the two joint modules. The drive module Chain transmission between the driving sprocket and the joint sprocket of the joint module.

The present invention may also include:

1. The "V" shaped side panels are made of triangular aluminum alloy panels with an angle of 120 degrees.

2. At least three joint modules are included.

In order to improve the ground adaptability and three-dimensional space operation ability of the snake-like robot, the present invention uses a multi-degree-of-freedom rotatable connection module to connect multiple identical single-degree-of-freedom joint modules, and each joint module has an independent power drive system, thereby A snake-like robot that can move in three-dimensional space is formed. First of all, the robot joint module adopts a triangular prism structure design composed of three identical faces with a regular triangular cross-section, and each side is driven by a crawler, which improves the stability of the robot and the ability to adapt to the ground, and the number of joints can be adjusted according to the actual situation. need to be increased. Secondly, the drive module adopts a multi-turbine co-worm structure design, and each surface of the joint module has power output at the same time, ensuring that the robot has sufficient driving force. Thirdly, the connecting joint is designed with a gear structure and driven by a steering gear, which can not only realize two-degree-of-freedom rotation in space, but also enable the two connected joints to achieve 360-degree flexible rotation, so that the robot has three-dimensional space movement capabilities, and the steering gear works At this time, the gear mechanism part can realize the self-locking function, so that the robot as a whole has a certain rigidity. Especially suitable for disaster rescue, detection, fire fighting, transportation and space exploration and other fields.

The present invention has the following advantages:

1. The joint module of the robot is designed with a triangular prism structure composed of three identical surfaces. When one side is in contact with the ground, the projection of the center of gravity can be stabilized on the surface in contact with the ground, which improves the stability of the robot, and each The contact between the side and the ground can drive the robot forward, which improves the ground adaptability of the robot.

2. The driving module of the robot adopts a multi-turbine and co-worm structure design, which can output the power of the motor to each side at the same time, ensuring that the robot always maintains sufficient driving force.

3. The gear structure design of the connecting module of the robot can not only realize two-degree-of-freedom rotation in space, but also enable the two connected joints to achieve 360-degree flexible rotation, so that the robot has three-dimensional space movement capabilities, and the gear part can be controlled by the steering gear Realize the self-locking function, so that the robot as a whole maintains a certain rigidity.

Description of drawings

Fig. 1a-Fig. 1b: Schematic diagram of the cross-section of the joint module and a schematic diagram of the side of the joint module.

Figure 2: Schematic diagram of 3D modeling of the joint module.

Figure 3: A schematic diagram of the full section of the transmission relationship of the drive module.

Figure 4: Schematic diagram of 3D modeling of the internal structure of the drive module.

Figure 5: Schematic diagram of 3D modeling of the drive module installation structure

Figure 6: A schematic diagram of the full section of the transmission relationship of the connection module.

Figure 7: Schematic diagram of 3D modeling of the connection module.

Figure 8: Schematic diagram of the overall 3D modeling of the robot.

Figure 9a-Figure 9i: Schematic diagrams of the robot's forward, backward, and turning actions.

Fig. 10a-Fig. 10f: Schematic diagram of the action process of the robot crossing the ravine.

Fig. 11a-Fig. 11i: Schematic diagram of the action process of the robot climbing stairs.

Figure 12a-Figure 12e: Schematic diagram of the action process when the robot encounters an obstacle.

detailed description

The present invention will be described in more detail below with examples in conjunction with the accompanying drawings.

