The invention provides a snakelike robot for load transportation, and relates to the technical field of robots. The trunk modules are sequentially arranged in the front-back direction, each trunk module comprises a front swing frame, two walking wheel assemblies and a rear swing frame, the two walking wheel assemblies are oppositely arranged in the left-right direction, the front ends of the two walking wheel assemblies are rotationally connected with the two sides of the front swing frame respectively, and the rear ends of the two walking wheel assemblies are rotationally connected with the two sides of the two rear swing frames respectively. The head support is connected with the front swing frame of the forefront trunk module through one swing motor, and the rear swing frame and the front swing frame of any two adjacent trunk modules are connected through one swing motor. The non-continuous-curvature snakelike robot has the beneficial effects that non-continuous-curvature snakelike motion is achieved, the bending degree is obviously improved, the flexibility of steering and passing through a narrow space is improved, multiple motion modes can be achieved, and the robot can adapt to walking on different grounds when the task environment changes.
本发明提供一种用于载重运输的蛇形机器人,涉及机器人技术领域,包括:头部模块;多个躯干模块,沿着前后方向依次设置,每一躯干模块包括前摆动架、两行走轮组件和后摆动架,两行走轮组件左右相对设置,两行走轮组件的前端分别与前摆动架的两侧可转动连接、后端分别与两后摆动架两侧可转动连接;以及多个摆动电机,头部支架与最前方的躯干模块的前摆动架之间通过一摆动电机连接,任意相邻两躯干模块的后摆动架和前摆动支架之间通过一摆动电机连接。本发明的有益效果:实现非连续曲率的蛇形运动,可弯折程度明显提升,提高了转向和通过狭窄空间时的灵活性,能够实现多种运动模式,任务环境变化时可以适应在不同的地面行走。
Snakelike robot for load transportation
一种用于载重运输的蛇形机器人
2025-01-28
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS |