CN115488868B - Autonomous recombination snake-shaped robot - Google Patents
Autonomous recombination snake-shaped robot Download PDFInfo
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- CN115488868B CN115488868B CN202211249375.2A CN202211249375A CN115488868B CN 115488868 B CN115488868 B CN 115488868B CN 202211249375 A CN202211249375 A CN 202211249375A CN 115488868 B CN115488868 B CN 115488868B
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- pin head
- automatic pin
- snake
- automatic
- shaped groove
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- 230000006798 recombination Effects 0.000 title claims abstract description 11
- 238000005215 recombination Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 238000006243 chemical reaction Methods 0.000 claims abstract description 7
- 230000008521 reorganization Effects 0.000 claims abstract description 4
- 230000009471 action Effects 0.000 claims description 9
- 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 description 9
- 241000270295 Serpentes Species 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 28
- 239000011664 nicotinic acid Substances 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002572 peristaltic effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention provides an autonomous recombinant snake-shaped robot, comprising: the device comprises a first shell, a second shell and an automatic recombination mechanism connected with the first shell and the second shell; wherein: the automatic reorganization mechanism comprises a Z-shaped groove, a first automatic pin head and a second automatic pin head, wherein the outer side curve of the Z-shaped groove is of an eccentric design, and effective moment is generated when the first automatic pin head and the second automatic pin head are in contact with the outer side curve of the Z-shaped groove, so that the Z-shaped groove drives the first shell to rotate, the structure of the snake-shaped robot is changed, and the conversion between a parallel structure and an orthogonal structure of the snake-shaped robot is automatically completed. The invention realizes parallel and orthogonal free conversion by controlling the structure of the snake-shaped robot, ensures the three-dimensional in-plane movement of the snake-shaped robot, and solves the problem of slow advancing speed of the bionic snake-shaped robot by changing the structure to optimize two-dimensional movement.
Description
Technical Field
The invention relates to the technical field of bionic snake-shaped fire robots, in particular to an autonomous recombination snake-shaped robot.
Background
The bionic snake-shaped robot has the characteristics of multiple joints and multiple degrees of freedom, and can be in a two-dimensional space: the biological snake can be used for realizing the actions such as winding and peristaltic movement, and various complex movement modes can be realized in a three-dimensional space: traveling wave motion, rolling motion, etc., which cannot be achieved by conventional biological snakes. Has excellent environment adaptability. Therefore, the snake-shaped robot can be widely applied in various fields, such as exploration in complex environments formed by natural disasters such as earthquakes, fire-fighting and fire-extinguishing work in the case of fire occurrence, overhaul work in complex pipelines and the like, and can play a great role.
At present, the serpentine robot mainly realizes the forward motion by controlling the multipath steering engine through the main control board to realize the serpentine motion, but only the odd joints swing when the common orthogonal serpentine robot performs the serpentine motion, the effective motion joint distance is larger, and the serpentine motion curve cannot be fitted better. Furthermore, due to its particular serpentine motion pattern: the snake-shaped robot with larger normal friction with the contact surface and smaller tangential friction can realize faster movement speed. The greater effective movement joint length can more easily cause the snake-shaped robot to move transversely, the movement efficiency is greatly reduced, and the forward movement speed is slow. The target requirement cannot be effectively met when a larger movement speed is required in some specific occasions.
At present, to the actual working demand of the snake-shaped robot with the existing orthogonal structure, a novel snake-shaped robot structure is needed to be capable of better optimizing two-dimensional movement efficiency while meeting three-dimensional actions of the snake-shaped robot, effectively utilizing friction force between the snake-shaped robot and a contact surface, fitting serpenoid curves better, improving advancing speed and effectively avoiding lateral movement.
Disclosure of Invention
According to the technical problem presented above, an autonomous recombinant snake-shaped robot is provided. The invention realizes parallel and orthogonal free conversion by controlling the structure of the snake-shaped robot, ensures the three-dimensional in-plane movement of the snake-shaped robot, and solves the problem of slow advancing speed of the bionic snake-shaped robot by changing the structure to optimize two-dimensional movement.
The invention adopts the following technical means:
An autonomous, recombinant serpentine robot comprising: the device comprises a first shell, a second shell and an automatic recombination mechanism connected with the first shell and the second shell; wherein:
The automatic reorganization mechanism comprises a Z-shaped groove, a first automatic pin head and a second automatic pin head, wherein the outer side curve of the Z-shaped groove is of an eccentric design, and effective moment is generated when the first automatic pin head and the second automatic pin head are in contact with the outer side curve of the Z-shaped groove, so that the Z-shaped groove drives the first shell to rotate, the structure of the snake-shaped robot is changed, and the conversion between a parallel structure and an orthogonal structure of the snake-shaped robot is automatically completed.
Further, a steering engine mounting hole is formed in the first shell, and the steering engine is fixedly connected with the first shell through the steering engine mounting hole.
Further, the second shell is connected with a joint connecting hole, and the steering engine is connected with the joint connecting hole through a bolt to form a snake-shaped robot structure.
Further, an automatic pin head assembly hole is formed in the outer wall of the second shell, and the automatic pin head assembly hole is used for installing a first automatic pin head and a second automatic pin head.
Further, the angle between the first automatic pin head and the second automatic pin head is 90 degrees, and the first automatic pin head and the second automatic pin head alternately act to realize automatic deformation.
Further, the first automatic pin head and the second automatic pin head alternately act to realize automatic deformation, and the method comprises the following steps:
When the snakelike robot joints are required to be connected in an orthogonal mode, the first automatic pin head is electrified, the spring is compressed, so that the first automatic pin head is separated from the Z-shaped groove, meanwhile, the second automatic pin head is powered off, the pin head is sprung up by the elasticity of the spring, and enters the Z-shaped groove to realize the fixation of the structure between the two shells;
When the snake-shaped robot is required to be deformed into a parallel structure, the second automatic pin head is electrified, the second automatic pin head is attracted to ascend to compress the spring, so that the second automatic pin head is separated from the Z-shaped groove, the case is prevented from rotating, then the first automatic pin head is powered off, the spring force downwards pushes the outer side curve of the Z-shaped groove, the curve is an eccentric wheel, the Z-shaped groove rotates clockwise under the action force of the first automatic pin head to the circle center, and when the first automatic pin head rotates by 90 degrees, the first automatic pin head enters a fixed notch of the Z-shaped groove, so that the whole first case drives the steering engine to rotate, and the whole deformation action is completed.
Further, when the first automatic pin head is in a tension state, the first automatic pin head is tangent to the outer curve of the Z-shaped groove, and a concentric structure is arranged between the first shell and the second shell, so that the effective rotation of the shells is facilitated.
Further, the first automatic pin head and the second automatic pin head are directly controlled by the snake-shaped robot main control board and are not independently powered.
Further, the steering engine is characterized in that the steering engine is provided with a plastic shell outside, an aluminum alloy gear inside, and the first shell and the second shell are of plastic structures.
Compared with the prior art, the invention has the following advantages:
1. the autonomous recombination snake-shaped robot provided by the invention is assembled by two parts of shells, and an automatic deformation device is formed by combining the shells, so that the snake-shaped robot can automatically complete the conversion between a parallel structure and an orthogonal structure, and realizes automation and intellectualization while considering the motion of a two-dimensional plane and a three-dimensional space.
2. The automatic recombination mechanism between the two shells of the autonomous recombination snake-shaped robot provided by the invention consists of the Z-shaped groove and the automatic pin head, wherein the outer curve of the Z-shaped groove is of an eccentric design, and effective moment is generated when the automatic pin head contacts with the outer curve of the Z-shaped groove, so that the Z-shaped groove drives the first shell to rotate, the structure of the snake-shaped robot is changed, and the two-dimensional plane movement efficiency is optimized.
Based on the reasons, the invention can be widely popularized in the fields of bionic snake-shaped fire robots and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of an autonomous and recombinant snake-shaped robot of the invention.
FIG. 2 is a cross-sectional view of the overall structure of the autonomous and recombinant snake-shaped robot of the invention.
FIG. 3 is a schematic diagram of an automatic deformation structure of the autonomous and recombinant snake-shaped robot of the invention.
In the figure: 1. steering engine; 2. a first housing; 3. a second housing; 4. steering engine mounting holes; 5. automatic pin head assembly holes; 6. a joint connection hole; 7. a first automatic pin head; 8. a second automatic pin head; 9. a Z-shaped groove.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
As shown in fig. 1, the present invention provides an autonomous, recombinant serpentine robot comprising: a first casing 2, a second casing 3, and an automatic reorganization mechanism connecting the first casing 2 and the second casing 3; wherein:
The automatic recombination mechanism comprises a Z-shaped groove 9, a first automatic pin head 7 and a second automatic pin head 8,Z, wherein the outer side curve of the groove 9 is of an eccentric design, and effective moment is generated when the first automatic pin head 7 and the second automatic pin head 8 are in contact with the outer side curve of the Z-shaped groove 9, so that the Z-shaped groove 9 drives the first shell 2 to rotate, the structure of the snake-shaped robot is changed, the conversion between a parallel structure and an orthogonal structure of the snake-shaped robot is automatically completed, and the two-dimensional plane movement efficiency is optimized.