The robot of the present invention is mainly composed of a joint module, a drive module and a connection module. Among them, the joint module mainly includes: side plate 1, side plate 5, side plate 9, axle 3, axle 7, axle 11, axle 15, axle 17, axle 25, axle 27, track wheel 2, track wheel 4, track wheel 6. Track wheel 8, track wheel 10, track wheel 12, track wheel 14, track wheel 16, track wheel 19, track wheel 20, track wheel 26, track wheel 28, track wheel, track 13, track 21, track 22, Track 23, track 24, track 31 and joint sprocket 18; the drive module mainly includes: drive sprocket 35, drive sprocket 42, drive sprocket 49, chain, worm 40, turbine 34, turbine 41, turbine 48, drive large Gear 36, driving gear 43, driving gear 50, driving pinion 33, driving pinion 39, driving pinion 45, worm rack 51, worm rack 56, driving gear rack 57, driving gear rack 58, driving gear rack 60 , driving motor 53 and driving motor frame 52; the connection module mainly includes: steering gear 71, steering gear 79, steering gear frame 55, steering gear frame 80, steering gear 69, steering gear 82, connecting plate frame 54, connecting plate Frame 83, connecting bracket 66, connecting bracket 73, connecting bracket 77, connecting large gear 67, connecting large gear 84, connecting small gear 65, connecting small gear 72, connecting small gear 78, connecting small gear 85, half gear 64, half Gear 74, half gear 86, half gear 87, cross center shaft 76, connecting gear shaft 68, connecting gear shaft 81 and half gear shaft 63, half gear shaft 75.

The present invention adopts the following technical scheme: the robot in the present invention adopts 3 joint modules, and the number of specific joint modules can be increased according to actual usage conditions. The structure of each joint module is the same, and an independent drive module is installed inside each joint module. , the middle of the two joint modules is connected by a connecting module. The following is a detailed description of the structural composition of the joint module I, the drive module I and the connection module I:

With reference to Fig. 1 and Fig. 2, the structure of the joint module I is described in detail. Joint module I88 consists of side plate I1, side plate II5, side plate III9, track wheel I2, track wheel II4, track wheel III6, track wheel IV8, track wheel V10, track wheel VI12, track wheel VII14, track wheel VIII16, track wheel IX19, track wheel X20, track wheel XI26, track wheel XII28, track wheel XIII29, track wheel XIV30, track wheel XV, track wheel XVI, track wheel XVII, track wheel XVIII, joint sprocket I18, joint sprocket II, joint chain Wheel III, axle I3, axle II7, axle III11, axle IV15, axle V17, axle VI25, axle VII27, axle VIII, axle IX, track I13, track II21, track III22, track IV23, track V24, track VI31. All side plates are made of triangular aluminum alloy plates with an angle of 120 degrees. Side plate I1 and side plate II5 are respectively installed on the two ends of wheel shaft I3, wheel shaft VIII and wheel shaft IX through bearings. Track wheel I2 and track wheel II4 The track wheel XIV30 and track wheel XV are mounted on the wheel shaft VIII through bearings, and the track wheel XIII29, track wheel XVI and joint sprocket II are fixed and installed on the wheel shaft IX by fastening screws. III22 is installed on track wheel II4, track wheel XV and track wheel XVI, and track VI31 is installed on track wheel I2, track wheel XIV30 and track wheel XIII29. Side plate II5 and side plate III9 are respectively installed on the two ends of wheel shaft II7, wheel shaft VI25, and wheel shaft VII27 through bearings, track wheel III6 and track wheel V10 are fixed on wheel shaft II7 by fastening screws, and track wheel XI26 and track wheel XVII pass through The bearing is installed on the wheel shaft VI25, the track wheel XII28, track wheel XVIII, joint sprocket III are fixed on the wheel shaft VII27 through fastening screws, the track IV23 is installed on the track wheel III6, track wheel XI26 and track wheel XII28, track V24 is installed On Track IV8, Track XVII and Track XIII. Side plate III9 and side plate I1 are respectively installed on both ends of axle III11, axle IV15, and axle V17 through bearings, track wheel V10 and track wheel VI12 are fixed on wheel axle III11 by fastening screws, and track wheel VII14 and track wheel X20 pass through The bearing is installed on the wheel shaft IV15, the track wheel VIII16, track wheel IX19, joint sprocket I18 are fixed on the wheel shaft V17 through fastening screws, the track I13 is installed on the track wheel VI12, track wheel XIV30 and track wheel XIV29, track II21 is installed On track wheels V10, track wheels X20 and track wheels IX19. The three chains of the internal drive module are respectively installed on joint sprocket I18, joint sprocket II, joint sprocket III and each drive sprocket of the internal drive module, and the internal drive module drives each joint sprocket to rotate through the chain, therefore, each joint The track wheels on the wheel shaft V17, wheel shaft VII27, and wheel shaft IX where the sprockets are located are the main driving wheels. Through the above-mentioned solid connection drive module, all the track wheels on each surface of the joint module can be driven to move, thereby realizing the movement of the joint module.

