CN206855440U - A kind of vane wheel type coalmine rescue snake-shaped robot - Google Patents
A kind of vane wheel type coalmine rescue snake-shaped robot Download PDFInfo
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- CN206855440U CN206855440U CN201720779748.5U CN201720779748U CN206855440U CN 206855440 U CN206855440 U CN 206855440U CN 201720779748 U CN201720779748 U CN 201720779748U CN 206855440 U CN206855440 U CN 206855440U
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Abstract
The utility model discloses a kind of vane wheel type coalmine rescue snake-shaped robot, including robot body and robot control system；Robot body includes first module module, second unit module, third unit module, the 4th unit module and the 5th unit module set gradually from front to back；Robot control system includes master controller and power module, and the USB RS232 modular converters to connect with master controller and the host computer to connect by communication module with master controller；The input of master controller is terminated with obstacle avoidance module and night vision cam, and the input of obstacle avoidance module is terminated with detection of obstacles unit, and detection of obstacles unit includes the first ultrasonic sensor, the second ultrasonic sensor and infrared sensor.The utility model is simple in construction, novel in design rationally to realize that convenient and cost is low, the small volume of coalmine rescue snake-shaped robot, and the function of avoidance and obstacle detouring is strong, road pavement it is adaptable, it is practical, it is easy to utilize.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of vane wheel type coalmine rescue snake-shaped robot.
Background technology
1972, professor Hirose of Tokyo Univ Japan led its Research Team to develop the snakelike machine of First in the world
, with going deep into for research, there is a series of snake-shaped robot, such as ACM- in device people ACM (Active Cord Mechanism)
R3 robots, ACM-R5 robots；After robot water-proofing treatment, ACM-R5 can realize again it is underwater freely move about, its swim
The minimum 0.9m/min of dynamic speed.By the OmniTread robots of Univ Michigan-Ann Arbor USA development, the robot total length
1270mm, gross mass 13.6kg, highest creep speed can reach 0.1m/s, and highest can cross 457mm high obstacles thing, across 660mm
Trench, its maximum rollover angle is 22 °, min. turning radius 530mm.In addition, German National information technology research center
GMD-Snake and GMD-Snake2 snake-shaped robots successively are developed, Carnegie Mellon Univ USA have studied for climbing
Modularization snake-shaped robot, Norwegian University of Science ＆ Technology have developed without wheeled snake-shaped robot Aiko and Kullo etc..
Chinese Academy of Sciences's Shenyang Institute of Automation developed a kind of snake-shaped robot of modular reconfigurable in 2001, with
Research is goed deep into, and the institute have developed three-dimensional snake-shaped robot patrolman II and the person of detecting III.The total length about 1.2m of patrolman II, group
Module into patrolman II is modular universal unit, has pitching, driftage and revolution 3DOF.Turn round the increase of the free degree
Make robot that there is higher kinematic dexterity, the motion of amphibious complex environment can be achieved in the person of detecting III.
In summary, the research of domestic and international snake-shaped robot achieves considerable progress, however, current snake-shaped robot
Following defect and deficiency also be present：1. using single shaft cradle head mostly, only there are plane motion capabilities；Tied 2. being rotated by three axles
The snake-shaped robot of structure composition can realize three-dimensional motion, but require very high to the output torque of steering wheel, so as to cause robot
Size is big, power consumption is big, involves great expense；3. because snake body physical dimension is big, cause movement effects undesirable, want to reach preferable
Movement effects, it is necessary to realize that snake-shaped robot minimizes；4. when robot runs into short obstacle, or external interference causes body
When shape is widely varied, motion is crossed it is difficult to smoothly complete.Also lacking in the prior art can meet that colliery is rescued well
Help the snake-shaped robot of demand.
Utility model content
Technical problem to be solved in the utility model is to be directed to above-mentioned deficiency of the prior art, there is provided a kind of blade
Wheeled coalmine rescue snake-shaped robot, its is simple in construction, novel in design reasonable, realizes that convenient and cost is low, coalmine rescue is snakelike
The function of the small volume of robot, avoidance and obstacle detouring is strong, road pavement it is adaptable, it is practical, it is easy to utilize.
In order to solve the above technical problems, the technical solution adopted in the utility model is：A kind of vane wheel type coalmine rescue snake
Anthropomorphic robot, it is characterised in that：Including robot body and robot control system；The robot body is included from front to back
First module module, second unit module, third unit module, the 4th unit module and the 5th unit module set gradually,
The first module module include the first connecting plate and the first blade wheel for being separately positioned at left and right sides of the first connecting plate and
Second blade wheel, the first connecting plate upper left side are provided with the first motor for driving the first blade wheel to rotate, and described the
Right side is provided with the second motor for driving the second blade wheel to rotate on one connecting plate, and rear side is set on first connecting plate
There are the first vertical direction steering wheel, the output axis connection of first blade wheel and the first motor, second blade wheel and second
The output axis connection of motor；The second unit module includes the second connecting plate and is separately positioned on second connecting plate or so two
The third blade wheel and quaterfoil wheel of side, the second connecting plate upper left side are provided with what is rotated for driving third blade wheel
3rd motor, right side is provided with the 4th motor for driving quaterfoil wheel to rotate on second connecting plate, and described second
Front side is provided with first level direction steering wheel on connecting plate, and rear side is provided with the second vertical direction rudder on second connecting plate
Machine, the output axis connection of the third blade wheel and the 3rd motor, the output axis connection of the quaterfoil wheel and the 4th motor；
The third unit module include the 3rd connecting plate and the 5th blade wheel that is separately positioned at left and right sides of the 3rd connecting plate and
6th blade wheel, the 3rd connecting plate upper left side are provided with the 5th motor for driving the 5th blade wheel to rotate, and described the
Right side is provided with the 6th motor for driving the 6th blade wheel to rotate on three connecting plates, and front side is set on the 3rd connecting plate
There is the second horizontal direction steering wheel, rear side is provided with the 3rd vertical direction steering wheel, the 5th blade wheel on the 3rd connecting plate
With the output axis connection of the 5th motor, the output axis connection of the 6th blade wheel and the 6th motor；4th unit module
Including the 4th connecting plate and the 7th blade wheel and the 8th blade wheel that are separately positioned at left and right sides of the 4th connecting plate, described
Four connecting plate upper left sides are provided with the 7th motor for driving the 7th blade wheel to rotate, and right side is set on the 4th connecting plate
There is the 8th motor for driving the 8th blade wheel to rotate, front side is provided with the 3rd horizontal direction rudder on the 4th connecting plate
Machine, rear side is provided with the 4th vertical direction steering wheel, the output of the 7th blade wheel and the 7th motor on the 4th connecting plate
Axis connection, the output axis connection of the 8th blade wheel and the 8th motor；5th unit module include the 5th connecting plate with
And the 9th blade wheel and the tenth blade wheel at left and right sides of the 5th connecting plate are separately positioned on, the 5th connecting plate upper left side is set
The 9th motor for driving the 9th blade wheel to rotate is equipped with, right side is provided with for driving the tenth leaf on the 5th connecting plate
The tenth motor that piece wheel rotates, front side is provided with the 4th horizontal direction steering wheel, the 9th blade wheel on the 5th connecting plate
With the output axis connection of the 9th motor, the output axis connection of the tenth blade wheel and the tenth motor；First connecting plate leads to
Cross the first orthogonal joint to be connected with the second connecting plate, second connecting plate is connected by the second orthogonal joint and the 3rd connecting plate
Connect, the 3rd connecting plate is connected by the 3rd orthogonal joint with the 4th connecting plate, and the 4th connecting plate is orthogonal by the 4th
Joint is connected with the 5th connecting plate, and First Speed is connected between the second vertical direction steering wheel and the second horizontal direction steering wheel
Steering wheel, second speed steering wheel is connected between the 3rd vertical direction steering wheel and the 3rd horizontal direction steering wheel；
The robot control system includes master controller and power module, and the USB- to connect with master controller
RS232 modular converters and the host computer to be connected by communication module with master controller；The input termination of the master controller
There are obstacle avoidance module and night vision cam, the input of the obstacle avoidance module is terminated with detection of obstacles unit, the detection of obstacles
Unit includes the first ultrasonic sensor, the second ultrasonic sensor and infrared sensor；The obstacle avoidance module, the first ultrasonic wave
Sensor, the second ultrasonic sensor and infrared sensor, and the first vertical direction steering wheel, the second vertical direction steering wheel,
Three vertical direction steering wheels, the 4th vertical direction steering wheel, first level direction steering wheel, the second horizontal direction steering wheel, the 3rd level side
Output of the power line with power module to steering wheel, the 4th horizontal direction steering wheel, First Speed steering wheel and second speed steering wheel
End connection；The night vision cam is arranged on the positive front end of the first connecting plate, first ultrasonic sensor and the second ultrasound
Wave sensor is arranged on the front end of the first connecting plate and is located at the left and right sides of night vision cam respectively, the infrared sensor peace
The front side on the first connecting plate；The First Speed steering wheel and second speed steering wheel, it is the first vertical direction steering wheel, second vertical
Direction steering wheel, the 3rd vertical direction steering wheel and the 4th vertical direction steering wheel, and first level direction steering wheel, the second horizontal direction
The power line of steering wheel, the 3rd horizontal direction steering wheel and the 4th horizontal direction steering wheel is connected with the output end of power module；It is described
First Speed steering wheel and second speed steering wheel, the first vertical direction steering wheel, the second vertical direction steering wheel, the 3rd vertical direction steering wheel
With the 4th vertical direction steering wheel, and first level direction steering wheel, the second horizontal direction steering wheel, the 3rd horizontal direction steering wheel and
The signal wire of four horizontal direction steering wheels is connected with USB-RS232 modular converters, first motor, the 3rd motor, the 5th electricity
Power line of the power line of machine, the 7th motor and the 9th motor with second speed steering wheel is connected, the second motor, the 4th motor,
Power line of the power line of 6th motor, the 8th motor and the tenth motor with First Speed steering wheel is connected.
A kind of above-mentioned vane wheel type coalmine rescue snake-shaped robot, it is characterised in that：First motor, the second electricity
Machine, the 3rd motor, the 4th motor, the 5th motor, the 6th motor, the 7th motor, the 8th motor, the 9th motor and the tenth motor are equal
For DC speed-reducing.
A kind of above-mentioned vane wheel type coalmine rescue snake-shaped robot, it is characterised in that：First orthogonal joint includes
For installing the first vertical direction steering wheel installing plate of the first vertical direction steering wheel and for installing first level direction steering wheel
First level direction steering wheel installing plate, the first vertical direction steering wheel installing plate include header portion and are arranged on header portion
The bossing that is inclined upwardly of the left and right sides, the header portion of the first vertical direction steering wheel installing plate are provided with four first
Vertical direction steering wheel installing plate connecting hole, be inclined upwardly on the left of the first vertical direction steering wheel installing plate bossing setting
There are a mounting holes on the left of the exposed hole of a first vertical direction steering wheel steering wheel and four the first vertical direction steering wheels, four first vertical
Mounting hole is distributed in around a first exposed hole of vertical direction steering wheel steering wheel on the left of the steering wheel of direction, the first vertical direction rudder
The bossing that is inclined upwardly on the right side of machine installing plate is provided with mounting hole on the right side of a first vertical direction steering wheel；First water
Square include header portion and the upward vertical bossing that is arranged at left and right sides of header portion to steering wheel installing plate, described the
The header portion of one horizontal direction steering wheel installing plate is provided with four and is engaged with the first vertical direction steering wheel installing plate connecting hole
First level direction steering wheel installing plate connecting hole, the left side of the first level direction steering wheel installing plate vertical lug boss upwards
Set up separately and be equipped with mounting hole on the left of the exposed hole of a first level direction steering wheel steering wheel and four first level direction steering wheels, four the
Mounting hole is distributed in around the exposed hole of steering wheel steering wheel of a first level direction on the left of one horizontal direction steering wheel, the first level
Vertical bossing is provided with mounting hole on the right side of a first level direction steering wheel upwards on the right side of direction steering wheel installing plate；It is described
The opening of first vertical direction steering wheel installing plate is set towards the first connecting plate, a left side for the first vertical direction steering wheel installing plate
Angled protrusions part is located at the left side of the robot body, the opening court of the first level direction steering wheel installing plate on the side
Set to the second connecting plate, vertical bossing is located at the machine upwards in the left side of the first level direction steering wheel installing plate
The bottom of human body, the header portion of the first vertical direction steering wheel installing plate and the horizontal stroke of first level direction steering wheel installing plate
Beam portion point passes through the spiral shell through the first vertical direction steering wheel installing plate connecting hole and first level direction steering wheel installing plate connecting hole
Silk is fixedly connected；
Second orthogonal joint includes being used for the second vertical direction steering wheel installing plate for installing the second vertical direction steering wheel
With the second horizontal direction steering wheel installing plate for installing the second horizontal direction steering wheel, the second vertical direction steering wheel installing plate
Including header portion and the bossing that is inclined upwardly being arranged at left and right sides of header portion, the second vertical direction steering wheel peace
The header portion of loading board is provided with four the second vertical direction steering wheel installing plate connecting holes, the second vertical direction steering wheel installation
The bossing that is inclined upwardly on the left of plate is provided with an exposed hole of the second vertical direction steering wheel steering wheel and four the second Vertical Squares
Mounting hole on the left of to steering wheel, four the second vertical direction steering wheels left side mounting holes are distributed in a second vertical direction steering wheel steering wheel
Around exposed hole, the bossing that is inclined upwardly on the right side of the second vertical direction steering wheel installing plate be provided with one it is second vertical
Mounting hole on the right side of the steering wheel of direction；The second horizontal direction steering wheel installing plate includes header portion and is arranged on header portion or so
The upward vertical bossing of both sides, the header portion of the second horizontal direction steering wheel installing plate are provided with four and hung down with second
The second horizontal direction steering wheel installing plate connecting hole that Nogata is engaged to steering wheel installing plate connecting hole, the second horizontal direction rudder
Vertical bossing is provided with the exposed hole of a second horizontal direction steering wheel steering wheel and four second upwards in the left side of machine installing plate
Mounting hole on the left of horizontal direction steering wheel, four the second horizontal direction steering wheels left side mounting holes are distributed in a second horizontal direction rudder
Around the exposed hole of machine steering wheel, vertical bossing is provided with one upwards on the right side of the second horizontal direction steering wheel installing plate
Mounting hole on the right side of two horizontal direction steering wheels；The opening of the second vertical direction steering wheel installing plate is set towards the second connecting plate,
The bossing that is inclined upwardly on the left of the second vertical direction steering wheel installing plate is located at the left side of the robot body, described
The opening of second horizontal direction steering wheel installing plate is set towards the 3rd connecting plate, a left side for the second horizontal direction steering wheel installing plate
Vertical bossing is located at the bottom of the robot body, the crossbeam portion of the second vertical direction steering wheel installing plate on the side
Point and the second horizontal direction steering wheel installing plate header portion by through the second vertical direction steering wheel installing plate connecting hole and the
The screw of two horizontal direction steering wheel installing plate connecting holes is fixedly connected；
3rd orthogonal joint includes being used for the 3rd vertical direction steering wheel installing plate for installing the 3rd vertical direction steering wheel
With the 3rd horizontal direction steering wheel installing plate for installing the 3rd horizontal direction steering wheel, the 3rd vertical direction steering wheel installing plate
Including header portion and the bossing that is inclined upwardly being arranged at left and right sides of header portion, the 3rd vertical direction steering wheel peace
The header portion of loading board is provided with four the 3rd vertical direction steering wheel installing plate connecting holes, the 3rd vertical direction steering wheel installation
The bossing that is inclined upwardly on the left of plate is provided with an exposed hole of the 3rd vertical direction steering wheel steering wheel and four the 3rd Vertical Squares
Mounting hole on the left of to steering wheel, four the 3rd vertical direction steering wheels left side mounting holes are distributed in a 3rd vertical direction steering wheel steering wheel
Around exposed hole, the bossing that is inclined upwardly on the right side of the 3rd vertical direction steering wheel installing plate be provided with one it is the 3rd vertical
Mounting hole on the right side of the steering wheel of direction；The 3rd horizontal direction steering wheel installing plate includes header portion and is arranged on header portion or so
The upward vertical bossing of both sides, the header portion of the 3rd horizontal direction steering wheel installing plate are provided with four and hung down with the 3rd
The 3rd horizontal direction steering wheel installing plate connecting hole that Nogata is engaged to steering wheel installing plate connecting hole, the 3rd horizontal direction rudder
Vertical bossing is provided with the exposed hole of a 3rd horizontal direction steering wheel steering wheel and four the 3rd upwards in the left side of machine installing plate
Mounting hole on the left of horizontal direction steering wheel, four the 3rd horizontal direction steering wheels left side mounting holes are distributed in a 3rd horizontal direction rudder
Around the exposed hole of machine steering wheel, vertical bossing is provided with one upwards on the right side of the 3rd horizontal direction steering wheel installing plate
Mounting hole on the right side of three horizontal direction steering wheels；The opening of the 3rd vertical direction steering wheel installing plate is set towards the 3rd connecting plate,
The bossing that is inclined upwardly on the left of the 3rd vertical direction steering wheel installing plate is located at the left side of the robot body, described
The opening of 3rd horizontal direction steering wheel installing plate is set towards the 4th connecting plate, a left side for the 3rd horizontal direction steering wheel installing plate
Vertical bossing is located at the bottom of the robot body, the crossbeam portion of the 3rd vertical direction steering wheel installing plate on the side
Point and the 3rd horizontal direction steering wheel installing plate header portion by through the 3rd vertical direction steering wheel installing plate connecting hole and the
The screw of three horizontal direction steering wheel installing plate connecting holes is fixedly connected；
4th orthogonal joint includes being used for the 4th vertical direction steering wheel installing plate for installing the 4th vertical direction steering wheel
With the 4th horizontal direction steering wheel installing plate for installing the 4th horizontal direction steering wheel, the 4th vertical direction steering wheel installing plate
Including header portion and the bossing that is inclined upwardly being arranged at left and right sides of header portion, the 4th vertical direction steering wheel peace
The header portion of loading board is provided with four the 4th vertical direction steering wheel installing plate connecting holes, the 4th vertical direction steering wheel installation
The bossing that is inclined upwardly on the left of plate is provided with an exposed hole of the 4th vertical direction steering wheel steering wheel and four the 4th Vertical Squares
Mounting hole on the left of to steering wheel, four the 4th vertical direction steering wheels left side mounting holes are distributed in a 4th vertical direction steering wheel steering wheel
Around exposed hole, the bossing that is inclined upwardly on the right side of the 4th vertical direction steering wheel installing plate be provided with one it is the 4th vertical
Mounting hole on the right side of the steering wheel of direction；The 4th horizontal direction steering wheel installing plate includes header portion and is arranged on header portion or so
The upward vertical bossing of both sides, the header portion of the 4th horizontal direction steering wheel installing plate are provided with four and hung down with the 4th
The 4th horizontal direction steering wheel installing plate connecting hole that Nogata is engaged to steering wheel installing plate connecting hole, the 4th horizontal direction rudder
Vertical bossing is provided with the exposed hole of a 4th horizontal direction steering wheel steering wheel and four the 4th upwards in the left side of machine installing plate
Mounting hole on the left of horizontal direction steering wheel, four the 4th horizontal direction steering wheels left side mounting holes are distributed in a 4th horizontal direction rudder
Around the exposed hole of machine steering wheel, vertical bossing is provided with one upwards on the right side of the 4th horizontal direction steering wheel installing plate
Mounting hole on the right side of four horizontal direction steering wheels；The opening of the 4th vertical direction steering wheel installing plate is set towards the 4th connecting plate,
The bossing that is inclined upwardly on the left of the 4th vertical direction steering wheel installing plate is located at the left side of the robot body, described
The opening of 4th horizontal direction steering wheel installing plate is set towards the 5th connecting plate, a left side for the 4th horizontal direction steering wheel installing plate
Vertical bossing is located at the bottom of the robot body, the crossbeam portion of the 4th vertical direction steering wheel installing plate on the side
Point and the 4th horizontal direction steering wheel installing plate header portion by through the 4th vertical direction steering wheel installing plate connecting hole and the
The screw of four horizontal direction steering wheel installing plate connecting holes is fixedly connected.
A kind of above-mentioned vane wheel type coalmine rescue snake-shaped robot, it is characterised in that：First connecting plate includes eight
First connecting bottom board of side shape and it is connected on rear side of the first connecting bottom board and for connecting the first rudder of the first vertical direction steering wheel
Machine connecting plate, be provided with the left of first connecting plate two be used for connect the first motor the first motor connection hole, it is described
Be provided with the right side of first connecting plate two be used for connect the second motor the second motor connection hole, first connecting bottom board
Front end is provided with the night vision cam connecting plate for connecting night vision cam, and night is provided with the night vision cam connecting plate
Depending on camera connecting hole, infrared sensor connecting hole and two are provided with front side of first connecting bottom board respectively positioned at infrared
The sensor connecting hole left and right sides and the ultrasonic wave for being respectively used to connect the first ultrasonic sensor and the second ultrasonic sensor
Sensor connecting hole, be provided with rear side of first connecting bottom board six be used for connect the first steering wheel connecting plate the first steering wheel
Connecting plate connecting hole；The first steering wheel connecting plate includes header portion and is arranged on raising up at left and right sides of header portion
Part, the header portion of the first steering wheel connecting plate are provided with the second steering wheel being engaged with the first steering wheel connecting plate connecting hole
Connecting plate connecting hole, the both sides of the first steering wheel connecting plate raise up part be each provided with two be used for connect it is first vertical
First vertical direction steering wheel connecting hole of direction steering wheel；
Second connecting plate includes octagonal second connecting bottom board and is connected on rear side of the second connecting bottom board and is used for
The second steering wheel connecting plate of the second vertical direction steering wheel is connected, two are provided with the left of second connecting bottom board and is used to connect
3rd motor connection hole of the 3rd motor, be provided with the right side of second connecting bottom board two be used for connect the 4th motor the
Four motor connection holes, four the first water for being used to connect first level direction steering wheel are provided with front side of second connecting bottom board
Square to steering wheel connecting hole, be provided with rear side of second connecting bottom board six be used for connect the second steering wheel connecting plate the 3rd
Steering wheel connecting plate connecting hole；The second steering wheel connecting plate includes header portion and is arranged on upward at left and right sides of header portion
Bossing, the header portion of the second steering wheel connecting plate are provided with the be engaged with the 3rd steering wheel connecting plate connecting hole the 4th
Steering wheel connecting plate connecting hole, the both sides of the second steering wheel connecting plate raise up part be each provided with two be used for connect second
Second vertical direction steering wheel connecting hole of vertical direction steering wheel；
3rd connecting plate includes octagonal 3rd connecting bottom board and is connected on rear side of the 3rd connecting bottom board and is used for
The 3rd steering wheel connecting plate of the 3rd vertical direction steering wheel is connected, two are provided with the left of the 3rd connecting bottom board and is used to connect
5th motor connection hole of the 5th motor, be provided with the right side of the 3rd connecting bottom board two be used for connect the 6th motor the
Six motor connection holes, be provided with front side of the 3rd connecting bottom board four be used for connect the second horizontal direction steering wheel the second water
Square to steering wheel connecting hole；Be provided with rear side of 3rd connecting bottom board six be used for connect the 3rd steering wheel connecting plate the 5th
Steering wheel connecting plate connecting hole；The 3rd steering wheel connecting plate includes header portion and is arranged on upward at left and right sides of header portion
Bossing, the header portion of the 3rd steering wheel connecting plate are provided with the 6th be engaged with the 5th steering wheel connecting plate connecting hole
Steering wheel connecting plate connecting hole, the both sides of the 3rd steering wheel connecting plate raise up part be each provided with two be used for connect the 3rd
3rd vertical direction steering wheel connecting hole of vertical direction steering wheel；
4th connecting plate includes octagonal 4th connecting bottom board and is connected on rear side of the 4th connecting bottom board and is used for
The 4th steering wheel connecting plate of the 4th vertical direction steering wheel is connected, two are provided with the left of the 4th connecting bottom board and is used to connect
7th motor connection hole of the 7th motor, be provided with the right side of the 4th connecting bottom board two be used for connect the 8th motor the
Eight motor connection holes, be provided with front side of the 4th connecting bottom board four be used for connect the 3rd horizontal direction steering wheel the 3rd water
Square to steering wheel connecting hole；Be provided with rear side of 4th connecting bottom board six be used for connect the 4th steering wheel connecting plate the 7th
Steering wheel connecting plate connecting hole；The 4th steering wheel connecting plate includes header portion and is arranged on upward at left and right sides of header portion
Bossing, the header portion of the 4th steering wheel connecting plate are provided with the 8th be engaged with the 7th steering wheel connecting plate connecting hole
Steering wheel connecting plate connecting hole, the both sides of the 4th steering wheel connecting plate raise up part be each provided with two be used for connect the 4th
4th vertical direction steering wheel connecting hole of vertical direction steering wheel；
5th connecting plate includes octagonal 5th connecting bottom board, and two are provided with the left of the 5th connecting bottom board
Individual the 9th motor connection hole for being used to connect the 9th motor, be provided with the right side of the 5th connecting bottom board two be used for connect the
Tenth motor connection hole of ten motors, be provided with front side of the 5th connecting bottom board four be used for connect the 4th horizontal direction rudder
3rd horizontal direction steering wheel connecting hole of machine.
A kind of above-mentioned vane wheel type coalmine rescue snake-shaped robot, it is characterised in that：First blade wheel, the second leaf
Piece wheel, third blade wheel, quaterfoil wheel, the 5th blade wheel, the 6th blade wheel, the 7th blade wheel, the 8th blade wheel, the 9th leaf
The structure of piece wheel and the tenth blade wheel it is identical and include interior circular boop and be connected on interior circular boop and in stretching out outside circular boop three
Individual spring leaf, the center position of the interior circular boop are provided with axis hole, and spaced 120 ° set on the circumference of the interior circular boop
Three necks are equipped with, one end that three spring leafs are connected with interior circular boop is connected together in three necks respectively, the spring
Blade stretch out in one end end outside circular boop be arc-shaped curvature portion, the bending direction phase of the arc-shaped curvature portion of three spring leafs
Together, it is radially arranged the structural joint being connected with axis hole on the interior circular boop.
A kind of above-mentioned vane wheel type coalmine rescue snake-shaped robot, it is characterised in that：The center of the interior circular boop
Place is provided with circular protrusions, and the axis hole is arranged on the center position of circular protrusions；The interior circular boop is close to the position of excircle
The place of putting is provided with annular projection, is uniformly arranged in the radial direction with the interior circular boop outside multiple outer rings raised positioned at annular
Rectangular preiection.
A kind of above-mentioned vane wheel type coalmine rescue snake-shaped robot, it is characterised in that：The spring leaf is connected together
Nian Jie with interior circular boop by glue again after in neck, a diameter of 20mm of the interior circular boop, the length of the spring leaf is
40mm, width 8mm；The axis hole is shaped as D-shaped, a diameter of 2.5mm of the arc-shaped edges of the axis hole；The spring leaf
Arc-shaped curvature portion angle of bend be 150 °.
A kind of above-mentioned vane wheel type coalmine rescue snake-shaped robot, it is characterised in that：The master controller is
The mini PCs of Vensmile, the model Robotis USB2Dynamixel of the USB-RS232 modular converters；The avoidance
The model Arduino Uno R3 of module, the communication module are wireless router, and the night vision cam is 1080P wide-angles
Infrared night vision camera, the USB of the night vision cam, USB-RS232 modular converters and obstacle avoidance module with master controller connect
Mouth connection；The mercury-free alkaline battery of Li-PO rechargeable battery and 4.5V of the power module including 12.6V, the obstacle avoidance module,
The power line of first ultrasonic sensor, the second ultrasonic sensor and infrared sensor with 4.5V mercury-free alkaline battery
Output end connects, the first vertical direction steering wheel, the second vertical direction steering wheel, the 3rd vertical direction steering wheel, the 4th Vertical Square
To steering wheel, first level direction steering wheel, the second horizontal direction steering wheel, the 3rd horizontal direction steering wheel, the 4th horizontal direction steering wheel,
Output end of the power line of one speed steering wheel and second speed steering wheel with 12.6V Li-PO rechargeable batteries is connected.
The utility model has advantages below compared with prior art：
1st, the utility model connects five unit modules by four orthogonal joints, can be up on various rugged ground
Walk, complete the conversion of pose, there is avoidance and the function of obstacle detouring.
2nd, it is simpler as travel mechanism, blade wheel construction to employ blade wheel of the interior circular boop without outer ring for the utility model
Single, cost of implementation is lower, can reduce the cost of implementation of coalmine rescue snake-shaped robot, and can simplify the snakelike machine of coalmine rescue
The structure of device people, the volume of coalmine rescue snake-shaped robot is reduced, realize more preferable movement effects.
3rd, the utility model employs movement of blade wheel of the interior circular boop without outer ring as coalmine rescue snake-shaped robot
Mechanism, spring leaf stretch out in outside circular boop, when coalmine rescue snake-shaped robot is walked, spring leaf directly contact face, energy
Enough make coalmine rescue snake-shaped robot that there is the ability preferably crossed with scale obstacles, enable coalmine rescue snake-shaped robot
It is enough to be walked on various rugged ground, the conversion of pose is completed, improves the adaptation of coalmine rescue snake-shaped robot road pavement
Ability.
4th, the bending direction of the arc-shaped curvature portion of multiple spring leafs is arranged to equidirectional by the utility model blade wheel,
Debris is rolled when on the one hand can prevent coalmine rescue snake-shaped robot from advancing and blocks blade wheel, on the other hand in coalmine rescue
During snake-shaped robot throwing over barrier, spring leaf can play a part of hook, improve coalmine rescue snake-shaped robot
Obstacle climbing ability.
5th, the utility model by interior circular boop setting structure stitch, avoid the defeated of motor caused by due to expanding with heat and contract with cold
The phenomenon that shaft is not easy to be installed in the axis hole of blade wheel occurs.
6th, the utility model can be applied in coalmine rescue, realize that robot is existing after collection calamity in tunnel after the calamity of colliery
It the function of field information, can be laid the foundation for the positioning of coal mine roadway internal fissure, slight crack after calamity, can be prediction colliery inbreak calamity
Evil provides scientific basis.
In summary, it is of the present utility model simple in construction, it is novel in design reasonable, realize that convenient and cost is low, coalmine rescue
The function of the small volume of snake-shaped robot, avoidance and obstacle detouring is strong, road pavement it is adaptable, it is practical, be easy to promote should
With.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model robot body.
Fig. 2 is the schematic block circuit diagram of the utility model robot control system.
Fig. 3 is the structural representation of the utility model the first vertical direction steering wheel installing plate.
Fig. 4 is Fig. 3 left view.
The structural representation of Fig. 5 positions the utility model first level direction steering wheel installing plate.
Fig. 6 is the structural representation of the utility model the second vertical direction steering wheel installing plate.
Fig. 7 is Fig. 6 left view.
The structural representation of Fig. 8 positions the utility model the second horizontal direction steering wheel installing plate.
Fig. 9 is the structural representation of the vertical direction steering wheel installing plate of the utility model the 3rd.
Figure 10 is Fig. 9 left view.
The structural representation of the horizontal direction steering wheel installing plate of Figure 11 positions the utility model the 3rd.
Figure 12 is the structural representation of the vertical direction steering wheel installing plate of the utility model the 4th.
Figure 13 is Figure 12 left view.
The structural representation of the horizontal direction steering wheel installing plate of Figure 14 positions the utility model the 4th.
Figure 15 is the structural representation of the connecting bottom board of the utility model first.
Figure 16 is the structural representation of the utility model the first steering wheel connecting plate.
Figure 17 is the structural representation of the connecting bottom board of the utility model second.
Figure 18 is the structural representation of the utility model the second steering wheel connecting plate.
Figure 19 is the structural representation of the connecting bottom board of the utility model the 3rd.
Figure 20 is the structural representation of the steering wheel connecting plate of the utility model the 3rd.
Figure 21 is the structural representation of the connecting bottom board of the utility model the 4th.
Figure 22 is the structural representation of the steering wheel connecting plate of the utility model the 4th.
Figure 23 is the structural representation of the connecting bottom board of the utility model the 5th.
Figure 24 is the blade wheel of the utility model first, the second blade wheel, third blade wheel, quaterfoil wheel, the 5th blade
The structural representation of wheel, the 6th blade wheel, the 7th blade wheel, the 8th blade wheel, the 9th blade wheel and the tenth blade wheel.
Figure 25 is the stereogram of the utility model spring leaf.
Description of reference numerals:
1-first module module；2-second unit module；3-third unit module；
4-the four unit module；5-the five unit module；6-the first vertical direction steering wheel；
7-first level direction steering wheel；8-the second vertical direction steering wheel；9-the second horizontal direction steering wheel；
10-the three vertical direction steering wheel；11-the three horizontal direction steering wheel；
12-the four vertical direction steering wheel；13-the four horizontal direction steering wheel；
14-second speed steering wheel；15-First Speed steering wheel；16-the first ultrasonic sensor；
17-the second ultrasonic sensor；18-infrared sensor；19-night vision cam；
20-the first motor；21-the second motor；22-the three motor；
23-the four motor；24-the five motor；25-the six motor；
26-the seven motor；27-the eight motor；28-the nine motor；
29-the ten motor；30-the ten motor；31-power module；
32-USB-RS232 modular converters；33-obstacle avoidance module；34-the first blade wheel；
35-the second blade wheel；36-third blade wheel；37-the quaterfoil wheel；
38-the five blade wheel；39-the six blade wheel；40-the seven blade wheel；
41-the eight blade wheel；42-the nine blade wheel；43-the ten blade wheel；
44-the first connecting plate；45-the second connecting plate；46-the three connecting plate；
47-the four connecting plate；48-the five connecting plate；49-the first orthogonal joint；
50-the second orthogonal joint；51-the three orthogonal joint；52-the four orthogonal joint；
53-the four orthogonal joint；56-communication module；60-host computer；
61-interior circular boop；61-1-circular protrusions；61-2-annular is raised；
61-3-rectangular preiection；62-spring leaf；62-1-arc-shaped curvature portion；
63-axis hole；64-neck；65-structural joint.
Embodiment
As shown in figure 1, coalmine rescue snake-shaped robot of the present utility model, including robot body and control system of robot
System；The robot body includes the first module module 1, second unit module 2, third unit mould set gradually from front to back
Block 3, the 4th unit module 4 and the 5th unit module 5, the first module module 1 include the first connecting plate 44 and set respectively
The first blade wheel 34 and the second blade wheel 35 in the left and right sides of the first connecting plate 44 are put, the upper left side of the first connecting plate 44 is set
The first motor 20 for driving the first blade wheel 34 to rotate is equipped with, right side is provided with for driving on first connecting plate 44
The second motor 21 that second blade wheel 35 rotates, rear side is provided with the first vertical direction steering wheel 6, institute on first connecting plate 44
The output axis connection of the first blade wheel 34 and the first motor 20 is stated, the output shaft of the motor 21 of the second blade wheel 35 and second connects
Connect；The second unit module 2 includes the second connecting plate 45 and is separately positioned on the 3rd of the left and right sides of the second connecting plate 45
Blade wheel 36 and quaterfoil wheel 37, the upper left side of the second connecting plate 45 are provided with what is rotated for driving third blade wheel 36
3rd motor 22, right side is provided with the 4th motor 23 for driving quaterfoil wheel 37 to rotate on second connecting plate 45,
Front side is provided with first level direction steering wheel 7 on second connecting plate 45, and rear side is provided with the on second connecting plate 45
Two vertical direction steering wheels 8, the output axis connection of the motor 22 of third blade wheel 36 and the 3rd, the quaterfoil wheel 37 and
The output axis connection of four motors 23；The third unit module 3 includes the 3rd connecting plate 46 and is separately positioned on the 3rd connection
The 5th blade wheel 38 and the 6th blade wheel 39 of the left and right sides of plate 46, the upper left side of the 3rd connecting plate 46 are provided with for driving
The 5th motor 24 that 5th blade wheel 38 rotates, right side is provided with for driving the 6th blade wheel 39 on the 3rd connecting plate 46
The 6th motor 25 rotated, front side is provided with the second horizontal direction steering wheel 9, the 3rd connecting plate on the 3rd connecting plate 46
Rear side is provided with the 3rd vertical direction steering wheel 10, the output axis connection of the 5th blade wheel 38 and the 5th motor 24, institute on 46
State the output axis connection of the 6th blade wheel 39 and the 6th motor 25；4th unit module 4 include the 4th connecting plate 47 and
The 7th blade wheel 40 and the 8th blade wheel 41 of the left and right sides of the 4th connecting plate 47 are separately positioned on, on the 4th connecting plate 47
Left side is provided with the 7th motor 26 for driving the 7th blade wheel 40 to rotate, and right side is provided with use on the 4th connecting plate 47
Front side on the 8th motor 27 for driving the 8th blade wheel 41 to rotate, the 4th connecting plate 47 is provided with the 3rd horizontal direction rudder
Machine 11, rear side is provided with the 4th vertical direction steering wheel 12 on the 4th connecting plate 47, and the 7th blade wheel 40 and the 7th is electric
The output axis connection of machine 26, the output axis connection of the 8th blade wheel 41 and the 8th motor 27；5th unit module 5 wraps
Include the 5th connecting plate 48 and be separately positioned on the 9th blade wheel 42 and the tenth blade wheel 43 of the left and right sides of the 5th connecting plate 48,
The upper left side of 5th connecting plate 48 is provided with the 9th motor 28 for driving the 9th blade wheel 42 to rotate, the 5th connection
Right side is provided with the tenth motor 29 for driving the tenth blade wheel 43 to rotate on plate 48, and front side is set on the 5th connecting plate 48
It is equipped with the 4th horizontal direction steering wheel 13, the output axis connection of the 9th blade wheel 42 and the 9th motor 28, the tenth blade
The output axis connection of the motor 29 of wheel 43 and the tenth；First connecting plate 44 passes through the first orthogonal joint 49 and the second connecting plate 45
Connection, second connecting plate 45 are connected by the second orthogonal joint 50 with the 3rd connecting plate 46, and the 3rd connecting plate 46 is logical
Cross the 3rd orthogonal joint 51 to be connected with the 4th connecting plate 47, the 4th connecting plate 47 is connected by the 4th orthogonal joint 52 and the 5th
Fishplate bar 48 is connected, and First Speed steering wheel 15 is connected between the second vertical direction steering wheel 8 and the second horizontal direction steering wheel 9,
Second speed steering wheel 14 is connected between the 3rd vertical direction steering wheel 10 and the 3rd horizontal direction steering wheel 11；
When it is implemented, the First Speed steering wheel 15 may be mounted on the second connecting plate 45 or the 3rd connecting plate 46,
The second speed steering wheel 14 may be mounted on the 3rd connecting plate 46 or the 4th connecting plate 47；
As shown in Fig. 2 the robot control system includes master controller 30 and power module 31, and and master controller
The 30 USB-RS232 modular converters 32 to connect and the host computer 60 to be connected by communication module 56 with master controller 30；Institute
The input for stating master controller 30 is terminated with obstacle avoidance module 33 and night vision cam 19, and the input of the obstacle avoidance module 33 is terminated with hindering
Hinder analyte detection unit, the detection of obstacles unit includes the first ultrasonic sensor 16, the second ultrasonic sensor 17 and red
Outer sensor 18；The obstacle avoidance module 33, the first ultrasonic sensor 16, the second ultrasonic sensor 17 and infrared sensor
18, and the first vertical direction steering wheel 6, the second vertical direction steering wheel 8, the 3rd vertical direction steering wheel 10, the 4th vertical direction rudder
Machine 12, first level direction steering wheel 7, the second horizontal direction steering wheel 9, the 3rd horizontal direction steering wheel 11, the 4th horizontal direction steering wheel
13rd, output end of the power line of First Speed steering wheel 15 and second speed steering wheel 14 with power module 31 is connected；The night vision
Camera 19 is arranged on the positive front end of the first connecting plate 44, the ultrasonic sensor 17 of the first ultrasonic sensor 16 and second
It is located at installed in the front end of the first connecting plate 44 and respectively the left and right sides of night vision cam 19, the infrared sensor 18 is installed
The front side on the first connecting plate 44；The First Speed steering wheel 15 and second speed steering wheel 14, the first vertical direction steering wheel 6,
Two vertical direction steering wheels 8, the 3rd vertical direction steering wheel 10 and the 4th vertical direction steering wheel 12, and first level direction steering wheel 7,
The power line of second horizontal direction steering wheel 9, the 3rd horizontal direction steering wheel 11 and the 4th horizontal direction steering wheel 13 is and power module
31 output end connection；The First Speed steering wheel 15 and second speed steering wheel 14, the first vertical direction steering wheel 6, second are vertical
Direction steering wheel 8, the 3rd vertical direction steering wheel 10 and the 4th vertical direction steering wheel 12, and first level direction steering wheel 7, the second water
Square to steering wheel 9, the 3rd horizontal direction steering wheel 11 and the 4th horizontal direction steering wheel 13 signal wire with USB-RS232 moduluss of conversion
Block 32 connects, first motor 20, the 3rd motor 22, the 5th motor 24, the power line of the 7th motor 26 and the 9th motor 28
Power line with second speed steering wheel 14 is connected, the second motor 21, the 4th motor 23, the 6th motor 25, the and of the 8th motor 27
Power line of the power line of tenth motor 29 with First Speed steering wheel 15 is connected.
The second unit module 2, third unit module 3 are identical with the structure of the 4th unit module 4, are hung down including one
Nogata is to steering wheel, a horizontal direction steering wheel, two motors and two blade wheels.Such unit module is in the utility model
Three, when it is implemented, can also be according to actual conditions, unit module as addition, it is longer to form robot body length
Coalmine rescue snake-shaped robot.By USB-RS232 modular converters 32, First Speed steering wheel 15 and second speed rudder are realized
Machine 14, the first vertical direction steering wheel 6, the second vertical direction steering wheel 8, the 3rd vertical direction steering wheel 10 and the 4th vertical direction steering wheel
12, and first level direction steering wheel 7, the second horizontal direction steering wheel 9, the 3rd horizontal direction steering wheel 11 and the 4th horizontal direction rudder
The connection of machine 13 and master controller 30.