In a specific implementation, as a preferred embodiment of the present invention, with continued reference to fig. 1, the first housing 2 is provided with a steering engine mounting hole 4, and the steering engine 1 is fixedly connected with the first housing 2 through the steering engine mounting hole 4. The second shell 3 is connected with a joint connecting hole 6, and the steering engine 1 and the joint connecting hole 6 are connected through bolts to form a snake-shaped robot structure. An automatic pin head assembly hole 5 is formed in the outer wall of the second shell 3 and is used for installing a first automatic pin head 7 and a second automatic pin head 8.
In specific implementation, as a preferred embodiment of the present invention, as shown in fig. 3, the angle between the first automatic pin head 7 and the second automatic pin head 8 is 90 °, and the first automatic pin head 7 and the second automatic pin head 8 alternately operate to realize automatic deformation. The method specifically comprises the following steps:
when the snake-shaped robot joint is required to be connected in an orthogonal mode, the first automatic pin head 7 is electrified, the spring is compressed, the first automatic pin head 7 is separated from the Z-shaped groove 9, meanwhile, the second automatic pin head 8 is powered off, the pin head is sprung up by the elastic force of the spring, and enters the Z-shaped groove 9 to achieve fixing of the structure between the two shells;
When the snake-shaped robot is required to be deformed into a parallel structure, the second automatic pin head 8 is electrified, the second automatic pin head 8 is attracted to compress the spring upwards, the second automatic pin head 8 is separated from the Z-shaped groove 9, the blocking of the rotation of the shell is avoided, then the first automatic pin head 7 is powered off, the elastic force of the spring downwards pushes the outer side curve of the Z-shaped groove 9, the curve is an eccentric wheel, the Z-shaped groove 9 rotates clockwise under the action force of the first automatic pin head 7 to the circle center, and when the rotation is 90 degrees, the first automatic pin head 7 enters a fixed notch of the Z-shaped groove 9, so that the whole first shell 2 drives a steering engine to rotate, and the whole deformation action is completed.
In particular, as a preferred embodiment of the present invention, as shown in fig. 2, when the first automatic pin head 7 is in a tension state, the first automatic pin head is tangent to the outer curve of the Z-shaped groove 9, and the first casing 2 and the second casing 3 are in a concentric structure, so that the casings can be rotated effectively.
In specific implementation, as a preferred embodiment of the present invention, the first automatic pin head 7 and the second automatic pin head 8 are directly controlled by the snake-shaped robot main control board, and no separate power supply is needed, so that the overall structure is lighter.
In specific implementation, as a preferred embodiment of the present invention, the steering engine 1 has a plastic housing outside and an aluminum alloy gear inside, and the first housing 2 and the second housing 3 adopt plastic structures.
In conclusion, due to the fact that the advancing speed is low due to the motion property of the snake-shaped robot, when the snake-shaped motion is advanced through fitting serpenoid curves of each steering engine, the joint distance is too long, the fitting effect is poor, serious motion loss can be caused, the snake-shaped robot moves transversely, and the advancing speed is extremely low. The automatic recombination mechanism between the two shells consists of the Z-shaped groove 9 and the automatic pin head, wherein the outer curve of the Z-shaped groove 9 is of an eccentric design, and effective moment is generated when the automatic pin head contacts with the outer curve of the Z-shaped groove 9, so that the Z-shaped groove 9 drives the first shell 1 to rotate, the structure of the snake-shaped robot is changed, and the two-dimensional plane movement efficiency is optimized.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (6)
1. An autonomous, recombinant serpentine robot, comprising: a first housing (2), a second housing (3), and an automatic reorganization mechanism connecting the first housing (2) and the second housing (3); wherein:
the automatic recombination mechanism comprises a Z-shaped groove (9), a first automatic pin head (7) and a second automatic pin head (8), wherein the outer side curve of the Z-shaped groove (9) is of an eccentric design, and effective moment is generated when the first automatic pin head (7) and the second automatic pin head (8) are in contact with the outer side curve of the Z-shaped groove (9), so that the Z-shaped groove (9) drives the first shell (2) to rotate, the structure of the snake-shaped robot is changed, and the conversion between a parallel structure and an orthogonal structure of the snake-shaped robot is automatically completed;
the angle between the first automatic pin head (7) and the second automatic pin head (8) is 90 degrees, and the first automatic pin head (7) and the second automatic pin head (8) alternately act to realize automatic deformation;
alternating action between a first automatic pin head (7) and a second automatic pin head (8) to realize automatic deformation, comprising:
When the snake-shaped robot joint is required to be connected in an orthogonal mode, the first automatic pin head (7) is electrified, the spring is compressed, the first automatic pin head (7) is separated from the Z-shaped groove (9), meanwhile, the second automatic pin head (8) is powered off, and the pin head is sprung up by the elastic force of the spring and enters the Z-shaped groove (9) to achieve fixing of the structure between the two shells;
When the snake-shaped robot is required to be deformed into a parallel structure, the second automatic pin head (8) is electrified, the upper pressure of the second automatic pin head (8) is attracted to compress the spring, so that the second automatic pin head (8) is separated from the Z-shaped groove (9), the situation that the shell rotates is avoided, then the first automatic pin head (7) is powered off, the elastic force of the spring downwards pushes the outer side curve of the Z-shaped groove (9), the curve is an eccentric wheel, the Z-shaped groove (9) rotates clockwise under the action force of the first automatic pin head (7) towards the circle center, and when the first automatic pin head (7) rotates for 90 degrees, the first automatic pin head (7) enters a fixed notch of the Z-shaped groove (9), so that the whole first shell (2) drives the steering engine to rotate, and the whole deformation action is completed;
When the first automatic pin head (7) is in a tension state, the first automatic pin head is tangent to the outer curve of the Z-shaped groove (9), and a concentric structure is arranged between the first shell (2) and the second shell (3), so that the effective rotation of the shells is facilitated.
