CN111633637A - Snake-shaped robot with vertical three-section structure - Google Patents
Snake-shaped robot with vertical three-section structure Download PDFInfo
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- CN111633637A CN111633637A CN202010510895.9A CN202010510895A CN111633637A CN 111633637 A CN111633637 A CN 111633637A CN 202010510895 A CN202010510895 A CN 202010510895A CN 111633637 A CN111633637 A CN 111633637A
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- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 4
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 claims 9
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Classifications
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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
- 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
- B25J17/00—Joints
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention provides a snake-shaped robot with a longitudinal three-section structure, which comprises a snake-head crawler belt structure, a joint structure and a snake-tail crawler belt structure which are sequentially connected, wherein a sensor module is arranged above the snake-head crawler belt structure, the snake-head crawler belt structure and the snake-tail crawler belt structure are driven by adopting crawler belts, the joint structure adopts four servo joints with different degrees of freedom, and the crawler belts and the servo joints are arranged on a straight line. The snake-shaped robot with the longitudinal three-section structure can play the functions of obstacle crossing and climbing to reach the deep part of a mine, detect the environment and personnel conditions after underground accidents are destroyed, feed back information to a control center in real time by utilizing a wireless communication means, and assist commanders in making emergency decisions. The method has very important significance for further realizing full-mine automatic, scientific and networked management.
Description
Technical Field
The invention relates to a mobile robot system based on crawler transmission and joint control in the technical field of mechanical automation, in particular to a snake-shaped robot with a longitudinal three-section structure.
Background
Coal resources are the main energy of economic development at present, the demand for coal is rapidly increased, and the rapid development of the coal industry is promoted. Due to the nature of the industry, safety issues are becoming a new standard in the industry. The underground environment is dangerous, emergency personnel are difficult to enter the underground environment at the first time, and accident experts cannot make judgment and decision in time due to lack of underground information, so that the rescue is not in time. Based on the technical scheme, the invention provides the special snake-shaped robot with the longitudinal three-section structure for the mine, which can enter the underground before rescue and relief personnel to go deep into a narrow space for accident exploration and rescue when an accident happens.
According to investigation, similar products are not available on the market. The double-crawler-type explosion-proof robot can be used for an explosion-proof robot product in a coal mine and is only a double-crawler-type explosion-proof robot for city driving heavy industry. Because explosion-proof processing is carried out in an explosion-proof mode, the volume is large, the weight is heavy, the emergency rescue situation is not facilitated, the price is high, and the explosion-proof type coal mine emergency rescue device does not really enter the coal mine market.
Disclosure of Invention
The invention provides a snake-shaped robot with a longitudinal three-section structure, which can be applied to emergency rescue scenes and solves the problems of accident exploration and rescue when the snake-shaped robot goes deep into a narrow space; the problem that disaster relief personnel cannot quickly and accurately master the situation of a disaster area when a disaster accident occurs is solved, the blank of the robot in the application field of emergency rescue and disaster relief is filled, and the robot is suitable for rescue of various terrains. The technical scheme is as follows:
the utility model provides a snake-shaped robot with vertical syllogic structure, is provided with the sensor module including snake head track structure, joint structure and the snake tail track structure that connects gradually in the top of snake head track structure, snake head track structure and snake tail track structure adopt the track drive, the joint structure adopts the servo joint of four different degrees of freedom, track and servo joint arrange on a straight line.
The snake head crawler structure comprises a crawler framework, a main control board is arranged inside the crawler framework, a right front side board and a left front side board which are fixed on the crawler framework are arranged on the left side and the right side of the main control board, the main control board is connected with a sensor module, and the main control board is further connected with a wireless network bridge for video transmission.
And a carbon monoxide sensor, a methane gas sensor, a visible light camera, an infrared camera and a temperature sensor are arranged in the sensor module.
The inside of track skeleton still is provided with the motor, and the motor is installed on the motor mounting, and both ends are provided with right back curb plate, the left posterior lateral plate of fixing at the track skeleton about the motor mounting, and the motor mounting is fixed on right back curb plate or left posterior lateral plate.
