CN111331572A - Snakelike-imitating inspection robot - Google Patents
Snakelike-imitating inspection robot Download PDFInfo
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- CN111331572A CN111331572A CN202010271503.8A CN202010271503A CN111331572A CN 111331572 A CN111331572 A CN 111331572A CN 202010271503 A CN202010271503 A CN 202010271503A CN 111331572 A CN111331572 A CN 111331572A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
An imitated snake-shaped inspection robot comprises a body structure and an electric control part which are matched, wherein the body structure comprises a snake head, a snake body and a snake tail which are sequentially connected by adopting an orthogonal structure; the snake head is provided with a camera module and a raspberry section which are connected; the snake body comprises a driving wheel, a driven wheel, a plurality of machine bodies and joints which are connected through an orthogonal structure, each machine body comprises a fourth digital steering engine and a fifth digital steering engine which are used for controlling the snake body to move in different dimensions under the orthogonal structure, the fourth digital steering engines are connected with fourth steering engine models which are matched with each other, the fifth digital steering engines are connected with fifth steering engine models which are matched with each other, the fourth digital steering engines and the fifth digital steering engines are both connected with the joints, and the joints are provided with a plurality of screw holes which are matched with the machine bodies; the snake tail is provided with a stepping motor, an electric control part and a power supply module which are connected, and the electric control part is composed of a motor control module and a steering engine control panel which are matched with each other. The inspection of the cable trench is completed according to the structural characteristics and the motion mechanism of the snake.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an imitated snake-shaped inspection robot.
Background
The snake-like inspection robot is a bionic robot developed by imitating the structural characteristics and motion mechanism of biological snakes. Compare with other circuit inspection robots, the snakelike robot of patrolling and examining can pass the underground piping more nimble reliably, cross various barriers in the pipeline, and the ground station is passed back to the image to the portability visible light camera to electric power staff controls the robot, accomplishes the work of patrolling and examining smoothly.
At present, although researches related to the snake-shaped robot exist at home and abroad, the snake-shaped robot related to the cable trench inspection does not appear all the time. The space is narrow and small in the cable pit, and the environment is complicated changeable, will realize patrolling and examining of cable pit, then must require this robot can realize nimble motion in narrow and small complicated space to in time transmit the image, realize the accurate control to the machine, in order to accomplish the work of patrolling and examining. Therefore, there is a need in the art for a new snake-like shaped inspection robot to solve the above-mentioned problems in the prior art.
Disclosure of Invention
In view of the above, in order to solve the above-mentioned deficiencies of the prior art, the present invention provides a snake-like shaped inspection robot, which can well complete the inspection work of a cable trench by following the structural characteristics and the movement mechanism of a snake. The device is flexible and small, solves the problem in the circuit inspection process, has the function of detecting the visual field, can flexibly move in a complex cable environment, and ensures the completion of the circuit inspection work.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an imitated snake-shaped inspection robot comprises a body structure and an electric control part which are matched, wherein the body structure comprises a snake head, a snake body and a snake tail which are sequentially connected by adopting an orthogonal structure;
the snake head is provided with a camera module and a raspberry section which are connected, the camera module is fixed above a first partition plate in the center of the snake head through a holder, the raspberry section is fixed on the first partition plate in the center of the snake head, and a first digital steering engine, a second digital steering engine and a third digital steering engine which are connected are arranged on one side, close to the snake body, of the first partition plate;
the snake body comprises a driving wheel, a driven wheel, a plurality of machine bodies and joints which are connected through an orthogonal structure, wherein a single machine body comprises a fourth digital steering engine and a fifth digital steering engine which are used for controlling the snake body to move in different dimensions under the orthogonal structure, the fourth digital steering engine is connected with a fourth steering engine model which is matched with the fourth digital steering engine model, the fifth digital steering engine is connected with a fifth steering engine model which is matched with the fifth digital steering engine model, the fourth digital steering engine and the fifth digital steering engine are both connected with the joints, and the joints are provided with a plurality of screw holes which are matched with the machine;
the snake tail is provided with a stepping motor, an electric control part and a power supply module which are connected, and the electric control part is composed of a motor control module and a steering engine control panel which are matched with each other.
Furthermore, the camera module is connected with a PC end used for presenting detection pictures, and the camera module controls the digital steering engine to rotate through the raspberry group part so as to realize free steering to detect different azimuth views and transmit the views to the PC end.
Furthermore, the stepping motor is a double-shaft stepping motor, and the stepping motor is connected with and drives the driving wheel.
Furthermore, two driven wheels connected with the driving wheel are arranged at the bottom of the single joint.
Further, the driven wheel is a bull's eye wheel.
Furthermore, the first digital steering engine, the second digital steering engine, the third digital steering engine, the fourth digital steering engine and the fifth digital steering engine are all electrically connected with a steering engine control panel of the electric control part, and the camera module is electrically connected with the electric control part.
Furthermore, fourth digit steering wheel, fourth steering wheel model are located the left and right sides at fuselage rear portion with cooperateing, fifth digit steering wheel, fifth steering wheel model are located the anterior upper and lower side of fuselage with cooperateing.
Furthermore, the snake head is connected with the machine body close to one end of the snake head through a fifth digital steering engine and a fifth steering engine model which are matched with each other, and the snake tail is connected with the machine body close to one end of the snake tail through a fourth digital steering engine and a fourth steering engine model which are matched with each other.
Furthermore, the snake tail is provided with a second partition plate, and the steering engine control plate is arranged on the second partition plate.
Furthermore, the first digital steering engine, the second digital steering engine and the third digital steering engine are respectively provided with a first steering engine model, a second steering engine model and a third steering engine model which are matched with each other.
The invention has the beneficial effects that:
the snake-shaped-imitating inspection robot can well finish the inspection work of a cable duct according to the structural characteristics and the motion mechanism of a snake. The device is flexible and small, solves the difficult problem in the circuit inspection process, has the function of detecting the visual field, and can flexibly move in a complex cable environment to ensure the completion of the circuit inspection work; the invention mainly completes the design of the snake-like structure, realizes the motion control of the robot, obtains and analyzes the visual image, and enables the parts to be effectively matched, thereby realizing the integration, the biochemical simulation and the intellectualization of the snake-like patrol robot; a snake-shaped imitation inspection robot with high redundancy is developed according to the structural characteristics and the motion mechanism of biological snakes, and aims to solve the problems of complex inspection environment, high inspection difficulty, inspection work standardization and the like in the inspection work of a cable pipeline. The concrete points are as follows:
firstly, a digital steering engine is adopted to realize the control of the machine body. Digital steering wheel compares in simulation steering wheel, can provide higher precision and better fixed strength, and the anti-shake in addition has, advantage that response speed is fast, and compares in servo motor, and digital steering wheel changes in realizing control. Therefore, the control function of the snake-shaped robot can be better realized by adopting the digital steering engine as a main control module of the snake-shaped robot; the digital steering engine has enough torque to ensure the formation of the action of the engine body, and the steering engine model ensures that the coaxiality of the engine body is higher;
secondly, the raspberry group part regulates and controls the steering of the camera module, simultaneously captures images and forms data feedback of a PC (personal computer) end, and controls the camera module to rotate by a certain angle to ensure that the camera detects an omnidirectional view;
thirdly, a double-shaft stepping motor is adopted, compared with a single-shaft motor, the structure is more integrated, and the stepping motor can adjust the speed and can realize forward and reverse rotation;
fourthly, a steering engine control panel is adopted, so that the action of the machine body is accurate and adjustable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the snake head;
FIG. 3 is a schematic structural view of a joint;
FIG. 4 is a schematic view of the fuselage construction;
FIG. 5 is a schematic structural view of a snake tail;
FIG. 6 is a schematic structural diagram of a fourth steering engine model or a fifth steering engine model;
FIG. 7 is a schematic view of the driven wheel;
FIG. 8 is a top view of a connection structure of a fourth digital steering engine and a fifth digital steering engine with a fuselage and joints;
FIG. 9 is a schematic view of a connection structure of a fourth digital steering engine and a fifth digital steering engine with a fuselage and joints;
FIG. 10 is a schematic view of the connection of the body to the snake;
FIG. 11 is a schematic view of the connection of the fuselage to the snake tail;
the labels in the figure are: 1. the snake head, 2, a snake body, 3, a snake tail, 4, a first partition plate, 5, a first digital steering engine, 6, a second digital steering engine, 7, a third digital steering engine, 8, a machine body, 9, a joint, 10, a fourth digital steering engine, 11, a fifth digital steering engine, 12, a fourth steering engine model, 13, a fifth steering engine model, 14, a screw hole, 15 and a second partition plate.