The second speed steering wheel 14 is used for driving the motor on the left of robot body, and then on the left of control machine human body
Blade wheel rotate；The First Speed steering wheel 15 is used for driving the motor on the right side of robot body, and then control machine people's sheet
Blade wheel on the right side of body rotates.
When it is implemented, night vision cam 19 could be arranged to Night and general modfel.
In the present embodiment, first motor 20, the second motor 21, the 3rd motor 22, the 4th motor 23, the 5th motor
24th, the 6th motor 25, the 7th motor 26, the 8th motor 27, the 9th motor 28 and the tenth motor 29 are DC speed-reducing.
In the present embodiment, first orthogonal joint 49 includes vertical for the first of the first vertical direction steering wheel 6 of installation
The direction steering wheel installing plate 49-1 and first level direction steering wheel installing plate 49-2 for installing first level direction steering wheel 7, such as
Shown in Fig. 3 and Fig. 4, the first vertical direction steering wheel installing plate 49-1 includes header portion and is arranged on header portion or so two
The bossing that is inclined upwardly of side, the header portion of the first vertical direction steering wheel installing plate 49-1 are provided with four first and hung down
Nogata is to steering wheel installing plate connecting hole 49-11, and be inclined upwardly projection on the left of the first vertical direction steering wheel installing plate 49-1
Part is provided with mounting hole on the left of the exposed hole 49-12 of a first vertical direction steering wheel steering wheel and four the first vertical direction steering wheels
49-13, four the first vertical direction steering wheels left side mounting hole 49-13 are distributed in a first exposed hole of vertical direction steering wheel steering wheel
Around 49-12, the bossing that is inclined upwardly on the right side of the first vertical direction steering wheel installing plate 49-1 is provided with one first
Mounting hole 49-14 on the right side of vertical direction steering wheel；As shown in figure 5, the first level direction steering wheel installing plate 49-2 includes crossbeam
Part and the upward vertical bossing being arranged at left and right sides of header portion, the first level direction steering wheel installing plate 49-2
Header portion be provided with four first level rudders being engaged with the first vertical direction steering wheel installing plate connecting hole 49-11
Vertical bossing is set upwards in machine installing plate connecting hole 49-21, the first level direction steering wheel installing plate 49-2 left side
There is a mounting hole 49-23 on the left of the exposed hole 49-22 of a first level direction steering wheel steering wheel and four first level direction steering wheels, four
Mounting hole 49-23 is distributed in first level direction steering wheel steering wheel exposed hole 49-22 weeks on the left of the steering wheel of individual first level direction
Enclose, vertical bossing is provided with a first level direction upwards on the right side of the first level direction steering wheel installing plate 49-2
Mounting hole 49-24 on the right side of steering wheel；The opening of the first vertical direction steering wheel installing plate 49-1 is set towards the first connecting plate 44,
The bossing that is inclined upwardly on the left of the first vertical direction steering wheel installing plate 49-1 is located at the left side of the robot body,
The opening of the first level direction steering wheel installing plate 49-2 is set towards the second connecting plate 45, first level direction steering wheel
Vertical bossing is located at the bottom of the robot body, the first vertical direction steering wheel upwards in installing plate 49-2 left side
Installing plate 49-1 header portion and first level direction steering wheel installing plate 49-2 header portion are by through the first Vertical Square
It is fixedly connected to steering wheel installing plate connecting hole 49-11 with first level direction steering wheel installing plate connecting hole 49-21 screw；Specifically
During implementation, the exposed hole 49-12 and exposed hole 49-22 of first level direction steering wheel steering wheel of the first vertical direction steering wheel steering wheel,
And first mounting hole 49-24 on the right side of mounting hole 49-14 on the right side of vertical direction steering wheel and first level direction steering wheel diameter it is equal
For 8mm, mounting hole 49-13 on the left of the first vertical direction steering wheel installing plate connecting hole 49-11 and the first vertical direction steering wheel,
And first level direction steering wheel installing plate connecting hole 49-21 and first level direction steering wheel left side mounting hole 49-23 diameter
It is 2.1mm；
Second orthogonal joint 50 includes being used for the second vertical direction steering wheel installation for installing the second vertical direction steering wheel 8
Plate 50-1 and the second horizontal direction steering wheel installing plate 50-2 for installing the second horizontal direction steering wheel 9, as shown in Figure 6 and Figure 7,
The second vertical direction steering wheel installing plate 50-1 includes header portion and is arranged on being inclined upwardly at left and right sides of header portion
Bossing, the header portion of the second vertical direction steering wheel installing plate 50-1 are provided with four the second vertical direction steering wheel peaces
The bossing that is inclined upwardly on the left of loading board connecting hole 50-11, the second vertical direction steering wheel installing plate 50-1 is provided with one
Mounting hole 50-13 on the left of the exposed hole 50-12 of individual second vertical direction steering wheel steering wheel and four the second vertical direction steering wheels, four the
Mounting hole 50-13 is distributed in around a second exposed hole 50-12 of vertical direction steering wheel steering wheel on the left of two vertical direction steering wheels, institute
State the bossing that is inclined upwardly on the right side of the second vertical direction steering wheel installing plate 50-1 and be provided with a second vertical direction steering wheel
Right side mounting hole 50-14；As shown in figure 8, the second horizontal direction steering wheel installing plate 50-2 includes header portion and is arranged on
Upward vertical bossing at left and right sides of header portion, the header portion of the second horizontal direction steering wheel installing plate 50-2 are set
Four are equipped with to be connected with the second vertical direction steering wheel installing plate connecting hole 50-11 the second horizontal direction steering wheel installing plates being engaged
Hole 50-21, vertical bossing is provided with second water upwards in the left side of the second horizontal direction steering wheel installing plate 50-2
Square to mounting hole 50-23 on the left of the exposed hole 50-22 of steering wheel steering wheel and four the second horizontal direction steering wheels, four the second level sides
Mounting hole 50-23 is distributed in around a second exposed hole 50-22 of horizontal direction steering wheel steering wheel on the left of to steering wheel, second water
Square to steering wheel installing plate 50-2 right side, vertical bossing is provided with the right side of second horizontal direction steering wheel and installed upwards
Hole 50-24；The opening of the second vertical direction steering wheel installing plate 50-1 is set towards the second connecting plate 45, and described second is vertical
The bossing that is inclined upwardly on the left of the steering wheel installing plate 50-1 of direction is located at the left side of the robot body, and described second is horizontal
Direction steering wheel installing plate 50-2 opening is set towards the 3rd connecting plate 46, the second horizontal direction steering wheel installing plate 50-2's
Vertical bossing is located at the bottom of the robot body upwards in left side, the second vertical direction steering wheel installing plate 50-1's
Header portion and the second horizontal direction steering wheel installing plate 50-2 header portion are by through the second vertical direction steering wheel installing plate
Connecting hole 50-11 and the second horizontal direction steering wheel installing plate connecting hole 50-21 screw are fixedly connected；It is when it is implemented, described
The exposed hole 50-12 of second vertical direction steering wheel steering wheel and the second exposed hole 50-22 of horizontal direction steering wheel steering wheel, and second is vertical
Mounting hole 50-24 diameter is 8mm on the right side of mounting hole 50-14 and the second horizontal direction steering wheel on the right side of direction steering wheel, and described the
Two vertical direction steering wheel installing plate connecting hole 50-11 and the second vertical direction steering wheel left side mounting hole 50-13, and the second level
Direction steering wheel installing plate connecting hole 50-21 and the second horizontal direction steering wheel left side mounting hole 50-23 diameter are 2.1mm；
3rd orthogonal joint 51 includes being used for the 3rd vertical direction steering wheel peace for installing the 3rd vertical direction steering wheel 10