The front end and the rear end of the crawler frame are respectively fixed with a driven wheel and a driving wheel, the motor is connected with a synchronizing wheel fixed in the crawler frame through a tensioning sleeve, and the synchronizing wheel is connected with the driving wheel through a synchronizing belt.
The snake tail track structure comprises a snake tail track framework, a battery is arranged in the snake tail track framework, the battery is installed on a left front side plate or a right front side plate through a battery fixing piece, a switch and a charging groove which are connected with the battery are installed on the left front side plate or the right front side plate, and the right front side plate and the left front side plate are fixedly installed on the left side and the right side of the snake tail track framework.
The inside of the snake tail track framework is also provided with a motor, the motor is fixed on the left rear side plate or the right rear side plate through a motor fixing piece, and the left rear side plate and the right rear side plate are fixed on the left side and the right side of the snake tail track framework; the front end and the rear end of the snake tail track framework are respectively fixed with a driven wheel and a driving wheel, the motor is connected with a synchronizing wheel fixed in the snake tail track framework through a tensioning sleeve, and the synchronizing wheel is connected with the driving wheel through a synchronizing belt.
The joint structure comprises a first steering engine, a second steering engine, a third steering engine and a fourth steering engine which are sequentially arranged from front to back, wherein the first steering engine and the fourth steering engine are vertically arranged and are both arranged in the forward direction; the second steering engine and the third steering engine are placed in the horizontal direction and are placed oppositely, the side faces of the first steering engine and the side faces of the second steering engine are fixedly connected through a front connecting plate, the forward direction of the second steering engine and the reverse direction of the third steering engine are fixedly connected through a second connecting side plate, the reverse direction of the second steering engine and the forward direction of the third steering engine are fixedly connected through a first connecting side plate, and the side faces of the fourth steering engine and the side faces of the third steering engine are fixedly connected through a rear connecting plate.
And a left joint connecting plate and a right joint connecting plate of the snake head crawler belt structure are respectively and fixedly connected with two side surfaces of the first steering engine.
And a left joint connecting plate and a right joint connecting plate of the snake tail crawler structure are respectively and fixedly connected with two side surfaces of the fourth steering engine.
The snake-shaped robot with the longitudinal three-section structure can play the functions of obstacle crossing and climbing to reach the deep part of a mine, detect the environment and personnel conditions after underground accidents are destroyed, feed back information to a control center in real time by utilizing a wireless communication means, and assist commanders in making emergency decisions. The method has very important significance for further realizing full-mine automatic, scientific and networked management.
Drawings
FIG. 1 is a schematic structural view of the snake-shaped robot having a longitudinal three-stage structure;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is an exploded view of the snake head track configuration of the snake robot;
FIG. 4 is an exploded view of the snake tail track configuration of the snake robot;
fig. 5 is an exploded view of the joint structure.
Detailed Description
As shown in fig. 1 and 2, the snake-shaped robot having a longitudinal three-stage structure includes a snake-head track structure 2, a joint structure 1 and a snake-tail track structure 3 connected in sequence, and a sensor module 4 is disposed above the snake-head track structure 2. The joint structure 1 with 4 different degrees of freedom is arranged between the two crawler belt structures, 4 servo joints arranged on the joint structure can rotate independently, and various complex actions can be performed in a three-dimensional space, so that the crawler belt can adapt to the terrain on site, and the snake-shaped robot has stronger obstacle crossing capability and adaptability to non-structural environments.
In order to ensure that the robot can operate in the topographic and geomorphic environments such as soft earth surfaces, silt, gravels, stairs, hard rocks and the like, the snake-shaped robot adopts a track as an active driving mode. Meanwhile, in order to ensure the trafficability of certain rugged terrains, the auxiliary driven wheel can be additionally arranged to serve as a structural support, so that the terrain adaptability is enhanced.
The invention arranges the front and back longitudinal arrangement of the double-track structure, the middle part is connected by a plurality of servo joints, and the track part and the servo joint part are arranged on a straight line, thus leading the snake-shaped robot to pass through extremely narrow space such as a pipeline or similar holes and the like, and improving the passing capacity and the adaptability.
As shown in FIG. 3, the snake-head track structure 2 comprises a snake-head track skeleton 11, the snake-head track skeleton 11 is a 3D printed nylon part, a sensor module 4 is carried above the front end of the snake-head track structure through a data line 23, and a carbon monoxide sensor, a methane gas sensor, a visible light camera, an infrared camera and a temperature sensor are arranged in the sensor module 4.
Be provided with snake head right front side board 12, snake head left side front side board 13 respectively at the both ends of snake head track skeleton 11, snake head right front side board 12 and snake head left side front side board 13 respectively through the main control board that is located snake head track skeleton 11 of screw fixation snake shape robot and the wireless bridge that is used for video transmission, the main control board is connected with wireless bridge, and the main control board passes through data line 23 and connects sensor module 4.
The snake head left back side plate 17 is arranged behind the snake head left front side plate 13, a snake head motor fixing part 15 is fixed on the snake head left back side plate 17, the snake head motor 16 is connected with the snake head left side plate 17 through the snake head motor fixing part 15, and the right side of the snake head motor 16 is covered by the snake head right back side plate 14 for protection.
The front end and the rear end of the snake-head track framework 11 are respectively fixed with a snake-head driven wheel 22 and a snake-head driving wheel 20, the snake-head motor 16 is connected with a snake-head synchronizing wheel 18 fixed in the snake-head track framework 11 through a snake-head tensioning sleeve, and the snake-head synchronizing wheel 18 is connected with the snake-head driving wheel 20 through a snake-head synchronizing belt 19. The snake head driving wheel 20 is connected with a snake head outer crawler 21, so that when the snake head motor 16 rotates, the snake head outer crawler 21 rotates through the transmission of the snake head synchronous belt 19.
The left side and the right side of the snake head driving wheel 20 are respectively provided with a snake head left joint connecting plate 24 and a snake head right joint connecting plate 25, and the snake head left joint connecting plate 24 and the snake head right joint connecting plate 25 are fixedly connected with the joint structure 1.
As shown in fig. 4, the snake tail track structure 3 includes a snake tail track frame 31, and the track frame 31 is a 3D printed nylon member.
Two ends of the snake tail crawler frame 31 are respectively provided with a snake tail right front side plate 32 and a snake tail left front side plate 33, the snake tail right front side plate 32 and the snake tail left front side plate 33 are respectively fixed on a snake-shaped robot snake tail battery fixing piece 43 through screws, a power supply battery is installed in the snake tail battery fixing piece 43, and the power supply battery is used for supplying electric energy to the whole robot. And a switch and a charging slot connected with the battery are installed on the left front side plate 33 of the snake tail.
The rear of the left snake tail front side plate 33 is provided with a left snake tail rear side plate 37, a snake tail motor fixing part 35 is fixed on the left snake tail rear side plate 37, the snake tail motor 36 is connected with the left snake tail rear side plate 37 through the snake tail motor fixing part 35, and the right side of the snake tail motor 36 is covered by the right snake tail rear side plate 34 for protection.
A snake tail driven wheel 42 and a snake tail driving wheel 40 are respectively fixed at the front end and the rear end of the snake tail track framework 31, the snake tail motor 36 is connected with a snake tail synchronous wheel 38 fixed in the snake tail track framework 31 through a snake tail tensioning sleeve, and the snake tail synchronous wheel 38 is connected with the snake tail driving wheel 40 through a snake tail synchronous belt 39. The snake tail driving wheel 40 is connected with a snake tail outer crawler 41, so that when the snake tail motor 36 rotates, the snake tail outer crawler 41 rotates through transmission of the snake tail synchronous belt 39.