Detailed Description
The following specific examples are given to further clarify, complete and detailed the technical solution of the present invention. The present embodiment is a preferred embodiment based on the technical solution of the present invention, but the scope of the present invention is not limited to the following embodiments.
An imitated snake-shaped inspection robot comprises a body structure and an electric control part which are matched, wherein the body structure comprises a snake head 1, a snake body 2 and a snake tail 3 which are sequentially connected by adopting an orthogonal structure;
the snake head 1 is provided with a camera module and a Raspberry Pi part which are connected, and the Raspberry Pi part is used as the brain of an organism and is responsible for image recognition and processing. The intelligent flexible rotation and omnibearing visual field detection of the inspection robot are realized through the effective combination of the motor control module and the steering engine control panel, and the inspection work of a cable pipeline is completed; the camera module is fixed above a first partition plate 4 in the center of the snake head 1 through a holder, the raspberry part is fixed on the first partition plate 4 in the center of the snake head 1, and a first digital steering engine 5, a second digital steering engine 6 and a third digital steering engine 7 which are connected are arranged on one side, close to the snake body 2, of the first partition plate 4; the snake head 1 is provided with a camera module, has the function similar to that of a snake eye and is used for detecting the surrounding visual field; the raspberry pie part regulates and controls the camera module to image on one hand, and controls the digital steering engine to rotate by a certain angle on the other hand, so that the camera module is indirectly controlled to rotate, and the omnibearing visual field is conveniently detected. In addition, the digital steering engines in the invention have enough torque to ensure the formation of the body structure action, and the steering engine models ensure that the body structure coaxiality is higher.
The snake body 2 is formed by connecting a plurality of modules with the same structure, a machine body and joints, and all the modules are connected through an orthogonal structure, so that the machine body can realize the free motion of imitating the snake shape up and down, left and right; each module comprises a machine body and joints, and digital steering engines are arranged in the front and the back of the machine body and used for controlling driving; the snake body 2 has the characteristic of multiple degrees of freedom, and can realize two-dimensional motion on a plane and three-dimensional motion in a space like a snake in the nature, thereby being suitable for various operating environments and having great advantages when working under the conditions of narrow cable ducts and complex terrain; the snake body 2 comprises a driving wheel, a driven wheel, a plurality of machine bodies 8 and joints 9 which are connected through an orthogonal structure, the single machine body 8 comprises a fourth digital steering engine 10 and a fifth digital steering engine 11 which are used for controlling the snake body 2 to move in different dimensions under the orthogonal structure, the fourth digital steering engine 10 is connected with a fourth steering engine model 12 which is matched with the fourth digital steering engine 10, the fifth digital steering engine 11 is connected with a fifth steering engine model 13 which is matched with the fifth digital steering engine model 13, the fourth digital steering engine 10 and the fifth digital steering engine 11 are both connected with the joints 9, and the joints 9 are provided with a plurality of screw holes 14 which are matched with the machine bodies 8; the fourth digital steering engine 10 and the fifth digital steering engine 11 are used for controlling the movement of the snake body in different dimensions under the orthogonal structure; meanwhile, two steering engine models are designed and installed in cooperation with a digital steering engine, so that the snake body is more symmetrical, and the structure is more stable;
the snake tail 3 is provided with a stepping motor, an electric control part and a power supply module which are connected, wherein the electric control part is composed of a motor control module and a steering engine control panel which are matched with each other, and the motion and the action of the machine body are jointly realized. Through the steering engine control panel design action group, multiplicable remote control unit in addition realizes functions such as snake shape robot straight line, turns to, keeps away the barrier.
Furthermore, the snake tail 3 is provided with a second partition plate 15, and the steering engine control plate is arranged on the second partition plate 15. The steering wheel control panel is carried on the snake tail 3, and as the mechanical master control of organism action, the relevant steering wheel angle of adjustment of control realizes that the organism is patrolling and examining the effective obstacle avoidance of in-process, accomplishes and detects in the cable pit.