Loading board 51-1 and the 3rd horizontal direction steering wheel installing plate 51-2 for installing the 3rd horizontal direction steering wheel 11, such as Fig. 9 and Figure 10
Shown, the 3rd vertical direction steering wheel installing plate 51-1 includes header portion and is arranged on upward at left and right sides of header portion
Angled protrusions part, the header portion of the 3rd vertical direction steering wheel installing plate 51-1 are provided with four the 3rd vertical direction rudders
The bossing that is inclined upwardly on the left of machine installing plate connecting hole 51-11, the 3rd vertical direction steering wheel installing plate 51-1 is set
There are a mounting hole 51-13 on the left of the exposed hole 51-12 of a 3rd vertical direction steering wheel steering wheel and four the 3rd vertical direction steering wheels, four
Mounting hole 51-13 is distributed in the 3rd vertical direction steering wheel steering wheel exposed hole 51-12 weeks on the left of individual 3rd vertical direction steering wheel
Enclose, the bossing that is inclined upwardly on the right side of the 3rd vertical direction steering wheel installing plate 51-1 is provided with the 3rd vertical direction
Mounting hole 51-14 on the right side of steering wheel；As shown in figure 11, the 3rd horizontal direction steering wheel installing plate 51-2 includes header portion and set
Put the upward vertical bossing at left and right sides of header portion, the crossbeam portion of the 3rd horizontal direction steering wheel installing plate 51-2
Set up separately and be equipped with four the 3rd horizontal direction steering wheel installing plates being engaged with the 3rd vertical direction steering wheel installing plate connecting hole 51-11
Vertical bossing is provided with one upwards in connecting hole 51-21, the 3rd horizontal direction steering wheel installing plate 51-2 left side
The exposed hole 51-22 of three horizontal direction steering wheel steering wheels and four the 3rd horizontal direction steering wheels left side mounting hole 51-23, four the 3rd water
Square it is distributed in mounting hole 51-23 on the left of steering wheel around a 3rd exposed hole 51-22 of horizontal direction steering wheel steering wheel, described the
Vertical bossing is provided with the right side of a 3rd horizontal direction steering wheel upwards on three horizontal direction steering wheel installing plate 51-2 right side
Mounting hole 51-24；The opening of the 3rd vertical direction steering wheel installing plate 51-1 is set towards the 3rd connecting plate 46, and the described 3rd
The bossing that is inclined upwardly on the left of vertical direction steering wheel installing plate 51-1 is located at the left side of the robot body, and the described 3rd
Horizontal direction steering wheel installing plate 51-2 opening is set towards the 4th connecting plate 47, the 3rd horizontal direction steering wheel installing plate
Vertical bossing is located at the bottom of the robot body, the 3rd vertical direction steering wheel installing plate upwards in 51-2 left side
51-1 header portion and the 3rd horizontal direction steering wheel installing plate 51-2 header portion are by through the 3rd vertical direction steering wheel
Installing plate connecting hole 51-11 and the 3rd horizontal direction steering wheel installing plate connecting hole 51-21 screw are fixedly connected；Specific implementation
When, the exposed hole 51-12 and the 3rd exposed hole 51-22 of horizontal direction steering wheel steering wheel of the 3rd vertical direction steering wheel steering wheel, and
Mounting hole 51-14 and the 3rd horizontal direction steering wheel right side mounting hole 51-24 diameter are on the right side of 3rd vertical direction steering wheel
Mounting hole 51-13 on the left of 8mm, the 3rd vertical direction steering wheel installing plate connecting hole 51-11 and the 3rd vertical direction steering wheel, with
And the 3rd mounting hole 51-23 on the left of horizontal direction steering wheel installing plate connecting hole 51-21 and the 3rd horizontal direction steering wheel diameter it is equal
For 2.1mm；
4th orthogonal joint 52 includes being used for the 4th vertical direction steering wheel peace for installing the 4th vertical direction steering wheel 12
Loading board 52-1 and the 4th horizontal direction steering wheel installing plate 52-2 for installing the 4th horizontal direction steering wheel 13, such as Figure 12 and Figure 13
Shown, the 4th vertical direction steering wheel installing plate 52-1 includes header portion and is arranged on upward at left and right sides of header portion
Angled protrusions part, the header portion of the 4th vertical direction steering wheel installing plate 52-1 are provided with four the 4th vertical direction rudders
The bossing that is inclined upwardly on the left of machine installing plate connecting hole 52-11, the 4th vertical direction steering wheel installing plate 52-1 is set
There are a mounting hole 52-13 on the left of the exposed hole 52-12 of a 4th vertical direction steering wheel steering wheel and four the 4th vertical direction steering wheels, four
Mounting hole 52-13 is distributed in the 4th vertical direction steering wheel steering wheel exposed hole 52-12 weeks on the left of individual 4th vertical direction steering wheel
Enclose, the bossing that is inclined upwardly on the right side of the 4th vertical direction steering wheel installing plate 52-1 is provided with the 4th vertical direction
Mounting hole 52-14 on the right side of steering wheel；As shown in figure 14, the 4th horizontal direction steering wheel installing plate 52-2 includes header portion and set
Put the upward vertical bossing at left and right sides of header portion, the crossbeam portion of the 4th horizontal direction steering wheel installing plate 52-2
Set up separately and be equipped with four the 4th horizontal direction steering wheel installing plates being engaged with the 4th vertical direction steering wheel installing plate connecting hole 52-11
Vertical bossing is provided with one upwards in connecting hole 52-21, the 4th horizontal direction steering wheel installing plate 52-2 left side
The exposed hole 52-22 of four horizontal direction steering wheel steering wheels and four the 4th horizontal direction steering wheels left side mounting hole 52-23, four the 4th water
Square it is distributed in mounting hole 52-23 on the left of steering wheel around a 4th exposed hole 52-22 of horizontal direction steering wheel steering wheel, described the
Vertical bossing is provided with the right side of a 4th horizontal direction steering wheel upwards on four horizontal direction steering wheel installing plate 52-2 right side
Mounting hole 52-24；The opening of the 4th vertical direction steering wheel installing plate 52-1 is set towards the 4th connecting plate 47, and the described 4th
The bossing that is inclined upwardly on the left of vertical direction steering wheel installing plate 52-1 is located at the left side of the robot body, and the described 4th
Horizontal direction steering wheel installing plate 52-2 opening is set towards the 5th connecting plate 48, the 4th horizontal direction steering wheel installing plate
Vertical bossing is located at the bottom of the robot body, the 4th vertical direction steering wheel installing plate upwards in 52-2 left side
52-1 header portion and the 4th horizontal direction steering wheel installing plate 52-2 header portion are by through the 4th vertical direction steering wheel
Installing plate connecting hole 52-11 and the 4th horizontal direction steering wheel installing plate connecting hole 52-21 screw are fixedly connected.Specific implementation
When, the exposed hole 52-12 and the 4th exposed hole 52-22 of horizontal direction steering wheel steering wheel of the 4th vertical direction steering wheel steering wheel, and
Mounting hole 52-14 and the 4th horizontal direction steering wheel right side mounting hole 52-24 diameter are on the right side of 4th vertical direction steering wheel
Mounting hole 52-13 on the left of 8mm, the 4th vertical direction steering wheel installing plate connecting hole 52-11 and the 4th vertical direction steering wheel, with
And the 4th mounting hole 52-23 on the left of horizontal direction steering wheel installing plate connecting hole 52-21 and the 4th horizontal direction steering wheel diameter it is equal
For 2.1mm.
First orthogonal joint 49, the second orthogonal joint 50, the 3rd orthogonal joint 51 and the 4th orthogonal joint 52 have
Identical structure, i.e., by a vertical direction steering wheel installing plate and a horizontal direction steering wheel installing plate by previous element mould
Vertical direction steering wheel on rear side of block is connected with the horizontal direction steering wheel on front side of the latter unit module.Vertical direction steering wheel installing plate
It is connected with vertical direction steering wheel, is responsible for snake-like robot's head raising, bends forward the obstacle detouring deformation posture of body；Horizontal direction steering wheel installing plate with
Horizontal direction steering wheel connects, and is responsible for the barrier avoiding function that snake-shaped robot is turned, wriggled.