The left side and the right side of the snake tail driven wheel 42 are respectively provided with a left joint connecting plate and a right joint connecting plate which are fixedly connected with the joint structure 1 through the snake tail left joint connecting plate and the snake tail right joint connecting plate.
As shown in fig. 5, the joint structure 1 includes a first steering engine 51, a second steering engine 52, a third steering engine 53, and a fourth steering engine 54, which are sequentially arranged from front to back, wherein the first steering engine 51 and the fourth steering engine 54 are vertically arranged and are both arranged in a forward direction; the second steering gear 52 and the third steering gear 53 are placed in the horizontal direction and are placed oppositely.
The side of first steering wheel 51 and second steering wheel 52 passes through preceding connecting plate fixed connection, adopts first roof 56 of connecting to carry out fixed connection above first steering wheel 51, second steering wheel 52 promptly, adopts first connecting bottom plate 59 to carry out fixed connection below both. The snake head left joint connecting plate 24 and the snake head right joint connecting plate 25 are respectively and fixedly connected with two side surfaces of the first steering engine 51.
The left end and the right end of the second steering engine 52 and the left end and the right end of the third steering engine 53 are respectively fixed through a first connecting side plate 61 and a second connecting side plate 58, namely, the reverse direction of the second steering engine 52 is fixedly connected with the forward direction of the third steering engine 53 through the first connecting side plate 61, and the forward direction of the second steering engine 52 is fixedly connected with the reverse direction of the third steering engine 53 through the second connecting side plate 58. An I-shaped supporting plate 55 is arranged between the second steering gear 52 and the third steering gear 53, and the first connecting side plate 61 and the second connecting side plate 58 are fixedly connected with the I-shaped supporting plate 55 through threads.
The fourth steering engine 54 is fixedly connected with the side surface of the third steering engine 53 through a rear connecting plate, namely, the second connecting top plate 57 is fixedly connected above the third steering engine 53 and the fourth steering engine 54, and the second connecting bottom plate 60 is fixedly connected below the third steering engine 53 and the fourth steering engine 54. And a snake tail left joint connecting plate and a snake tail right joint connecting plate of the snake tail crawler framework are respectively and fixedly connected with two side surfaces of the fourth steering engine 54.
A wheel framework 62 is fixedly arranged below the I-shaped supporting plate 55, and wheels 63 are arranged on the wheel framework 62.
The steering engine is composed of a motor, a reduction gearbox and a circuit board, the reduction gearbox and the circuit board are fixedly mounted at two ends of the motor respectively, the motor comprises a steering engine shell, a steering engine rotor, a steering engine stator and a motor shaft, the steering engine stator is fixed inside the steering engine shell, one side, with a contact, of the steering engine rotor is upwards connected with the motor shaft, and then the steering engine rotor and the motor shaft are combined and placed inside the steering engine stator.
The speed reducer adopts the harmonic speed reducer, and the speed reducer is connected through the parallel key with the motor shaft, and it includes speed reducer flexbile gear and speed reducer shell, and the embedding of speed reducer flexbile gear is on the motor shaft, puts into the parallel key in motor shaft breach department, and the speed reducer flexbile gear outside covers through the speed reducer shell, and speed reducer shell and steering wheel shell fixed connection.
The contact of the steering engine rotor is higher than the upper surface of the steering engine stator, the upper surface of the steering engine stator is provided with an electric brush fixed with the steering engine shell, and the contact of the electric brush can contact the contact of the steering engine rotor.
The invention relates to a domestic first bionic robot with a three-section type ultra-narrow design single-row driving mode, wherein double tracks are longitudinally arranged front and back and are connected by a plurality of high-torque servo joints, and the track part and the servo joints are arranged on the same straight line and can pass through a pipeline with the minimum diameter of 152mm and a similar narrow space.
The invention adopts a multi-degree-of-freedom snake-shaped robot structure in the first section, 4 servo joints can rotate independently, the robot is intelligently adaptive to terrains, various walking modes such as single-row walking, double-row walking and rolling walking are switched according to the terrain environment, when in-situ steering is required, the robot can be deformed into a head-tail double-row structure, the stability and flexibility of flat ground operation are improved by sacrificing narrow space trafficability, and the snake-shaped robot can automatically reset when overturned in the walking process.
