Scale controlled snakelike robot

The utility model relates to a scale controlled snakelike robot, and belongs to the technical field of a bionic robot. The scale controlled snakelike robot is formed by combining and connecting a plurality of unit modules in an end-to-end way, each unit module comprises a double-motor driving steering engine, a module framework and a scale mechanism, two motor shafts of each double-motor driving steering engine are in parallel arrangement, each double-motor driving steering engine is connected with the corresponding module framework through a steering engine connecting arm, a scale opening and closing control motor of each scale mechanism is arranged on the corresponding module framework, in addition, a guide disc is driven through a lead screw and a screw nut, the root of each scale is hinged to the corresponding module framework, and the middle part of each scale is connected with the corresponding guide disc through a connecting rod. Compared with the prior art, the scale controlled snakelike robot has the advantages that the scale mechanisms with an opening and closing function are firstly introduced, under the effect of scale friction anisotropy, the scales are controlled to be in an opening state or a closed state, meanwhile, the adjacent unit modules are controlled to approach to each other or to leave far away from each other through the corresponding double-motor driving steering engine, and the advancing or retreating of the snakelike robot is realized, so that the applicability of the snakelike robot is enhanced.