Furthermore, the first digital steering engine 5, the second digital steering engine 6, the third digital steering engine 7, the fourth digital steering engine 10 and the fifth digital steering engine 11 are electrically connected with a steering engine control panel of the electric control part, and the camera module is electrically connected with the electric control part. The steering engine control panel is adopted, so that the action of the machine body is accurate and adjustable.
Further, the first digital steering engine 5, the second digital steering engine 6 and the third digital steering engine 7 are respectively provided with a first steering engine model, a second steering engine model and a third steering engine model which are matched with each other.
Further, a fourth digital steering engine 10 and a fourth steering engine model 12 are located on the left side and the right side of the rear portion of the machine body 8 in a matched mode, and a fifth digital steering engine 11 and a fifth steering engine model 13 are located on the upper side and the lower side of the front portion of the machine body 8 in a matched mode. The digital steering engine can adjust the movement of the machine body under the control of the steering engine control panel to complete related complex actions; the steering engine model ensures the balance and symmetry of the engine body framework.
Further, in combination with the above, in this embodiment, for the body 8, the fifth steering engine model 13 is loaded on the upper side, and the fifth digital steering engine 11 is loaded on the lower side, so that the body 8 can be ensured to have a lower overall center of gravity and to be more stable due to the fact that the digital steering engines are heavier; for the left side and the right side of the machine body 8, a method of cross loading of digital steering engines and steering engine models on the left side and the right side of the adjacent machine body 8 is adopted, as shown in fig. 8, the two adjacent machine bodies 8 are connected through a joint 9, if the machine body 8 is positioned in front, a fourth digital steering engine 10 is arranged on the left side of the rear part of the machine body 8, and a fourth steering engine model 12 is arranged on the right side of the rear part of the machine body 8; then be located the fuselage 8 at rear on, fourth digital steering wheel 10 then establishes the right side at fuselage 8 rear portion, and fourth steering wheel model 12 establishes the left side at fuselage 8 rear portion to this keeps controlling of snake body 2 balanced, has guaranteed that the fuselage 8 is controlled the side bearing and is the same basically, moves more stably.
Furthermore, as shown in fig. 9, when the fourth digital steering engine 10 rotates, the snake body 2 and the front part of the body structure are driven to move in a plane, and when the fifth digital steering engine 11 rotates, the snake body 2 is driven to move in a vertical plane. The snake body 2, the steering engine model and the joint 9 are driven to move by the rotation of the digital steering engine, so that the movement of the whole machine body is formed.
Furthermore, the snake head 1 is connected with the machine body 8 close to one end of the snake head 1 through a fifth digital steering engine 11 and a fifth steering engine model 13 which are matched with each other, and the snake tail 3 is connected with the machine body 8 close to one end of the snake tail 3 through a fourth digital steering engine 10 and a fourth steering engine model 12 which are matched with each other. The snake head 1 and the snake tail 3 are respectively connected with the machine body 8 through a digital steering engine and a steering engine model, and the corresponding up-down left-right steering is effectively controlled.
Furthermore, the snake tail is also provided with a remote controller module. The motor control module and the steering engine control panel are designed into an action group, and a remote control module can be additionally added to carry out remote control, so that the functions of straight movement, steering, obstacle avoidance and the like of the snake-shaped robot are realized.
Furthermore, the camera module is connected with a PC end used for presenting detection pictures, and the camera module controls the digital steering engine to rotate through the raspberry group part so as to realize free steering to detect different azimuth views and transmit the views to the PC end. The complex situation in the cable trench is captured in real time and is transmitted to a PC (personal computer) end of a technician, the technician can adjust the motion of the robot through a remote control module through image analysis, and on the other hand, if an abnormal situation exists in the cable trench, corresponding solutions can be formed in time, and the detection work of the cable trench is effectively realized.
Furthermore, the stepping motor is a double-shaft stepping motor, and the stepping motor is connected with and drives the driving wheel. The stepping motor is arranged at the snake tail 3, has enough torque, can adjust the integral speed and direction of the machine body, and is convenient to switch different motion states in different environments. Adopt biax step motor, compare in single-axis motor, the structure is more integrated, and step motor both adjustable speed, also can realize just reversing.
Furthermore, two driven wheels connected with the driving wheel are arranged at the bottom of the single joint 9. The stepping motor drives the driving wheel to move, and the whole action of the body structure is realized under the matching of the driven wheel.