The snake-shaped robot has the design concept of the first-style single-row drive in China, can switch various walking modes such as single-row, double-row and rolling according to terrain, has adaptability to non-structural environments, simultaneously uses a multi-element heterogeneous parallel sensor group for the first time to form an environment recognition technology, really realizes the bionic technology of remote video signal transmission, environment sensing, image recognition and autonomous obstacle avoidance, and has very important significance to safety production, intelligent application and industrial innovation in the wide market environment of robot application.
The snake-shaped robot has the functions of moving and controlling under a non-structural environment, sensing the environment, identifying the image and avoiding obstacles autonomously, and can also be used for exploration under extreme and dangerous environments. Because the snake-shaped robot has a longitudinal three-section structure, all the functional modules are arranged in a front-back straight line, the extremely narrow space of a gap, a pipeline and a cave can be ensured, and the snake-shaped robot has trafficability in a non-structural environment, so that harsh application conditions and complex application scenes are not needed, and the snake-shaped robot can carry out safe and effective function output.
Besides disaster accident rescue, spontaneous combustion ignition of coal is one of main natural disasters in the coal mining process of China, and 60% of mines in coal mines of China mine coal seams with spontaneous combustion tendency. With the increase of mining intensity, the continuous deepening of mines and the deep exploitation of coal seams, particularly the problems caused by short-distance coal seam mining, and the relative complication of ventilation systems cause the spontaneous combustion risk of the coal seams to have a trend of obviously increasing.
Spontaneous combustion and ignition of coal in the goaf account for a high proportion of mine fires. If the spontaneous combustion of the coal can be inhibited at an early stage, the method has important significance for controlling and preventing spontaneous combustion ignition of a goaf (working face). At present, the self-ignition tendency in the goaf is predicted mainly by pumping sample gas to the ground through a tube bundle system and analyzing and early warning the marker gas; the method is lack of real-time performance and intuition, and the beam tube is easy to damage and leak gas to cause inaccurate measurement. By adopting the invention, the temperature field and the concentration of the carbon monoxide can be calculated by the robot to automatically approach the ignition point or the disaster high-incidence area, the accurate positioning is carried out, and the treatment can be effectively implemented or the precautionary measure can be applied in advance according to the field condition. Timely and accurate early warning is carried out on the hidden danger of the goaf, the accident risk of the goaf is reduced, and the safety of underground operation is improved.
The snake-shaped robot has an intrinsic safety explosion-proof improvement design for underground rescue of a coal mine. The robot body has a lightweight structural design and has optimal size and weight; the circuit board is designed according to the intrinsic safety explosion-proof standard, a battery current-limiting protection plate is added, and the battery current-limiting protection plate is fixed in a glue sealing mode. And reducing the transmitting power of the wireless module according to the explosion-proof specified requirement. A motor speed reduction transmission mechanism is designed, and an oil seal is adopted at the position of a motor output shaft for processing. The gas sensor vent hole uses waterproof ventilative film, improves the whole waterproof nature of robot. The special explosion-proof lithium battery is purchased or customized, and under the condition that the use requirement can be met, the battery capacity is properly reduced, and the battery volume and weight are reduced.
Claims (10)
1. The utility model provides a snake robot with vertical syllogic structure which characterized in that: including snake head track structure, joint structure and the snake tail track structure that connects gradually, be provided with the sensor module in the top of snake head track structure, snake head track structure and snake tail track structure adopt the track drive, the joint structure adopts the servo joint of four different degrees of freedom, track and servo joint arrange on a straight line.
2. The serpentine robot having a longitudinal three-stage structure according to claim 1, wherein: the snake head crawler structure comprises a crawler framework, a main control board is arranged inside the crawler framework, a right front side board and a left front side board which are fixed on the crawler framework are arranged on the left side and the right side of the main control board, the main control board is connected with a sensor module, and the main control board is further connected with a wireless network bridge for video transmission.