With reference to Fig. 3, Fig. 4 and Fig. 5, the structure of the driving module 1 is described in detail. Drive module I is made up of driving motor I, 53, driving motor frame I52, worm frame I51, worm frame II56, worm screw I40, turbine I34, turbine II41, turbine III48, driving large gear I36, driving large gear II43, driving large gear III50, Drive pinion I33, drive pinion II39, drive pinion III45, drive gear shaft I32, drive gear shaft II37, drive gear shaft III38, drive gear shaft IV44, drive gear shaft V46, drive gear frame I57, drive gear frame II58, Drive gear carrier III60, drive sprocket I35, drive sprocket II42, drive sprocket III49, chain I, chain II, chain III and coupling I59 form. The driving motor I53 is fixedly installed on the driving motor frame I52, the driving motor frame I52 is fixedly connected with the worm frame I51, and the worm frame I51 and the worm frame II56 are respectively fixedly installed on the two sides of the driving gear frame I57, the driving gear frame II58, and the driving gear frame III60. The internal gears are installed on each driving gear frame through the gear shaft; the worm frame II56 is fixedly connected with the steering gear frame I55 of the connection module, and the worm frame screw hole I61 is left on the worm frame I61, and the connection plate frame of the connection module I54 has threaded holes I62 for the connecting plate. There are three pairs of holes in total, and the worm frame II56 is fixedly connected with the connecting plate I62 of the connecting module through fastening bolts, and the driving module I and the connecting module I are fixedly installed through this connection. together. The output shaft of the driving motor I53 is fixedly connected with one end of the worm I40 through the coupling I59, and the two ends of the worm I40 are respectively installed on the worm frame I51 and the worm frame II56 through bearings, and the worm I40 is connected with the turbine I34, the turbine II41, and the turbine III48 respectively. Engage simultaneously. Turbine I34 and driving pinion II39 are installed together on driving gear shaft III38, and the two ends of driving gear shaft III38 are respectively fixedly installed on driving gear frame II58 and driving gear frame III60 through bearings, and driving pinion gear II39 meshes with driving gear I36 , the driving gear I36 and the driving sprocket I35 are jointly installed on the driving gear shaft II37, and the two ends of the driving gear shaft II37 are respectively fixed on the driving gear frame II58 and the driving gear frame III60 through bearings; the turbine II41 and the driving pinion gear III45 They are installed together on the driving gear shaft V46, and the two ends of the driving gear shaft V46 are respectively fixedly installed on the driving gear frame I57 and the driving gear frame III60 through bearings, the driving pinion III45 meshes with the driving gear II43, and the driving gear II43 and the driving gear The sprocket II42 is installed on the driving gear shaft IV44 together, and the two ends of the driving gear shaft IV44 are fixedly installed on the driving gear frame I57 and the driving gear frame III60 respectively through bearings; the turbine III48 and the driving pinion I33 are jointly mounted on the driving gear shaft VI47 Above, the two ends of the driving gear shaft VI47 are respectively fixedly installed on the driving gear frame I57 and the driving gear frame II58 through bearings, the driving pinion gear I33 meshes with the driving gear III50, and the driving gear III50 and the driving sprocket III49 are installed together on the drive On the gear shaft I32, the two ends of the driving gear shaft I32 are respectively fixedly installed on the driving gear frame I57 and the driving gear frame II58 through bearings. Chain I, chain II, and chain III are installed on drive sprocket I35, drive sprocket II42, drive sprocket III49 and each joint sprocket of the joint module respectively, and drive motor I47 works. The drive sprocket rotates, thereby finally converting the power of the drive motor 147 into the drive force of the tracks on each side of the joint module.