Further, the driven wheel is a bull's eye wheel. Two bull-eye wheels are designed at the bottom of the joint 9 and used as driven wheels, so that the movement of a two-dimensional plane of the machine body is guaranteed, the steering is flexible, and the walking is smooth.
Further, the digital steering engine is adopted to realize the control of the engine body. Digital steering wheel compares in simulation steering wheel, can provide higher precision and better fixed strength, and the anti-shake in addition has, advantage that response speed is fast, and compares in servo motor, and digital steering wheel changes in realizing control. Therefore, the control function of the snake-shaped robot can be better realized by adopting the digital steering engine as a main control module of the snake-shaped robot; the digital steering engine has enough torque to ensure the formation of the action of the engine body, and the steering engine model ensures that the coaxiality of the engine body is higher. In addition, raspberry group part on the one hand regulates and control turning to of camera module, snatchs the image simultaneously and forms the data feedback of PC end, and on the other hand controls camera module rotation certain angle, guarantees that the camera detects the omnidirectional field of vision.
In conclusion, the snake-shaped imitating inspection robot can well finish the inspection work of a cable trench according to the structural characteristics and the motion mechanism of a snake. The device is flexible and small, solves the difficult problem in the circuit inspection process, has the function of detecting the visual field, and can flexibly move in a complex cable environment to ensure the completion of the circuit inspection work; the invention mainly completes the design of the snake-like structure, realizes the motion control of the robot, obtains and analyzes the visual image, and enables the parts to be effectively matched, thereby realizing the integration, the biochemical simulation and the intellectualization of the snake-like patrol robot; a snake-shaped imitation inspection robot with high redundancy is developed according to the structural characteristics and the motion mechanism of biological snakes, and aims to solve the problems of complex inspection environment, high inspection difficulty, inspection work standardization and the like in the inspection work of a cable pipeline.
The principal features, principles and advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to explain the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as expressed in the following claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an imitative snakelike robot of patrolling and examining which characterized in that: the snake head electric control device comprises a body structure and an electric control part which are matched, wherein the body structure comprises a snake head (1), a snake body (2) and a snake tail (3) which are sequentially connected by adopting an orthogonal structure;
the snake head (1) is provided with a camera module and a raspberry group part which are connected, the camera module is fixed above a first partition plate (4) in the center of the snake head (1) through a cradle head, the raspberry group part is fixed on the first partition plate (4) in the center of the snake head (1), and a first digital steering engine (5), a second digital steering engine (6) and a third digital steering engine (7) which are connected are arranged on one side, close to the snake body (2), of the first partition plate (4);
the snake body (2) comprises a driving wheel, a driven wheel, a plurality of machine bodies (8) and joints (9) which are connected through an orthogonal structure, the single machine body (8) comprises a fourth digital steering engine (10) and a fifth digital steering engine (11) which are used for controlling the snake body (2) to move in different dimensions under the orthogonal structure, the fourth digital steering engine (10) is connected with a fourth steering engine model (12) which is matched with the fourth digital steering engine model, the fifth digital steering engine (11) is connected with a fifth steering engine model (13) which is matched with the fifth digital steering engine model, the fourth digital steering engine (10) and the fifth digital steering engine (11) are both connected with the joints (9), and the joints (9) are provided with a plurality of screw holes (14) which are matched with;
the snake tail (3) is provided with a stepping motor, an electric control part and a power supply module which are connected, and the electric control part is composed of a motor control module and a steering engine control panel which are matched with each other.
2. The imitated snake-shaped inspection robot according to claim 1, which is characterized in that: the camera module is connected with a PC end used for presenting detection pictures, and the camera module controls the digital steering engine to rotate through the raspberry group part so as to realize free steering to detect different azimuth views and transmit the views to the PC end.
3. The imitated snake-shaped inspection robot according to claim 1, which is characterized in that: the stepping motor is a double-shaft stepping motor, and the stepping motor is connected with and drives the driving wheel.
4. The imitated snake-shaped inspection robot according to claim 1, which is characterized in that: two driven wheels connected with the driving wheel are arranged at the bottom of the single joint (9).