3. The serpentine robot having a longitudinal three-stage structure according to claim 1, wherein: and a carbon monoxide sensor, a methane gas sensor, a visible light camera, an infrared camera and a temperature sensor are arranged in the sensor module.
4. The serpentine robot having a longitudinal three-stage structure according to claim 2, wherein: the inside of track skeleton still is provided with the motor, and the motor is installed on the motor mounting, and both ends are provided with right back curb plate, the left posterior lateral plate of fixing at the track skeleton about the motor mounting, and the motor mounting is fixed on right back curb plate or left posterior lateral plate.
5. The serpentine robot having a longitudinal three-stage structure according to claim 4, wherein: the front end and the rear end of the crawler frame are respectively fixed with a driven wheel and a driving wheel, the motor is connected with a synchronizing wheel fixed in the crawler frame through a tensioning sleeve, and the synchronizing wheel is connected with the driving wheel through a synchronizing belt.
6. The serpentine robot having a longitudinal three-stage structure according to claim 1, wherein: the snake tail track structure comprises a snake tail track framework, a battery is arranged in the snake tail track framework, the battery is installed on a left front side plate or a right front side plate through a battery fixing piece, a switch and a charging groove which are connected with the battery are installed on the left front side plate or the right front side plate, and the right front side plate and the left front side plate are fixedly installed on the left side and the right side of the snake tail track framework.
7. The serpentine robot having a longitudinal three-stage structure according to claim 6, wherein: the inside of the snake tail track framework is also provided with a motor, the motor is fixed on the left rear side plate or the right rear side plate through a motor fixing piece, and the left rear side plate and the right rear side plate are fixed on the left side and the right side of the snake tail track framework; the front end and the rear end of the snake tail track framework are respectively fixed with a driven wheel and a driving wheel, the motor is connected with a synchronizing wheel fixed in the snake tail track framework through a tensioning sleeve, and the synchronizing wheel is connected with the driving wheel through a synchronizing belt.
8. The serpentine robot having a longitudinal three-stage structure according to claim 1, wherein: the joint structure comprises a first steering engine, a second steering engine, a third steering engine and a fourth steering engine which are sequentially arranged from front to back, wherein the first steering engine and the fourth steering engine are vertically arranged and are both arranged in the forward direction; the second steering engine and the third steering engine are placed in the horizontal direction and are placed oppositely, the side faces of the first steering engine and the side faces of the second steering engine are fixedly connected through a front connecting plate, the forward direction of the second steering engine and the reverse direction of the third steering engine are fixedly connected through a second connecting side plate, the reverse direction of the second steering engine and the forward direction of the third steering engine are fixedly connected through a first connecting side plate, and the side faces of the fourth steering engine and the side faces of the third steering engine are fixedly connected through a rear connecting plate.
9. The serpentine robot having a longitudinal three-stage structure according to claim 1, wherein: and a left joint connecting plate and a right joint connecting plate of the snake head crawler belt structure are respectively and fixedly connected with two side surfaces of the first steering engine.
10. The serpentine robot having a longitudinal three-stage structure according to claim 1, wherein: and a left joint connecting plate and a right joint connecting plate of the snake tail crawler structure are respectively and fixedly connected with two side surfaces of the fourth steering engine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010510895.9A CN111633637A (en) | 2020-06-08 | 2020-06-08 | Snake-shaped robot with vertical three-section structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010510895.9A CN111633637A (en) | 2020-06-08 | 2020-06-08 | Snake-shaped robot with vertical three-section structure |
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| CN111633637A true CN111633637A (en) | 2020-09-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112643677A (en) * | 2020-12-18 | 2021-04-13 | 华南理工大学 | Terrain adaptive control method, system, device and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102141181A (en) * | 2006-11-13 | 2011-08-03 | 雷神萨科斯公司 | Serpentine robotic crawler |
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