With reference to Fig. 5, Fig. 6 and Fig. 7, the structure of the connection module I will be described in detail. Connection module I consists of steering gear I71, steering gear II79, steering gear frame I55, steering gear frame II80, connecting plate frame I54, connecting plate frame II83, steering gear I69, steering gear II82, connecting large gear I67, connecting large gear II84, connecting pinion I65, connecting pinion II72, connecting pinion III78, connecting pinion IV85, connecting gear shaft I68, connecting gear shaft II81, half gear I64, half gear II74, half gear III86, half gear IV87, connecting bracket I66, connecting bracket II73, connecting bracket III77, connecting bracket IV, connecting cross shaft I76, half gear shaft I63, half gear shaft II75, half gear shaft III, and half gear shaft IV. The connection module I is composed of two parts of the same gear mechanism, and a part of the gear mechanism will be described in detail below. The steering gear I71 is fixedly installed on the steering gear frame I55, the steering gear frame I55 is fixedly mounted on the connecting plate frame I54, the steering gear I69 is installed on the output shaft of the steering gear I71, and the steering gear I69 meshes with the large connecting gear I67. The connecting gear I67, the connecting pinion I65 and the connecting pinion II72 are fixedly installed on the connecting gear shaft I68, and the two ends of the connecting gear shaft I68 are respectively installed on the connecting bracket I66 and the connecting bracket II73 through bearings, and the connecting bracket I66 and the connecting bracket II73 is fixedly installed on the connecting plate frame I54, the connecting pinion I65 and the connecting pinion II72 mesh with the half gear I64 and the half gear II74 respectively, the half gear I64 is installed on the half gear shaft I63, and the half gear II74 is installed on the half gear shaft II75 On, one end of half gear shaft I63 and half gear shaft II75 are respectively fixedly installed on the two ends opposite to connecting cross shaft I76, and the other ends of the two half gear shafts are mounted on connecting bracket I66 and connecting bracket II73 respectively through bearings. One end of half-gear shaft III and half-gear shaft IV are respectively fixedly installed on the other two opposite ends of connecting cross shaft I76, and the other ends of the two half-gear shafts are respectively installed on connecting bracket III77 and connecting bracket IV through bearings, and connecting module I The other part of the gear mechanism is the same as the above-mentioned structure. In this way, the two parts of the gear mechanism with the same structure are connected into a space cross shape by connecting the cross shaft I76, and are respectively controlled by the steering gear, so that the two parts of the gear mechanism can rotate flexibly, and when the steering gear When I71 and steering gear II79 work, the corresponding gear mechanism can be kept to realize the self-locking function. Finally, the three legs of the connecting plate frame I54 are respectively fixed and installed on the tops of the three side plates at one end of the joint module I88 through fastening bolts, and the three legs of the connecting plate frame II83 are respectively fixed and installed on the tops of the joint module II89 at one end of the joint module II89 through bolts. The tops of the three side plates connect the joint module I88 and the joint module II89 together through the connection module I, and realize the multi-directional flexible rotation of the joint module I88 and the joint module II89 through the connection module I, so that the robot has a three-dimensional space ability to exercise.

With reference to Fig. 8, the overall structure of the robot will be described in detail. In the present invention, the robot as a whole is composed of three joint modules: joint module I88, joint module II89, and joint module III90, and the number of joint modules can be increased according to actual usage requirements. The joint module I88 and the joint module II89 are connected by the connection module I, and the joint module II89 and the joint module III90 are connected by the connection module II. The drive module I is fixedly installed inside the joint module I88 and provides driving force for the joint module I88, the drive module II is fixedly installed inside the joint module II89 and provides driving force for the joint module II89, and the drive module III is fixedly installed inside the joint module III90 , and provide driving force to the joint module III90, the driving module can work at the same time to realize the forward and backward actions of the robot, the joint module I88 and the joint module III90 have the same structure and function, so both can be used as the head of the robot when it moves forward. The steering gear I71 and the steering gear II79 control the rotation speed and direction of the joint module I88 and the joint module II89, and the steering gear III and the steering gear IV control the rotation speed and direction of the joint module II89 and the joint module III90, thereby controlling the space attitude transformation of the robot and realizing the robot three-dimensional space movement. And when the steering gear I71 and the steering gear III work at the same time, the gear mechanism part controlled by the steering gear I71 and the steering gear III can maintain a self-locking state in the direction of rotation, so that the robot as a whole maintains a rigid state in this direction. In the same way, when the steering gear II65 and the steering gear IV work at the same time, the robot can also maintain a rigid state in the corresponding direction.