5. The imitated snake-shaped inspection robot according to claim 4, wherein: the driven wheel is a bull's eye wheel.
6. The imitated snake-shaped inspection robot according to claim 1, which is characterized in that: the camera module is characterized in that the first digital steering engine (5), the second digital steering engine (6), the third digital steering engine (7), the fourth digital steering engine (10) and the fifth digital steering engine (11) are electrically connected with a steering engine control panel of the electric control part, and the camera module is electrically connected with the electric control part.
7. The imitated snake-shaped inspection robot according to claim 1, which is characterized in that: fourth digital steering wheel (10), fourth steering wheel model (12) are cooperateed and are located the left and right sides at fuselage (8) rear portion, fifth digital steering wheel (11), fifth steering wheel model (13) are cooperateed and are located the anterior upper and lower side of fuselage (8).
8. The imitated snake-shaped inspection robot according to claim 1, which is characterized in that: the snake head (1) is connected with the machine body (8) close to one end of the snake head (1) through a fifth digital steering engine (11) and a fifth steering engine model (13) which are matched with each other, and the snake tail (3) is connected with the machine body (8) close to one end of the snake tail (3) through a fourth digital steering engine (10) and a fourth steering engine model (12) which are matched with each other.
9. The imitated snake-shaped inspection robot according to claim 1, which is characterized in that: the snake tail (3) is provided with a second partition plate (15), and the steering engine control plate is arranged on the second partition plate (15).
10. The imitated snake-shaped inspection robot according to claim 1, which is characterized in that: and the first digital steering engine (5), the second digital steering engine (6) and the third digital steering engine (7) are respectively provided with a first steering engine model, a second steering engine model and a third steering engine model which are matched with each other.
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| CN202010271503.8A CN111331572A (en) | 2020-04-09 | 2020-04-09 | Snakelike-imitating inspection robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993399A (en) * | 2020-08-13 | 2020-11-27 | 河南科技大学 | Snakelike robot monomer structure |
| CN112054437A (en) * | 2020-09-04 | 2020-12-08 | 国网青海省电力公司检修公司 | Secondary cable laying device |
| CN112234499A (en) * | 2020-09-21 | 2021-01-15 | 石河子大学 | Inspection method of overhead line flying snake-shaped inspection robot |
| CN113492397A (en) * | 2021-06-07 | 2021-10-12 | 燕山大学 | Modular detachable wheel type snake-shaped robot |
| CN114851180A (en) * | 2022-04-08 | 2022-08-05 | 江苏科技大学 | Modularized robot for paint spraying and rust removing of ship and control method thereof |
| CN115446822A (en) * | 2022-10-27 | 2022-12-09 | 北京科技大学 | Snake-shaped robot with integrated orthogonal joints for three-dimensional motion |
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2020
- 2020-04-09 CN CN202010271503.8A patent/CN111331572A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993399A (en) * | 2020-08-13 | 2020-11-27 | 河南科技大学 | Snakelike robot monomer structure |
| CN112054437A (en) * | 2020-09-04 | 2020-12-08 | 国网青海省电力公司检修公司 | Secondary cable laying device |
| CN112054437B (en) * | 2020-09-04 | 2021-09-24 | 国网青海省电力公司检修公司 | Secondary cable laying device |
| CN112234499A (en) * | 2020-09-21 | 2021-01-15 | 石河子大学 | Inspection method of overhead line flying snake-shaped inspection robot |
| CN112234499B (en) * | 2020-09-21 | 2022-02-08 | 石河子大学 | Inspection method of overhead line flying snake-shaped inspection robot |
| CN113492397A (en) * | 2021-06-07 | 2021-10-12 | 燕山大学 | Modular detachable wheel type snake-shaped robot |
| CN113492397B (en) * | 2021-06-07 | 2023-02-24 | 燕山大学 | Modular detachable wheel type snake-shaped robot |
| CN114851180A (en) * | 2022-04-08 | 2022-08-05 | 江苏科技大学 | Modularized robot for paint spraying and rust removing of ship and control method thereof |
| CN114851180B (en) * | 2022-04-08 | 2024-08-09 | 江苏科技大学 | Modularized robot for paint spraying and rust removal of ship and control method thereof |
| CN115446822A (en) * | 2022-10-27 | 2022-12-09 | 北京科技大学 | Snake-shaped robot with integrated orthogonal joints for three-dimensional motion |
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