2. Autonomous and recombinant snake-shaped robot according to claim 1, characterized in that the first housing (2) is provided with a steering engine mounting hole (4), and the steering engine (1) is fixedly connected with the first housing (2) through the steering engine mounting hole (4).
3. The autonomous and recombinant snake-shaped robot according to claim 2, wherein the second shell (3) is provided with a joint connecting hole (6), and the steering engine (1) and the joint connecting hole (6) are connected through bolts to form a snake-shaped robot structure.
4. An autonomous and recombinant snake-shaped robot as claimed in claim 2, characterized in that the outer wall of the second housing (3) is provided with an automatic pin head assembly hole (5) for mounting a first automatic pin head (7) and a second automatic pin head (8).
5. An autonomous and recombinant snake robot as claimed in claim 1, wherein the first and second automatic pin heads (7, 8) are directly controlled by the snake robot main control panel and are not separately powered.
6. Autonomous and recombinant snake-shaped robot according to claim 2, characterized in that the steering engine (1) is externally provided with a plastic housing and internally provided with an aluminum alloy gear, and the first housing (2) and the second housing (3) are of plastic structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211249375.2A CN115488868B (en) | 2022-10-12 | 2022-10-12 | Autonomous recombination snake-shaped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211249375.2A CN115488868B (en) | 2022-10-12 | 2022-10-12 | Autonomous recombination snake-shaped robot |
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| Publication Number | Publication Date |
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| CN115488868A CN115488868A (en) | 2022-12-20 |
| CN115488868B true CN115488868B (en) | 2024-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211249375.2A Active CN115488868B (en) | 2022-10-12 | 2022-10-12 | Autonomous recombination snake-shaped robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08323681A (en) * | 1995-05-31 | 1996-12-10 | Toshiba Corp | Floating device |
| CN104010773A (en) * | 2011-09-13 | 2014-08-27 | 美的洛博迪克斯公司 | Highly Articulated Probes With Anti-Twist Link Arrangement, Methods Of Formation Thereof, And Methods Of Performing Medical Procedures |
| CN112237543A (en) * | 2020-08-27 | 2021-01-19 | 胡发芬 | Intelligent intramuscular injection equipment |
| CN112366598A (en) * | 2020-11-25 | 2021-02-12 | 郑绪乐 | Rail robot for intelligently inspecting cable and using method thereof |
| CN113183140A (en) * | 2021-06-03 | 2021-07-30 | 西南交通大学 | Bionic snake-shaped robot capable of being connected in gear shifting mode and control system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2658968T3 (en) * | 2008-06-05 | 2018-03-13 | Carnegie Mellon University | Extendable articulated probe device |
-
2022
- 2022-10-12 CN CN202211249375.2A patent/CN115488868B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08323681A (en) * | 1995-05-31 | 1996-12-10 | Toshiba Corp | Floating device |
| CN104010773A (en) * | 2011-09-13 | 2014-08-27 | 美的洛博迪克斯公司 | Highly Articulated Probes With Anti-Twist Link Arrangement, Methods Of Formation Thereof, And Methods Of Performing Medical Procedures |
| CN112237543A (en) * | 2020-08-27 | 2021-01-19 | 胡发芬 | Intelligent intramuscular injection equipment |
| CN112366598A (en) * | 2020-11-25 | 2021-02-12 | 郑绪乐 | Rail robot for intelligently inspecting cable and using method thereof |
| CN113183140A (en) * | 2021-06-03 | 2021-07-30 | 西南交通大学 | Bionic snake-shaped robot capable of being connected in gear shifting mode and control system |
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| Publication number | Publication date |
|---|---|
| CN115488868A (en) | 2022-12-20 |
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