Below in conjunction with Fig. 9, Fig. 10, Fig. 11, Fig. 12, illustrate the specific implementation process of the present invention.

With reference to FIG. 9 , the situation in which the robot realizes the forward, backward, and turning actions will be described in detail. Firstly, the driving motor I53, the driving motor II, and the driving motor III operate in the same direction and at the same speed to respectively drive the joint module I88, the joint module II89, and the joint module III90 forward, thereby realizing the forward movement of the robot. Secondly, the driving motor I53, the driving motor II, and the driving motor III rotate at the same speed and in reverse directions to simultaneously drive the joint module I88, the joint module II89, and the joint module III90 respectively to move backward, thereby realizing the backward movement of the robot. Again, the steering gear IV works to drive the connecting module II to turn left, thereby driving the joint module III90 to turn left, and then the steering gear II works to drive the connecting module I to turn left, thereby driving the joint module II89 to turn left. All drive motors continue to work at the same speed and in the same direction to drive all joint modules to continue moving forward in the direction after rotation, and the robot as a whole realizes the steering action. When the joint module III90 fully realizes the steering, the steering gear II works to drive the connecting module I to turn to the right, thereby driving the joint module I88 to turn to the right, and at the same time, the steering gear IV works to drive the connecting module II to turn to the right, thereby driving the joint module II89 rotates to the right, and all drive motors continue to work at the same speed and in the same direction to drive all joint modules to continue to move forward in the direction after rotation. When joint module I88, joint module II89 and joint module III90 are in a straight line, the steering gear II and steering gear IV Stop rotating, so far the robot fully realizes the steering action.

With reference to FIG. 10 , the action process when the robot crosses the ravine 91 during the traveling process will be described in detail. First, all the driving motors work to drive the robot forward. When encountering the ravine 91, the steering gear III works to drive the corresponding gear mechanism to maintain a self-locking state, so that the overall attitude of the robot remains unchanged when the joint module III90 crosses the ravine 91. Secondly, when the joint module III90 is in contact with the ground at the other end of the ravine 91, the steering gear I71 and the steering gear III work simultaneously to drive the corresponding gear mechanism to maintain a self-locking state, so that the joint module II89 maintains the same posture and the robot as a whole maintains A rigid state moves forward. Again, all the driving motors work to drive the robot to move forward. After the joint module II89 crosses the ravine 91, the steering gear III stops working, and the steering gear I71 continues to work and drives the corresponding gear mechanism to maintain a self-locking state, so that the joint module I88 is crossed. When the gully 91 is maintained, the posture remains unchanged until the joint module I88 has completely crossed the gully 91 and is in full contact with the ground, then the steering gear I71 stops working, and all the driving motors work to drive the robot to move on. So far, the robot has completed all the actions of crossing the ravine 91 and keeps moving forward.

With reference to FIG. 11 , the action process when the robot climbs the stairs 92 during the traveling process will be described in detail. First, all the driving motors work to drive the robot forward. When encountering the stairs 92, the steering gear III works to drive the connecting module II to rotate upward to a suitable angle, thereby driving the joint module III90 to rotate upward. Secondly, the robot continues to move forward. When the joint module III90 touches the stairs 92, the steering gear I71 works to drive the connection module I to rotate upwards to a suitable angle, thereby driving the joint module II89 to rotate upwards. The joint module III90 is completely in contact with the stairs. At this time, the joint The module II89 is suspended in the air, and the robot begins to climb the stairs 92 driven by the joint module I88 and the joint module III90. Again, as the robot climbs up the stairs 92, the steering gear III starts to drive the connection module II to rotate downward until the joint module II89 is fully in contact with the stairs 92, and as the robot climbs up the stairs 92, the joint module I88 contacts with the stairs 92. At this time, the steering gear 171 also starts to drive the connecting module 1 to rotate downward until the joint module 188 contacts with the stairs 92 completely. The joint module I88, the joint module II89, and the joint module III90 are completely in contact with the stairs 92 and drive the robot to climb up the stairs. Finally, after the robot reaches the top of the stairs 92, the steering gear III works to drive the connection module II to rotate downward until the joint module III90 contacts the ground at the top of the stairs 92, and the robot continues to move forward, and the steering gear I71 works to drive the connection module I to rotate downward until the joint module II89 is in contact with the ground at the top of the stairs 92, while the steering gear III works to drive the connection module II to rotate upwards until the joint module III96 and the joint module II89 are in full contact with the ground at the top of the stairs 92 and is in a straight line, then the steering gear I71 works to drive the connection module I to rotate upwards until The joint module I88 leaves the stairs 92 and fully contacts the ground at the top of the stairs. At this moment, the joint modules I88, II89 and the joint module III90 are in a straight line and fully contact with the ground at the top of the stairs 92. Eventually, the robot achieves completion of climbing stairs 92 and moves on.

With reference to FIG. 12 , the action process of overcoming obstacles when the robot encounters an obstacle 93 during its travel will be described in detail. First, all the drive motors work at the same speed and in the same direction to drive the robot forward. When encountering an obstacle 93, the steering gear II79 and the steering gear IV work at the same time, respectively driving the connection module I and the connection module II to turn left to a suitable angle. Thereby, the joint module III90 and the joint module II89 are driven to rotate to the left, so that the robot as a whole moves to the left. Secondly, when the robot moves to a suitable position on the left side of the obstacle 93, the steering gear II79 and the steering gear IV work simultaneously again, respectively driving the connection module I and the connection module II to turn right until the shutdown module I88, the joint module II89 and the joint module The III90 stops working when it is in a straight line. Finally, all the driving motors work at the same speed and in the same direction to drive the robot to move on, and finally the robot completely crosses the obstacle by going around the obstacle 93 and moves on.

Claims (3)

1. a crawler-type multi-joint snakelike robot, comprises joint module, driver module and link block, it is characterized in that:

Described joint module comprises three " V " shape side plates, by bearing, three wheel shafts are installed between two adjacent side plates and three " V " shape side plates are connected to form equilateral triangle distribution, every root wheel shaft fixedly mounts two Athey wheels, three wheel shafts are formed two row's Athey wheels, often arrange on Athey wheel and crawler belt is installed, one in three wheel shafts between every two adjacent side plates wheel shaft being positioned at end also fixedly mounts a joint sprocket wheel;

Described driver module comprises drive motor, two worm brackets, three driving gear wheel carriers, two worm brackets are separately fixed at the support frame of the two ends formation equilateral triangle distribution of three driving gear wheel carriers, worm screw is installed between two worm brackets, three turbines and worm mesh, each turbine has a coaxial Drive pinion, Drive pinion engages with driving big gear wheel, driving big gear wheel has a coaxial drive sprocket, described turbine, Drive pinion, big gear wheel and drive sprocket is driven to be arranged on described support frame, drive motor output shaft is connected with worm screw by coupler,

Described link block is made up of two parts that structure is identical, the structure of a part wherein is: steering wheel is arranged on by steering wheel frame and connects on grillage, steering wheel frame fixedly mounts two and connect grillage, connection big gear wheel and two connection miniature gearss are coaxially arranged on two and connect between grillages, two and half gears are arranged on two respectively by half gear wheel shaft and connect on grillage, steering wheel gear is arranged on the output shaft of steering wheel, steering wheel gear be connected big gear wheel and engage, two connect miniature gears respectively with two and half gears meshing, the two ends that two and half gear wheel shafts are relative with cross shaft connection connect, the two ends that cross shaft connection is relative are in addition connected with two and half gear wheel shafts of another part and are connected by two parts,

Driver module is arranged on joint module inside, link block is between adjacent two joint modules, the connection grillage of a worm bracket of driver module and a part for link block connects the connection realized between two joint modules, chain gear between the drive sprocket of driver module and the joint sprocket wheel of joint module.

2. a kind of crawler-type multi-joint snakelike robot according to claim 1, is characterized in that: the triangle aluminium alloy plate processing and fabricating that described " V " shape side plate is 120 degree by angle forms.

3. a kind of crawler-type multi-joint snakelike robot according to claim 1 and 2, is characterized in that: at least comprise three joint modules.