In the present embodiment, as shown in Figure 15 and Figure 16, first connecting plate 44 includes octagonal first connecting bottom board
44-1 and it is connected on rear side of the first connecting bottom board 44-1 and for connecting the first steering wheel connecting plate of the first vertical direction steering wheel 6
44-2, the left side of first connecting plate 44 be provided with two be used for connect the first motor 20 the first motor connection hole 44-11,
The right side of first connecting plate 44 be provided with two be used for connect the second motor 21 the second motor connection hole 44-12, it is described
First connecting bottom board 44-1 front end is provided with the night vision cam connecting plate 44-14 for connecting night vision cam 19, described
Night vision cam connecting hole 44-15, the front side of the first connecting bottom board 44-1 are provided with night vision cam connecting plate 44-14
It is provided with infrared sensor connecting hole 44-16 and two is located at the infrared sensor connecting hole 44-16 left and right sides and difference respectively
It is described for connecting the ultrasonic sensor connecting hole 44-17 of the first ultrasonic sensor 16 and the second ultrasonic sensor 17
Be provided with rear side of first connecting bottom board 44-1 six be used for connect the first steering wheel connecting plate 44-2 the first steering wheel connecting plate company
Meet hole 44-13；The first steering wheel connecting plate 44-2 includes header portion and is arranged on convex at left and right sides of header portion
Part is played, the header portion of the first steering wheel connecting plate 44-2 is provided with to match with the first steering wheel connecting plate connecting hole 44-13
The second steering wheel connecting plate the connecting hole 44-21, the first steering wheel connecting plate 44-2 closed both sides are raised up, and part is each to be set
Have two be used for connect the first vertical direction steering wheel 6 the first vertical direction steering wheel connecting hole 44-22；It is when it is implemented, described
First connecting bottom board 44-1 two length of sides up and down are 40mm, and the right and left length is 38mm, and remaining four length of side is 26.9mm；
The first motor connection hole 44-11 and the second motor connection hole 44-12 diameter are 2.1mm, the first steering wheel connection
Plate connecting hole 44-13, the second steering wheel connecting plate connecting hole 44-21 and the first vertical direction steering wheel connecting hole 44-22 diameter are equal
For 2.1mm；
As shown in Figure 17 and Figure 18, second connecting plate 45 includes octagonal second connecting bottom board 45-1 and is connected to
On rear side of second connecting bottom board 45-1 and for connecting the second steering wheel connecting plate 45-2 of the second vertical direction steering wheel 8, described second
Be provided with the left of connecting bottom board 45-1 two be used for connect the 3rd motor 22 the 3rd motor connection hole 45-11, described second
Be provided with the right side of connecting bottom board 45-1 two be used for connect the 4th motor 23 the 4th motor connection hole 45-12, described second
Four first level direction steering wheel connecting holes for being used to connect first level direction steering wheel 7 are provided with front side of connecting bottom board 45-1
Be provided with rear side of 45-14, the second connecting bottom board 45-1 six be used for connect the second steering wheel connecting plate 45-2 the 3rd rudder
Machine connecting plate connecting hole 45-13；The second steering wheel connecting plate 45-2 includes header portion and is arranged on header portion or so two
The part that raises up of side, the header portion of the second steering wheel connecting plate 45-2 are provided with and the 3rd steering wheel connecting plate connecting hole
The 4th steering wheel connecting plate connecting hole 45-21 that 45-13 is engaged, the both sides upraised portion of the second steering wheel connecting plate 45-2
Be divided to be each provided with two be used for connect the second vertical direction steering wheel 8 the second vertical direction steering wheel connecting hole 45-22；Specific implementation
When, two length of sides up and down of the second connecting bottom board 45-1 are 40mm, and the right and left length is 38mm, and remaining four length of side is
26.9mm；The diameter of the 3rd motor connection hole 45-11 and the 4th motor connection hole 45-12 are 2.1mm, the 3rd rudder
Machine connecting plate connecting hole 45-13, the 4th steering wheel connecting plate connecting hole 45-21, first level direction steering wheel connecting hole 45-14 and
Two vertical direction steering wheel connecting hole 45-22 diameter is 2.1mm；
As illustrated in figures 19 and 20, the 3rd connecting plate 46 includes octagonal 3rd connecting bottom board 46-1 and is connected to
3rd connecting bottom board 46-1 rear sides and the 3rd steering wheel connecting plate 46-2 for connecting the 3rd vertical direction steering wheel 10, the described 3rd
Be provided with the left of connecting bottom board 46-1 two be used for connect the 5th motor 24 the 5th motor connection hole 46-11, the described 3rd
Be provided with the right side of connecting bottom board 46-1 two be used for connect the 6th motor 25 the 6th motor connection hole 46-12, the described 3rd
Be provided with front side of connecting bottom board 46-1 four be used for connect the second horizontal direction steering wheel 9 the second horizontal direction steering wheel connecting hole
46-14；Be provided with rear side of the 3rd connecting bottom board 46-1 six be used for connect the 3rd steering wheel connecting plate 46-2 the 5th rudder
Machine connecting plate connecting hole 46-13；The 3rd steering wheel connecting plate 46-2 includes header portion and is arranged on header portion or so two
The part that raises up of side, the header portion of the 3rd steering wheel connecting plate 46-2 are provided with and the 5th steering wheel connecting plate connecting hole
The 6th steering wheel connecting plate connecting hole 46-21 that 46-13 is engaged, the both sides upraised portion of the 3rd steering wheel connecting plate 46-2
Be divided to be each provided with two be used for connect the 3rd vertical direction steering wheel 10 the 3rd vertical direction steering wheel connecting hole 46-22；It is specific real
Shi Shi, two length of sides up and down of the 3rd connecting bottom board 46-1 are 40mm, and the right and left length is 38mm, and remaining four length of side is equal
For 26.9mm；The diameter of the 5th motor connection hole 46-11 and the 6th motor connection hole 46-12 are 2.1mm, and the described 5th
Steering wheel connecting plate connecting hole 46-13, the 6th steering wheel connecting plate connecting hole 46-21, the second horizontal direction steering wheel connecting hole 46-14 and
3rd vertical direction steering wheel connecting hole 46-22 diameter is 2.1mm；
As shown in figure 21 and figure, the 4th connecting plate 47 includes octagonal 4th connecting bottom board 47-1 and is connected to
4th connecting bottom board 47-1 rear sides and the 4th steering wheel connecting plate 47-2 for connecting the 4th vertical direction steering wheel 12, the described 4th
Be provided with the left of connecting bottom board 47-1 two be used for connect the 7th motor 26 the 7th motor connection hole 47-11, the described 4th
Be provided with the right side of connecting bottom board 47-1 two be used for connect the 8th motor 27 the 8th motor connection hole 47-12, the described 4th
Be provided with front side of connecting bottom board 47-1 four be used for connect the 3rd horizontal direction steering wheel 11 the 3rd horizontal direction steering wheel connect
Hole 47-14；Be provided with rear side of the 4th connecting bottom board 47-1 six be used for connect the 4th steering wheel connecting plate 47-2 the 7th
Steering wheel connecting plate connecting hole 47-13；The 4th steering wheel connecting plate 47-2 includes header portion and is arranged on header portion or so
The part that raises up of both sides, the header portion of the 4th steering wheel connecting plate 47-2 is provided with to be connected with the 7th steering wheel connecting plate
The 8th steering wheel connecting plate connecting hole 47-21 that hole 47-13 is engaged, the both sides of the 4th steering wheel connecting plate 47-2 raise up
Part be each provided with two be used for connect the 4th vertical direction steering wheel 12 the 4th vertical direction steering wheel connecting hole 47-22；Specifically
During implementation, two length of sides up and down of the 4th connecting bottom board 47-1 are 40mm, and the right and left length is 38mm, remaining four length of side
It is 26.9mm；The diameter of the 7th motor connection hole 47-11 and the 8th motor connection hole 47-12 are 2.1mm, and described
Seven steering wheel connecting plate connecting hole 47-13, the 8th steering wheel connecting plate connecting hole 47-21, the 3rd horizontal direction steering wheel connecting hole 47-14
Diameter with the 4th vertical direction steering wheel connecting hole 47-22 is 2.1mm；
As shown in figure 23, the 5th connecting plate 48 includes octagonal 5th connecting bottom board 48-1, the 5th connection
Be provided with the left of bottom plate 48-1 two be used for connect the 9th motor 28 the 9th motor connection hole 48-11, it is described 5th connect
Be provided with the right side of bottom plate 48-1 two be used for connect the tenth motor 29 the tenth motor connection hole 48-12, it is described 5th connect
Be provided with front side of bottom plate 48-1 four be used for connect the 4th horizontal direction steering wheel 13 the 3rd horizontal direction steering wheel connecting hole 48-
13.When it is implemented, two length of sides up and down of the 5th connecting bottom board 48-1 are 40mm, the right and left length is 38mm, its
Four length of sides of remaininging are 26.9mm；The diameter of the 9th motor connection hole 48-11 and the tenth motor connection hole 48-12 is
2.1mm, the diameter of the 3rd horizontal direction steering wheel connecting hole 48-13 is 2.1mm.
Second connecting plate 45, the 3rd connecting plate 46 are identical with the structure of the 4th connecting plate 47.
When it is implemented, the First Speed steering wheel 15 may be mounted at the second connecting bottom board 45-1 middle position or
3rd connecting bottom board 46-1 middle position, the second speed steering wheel 14 may be mounted in the 3rd connecting bottom board 46-1
Between opening position or the 4th connecting bottom board 47-1 middle position.
In the present embodiment, as shown in figures 24 and 25, first blade wheel 34, the second blade wheel 35, third blade wheel
36th, quaterfoil wheel 37, the 5th blade wheel 38, the 6th blade wheel 39, the 7th blade wheel 40, the 8th blade wheel 41, the 9th blade
Wheel 42 is identical with the structure of the tenth blade wheel 43 and includes interior circular boop 61 and is connected on interior circular boop 61 and circular boop 61 in stretching out
Three outside spring leafs 62, the center position of the interior circular boop 61 are provided with axis hole 63, the circumference of the interior circular boop 61
Upper spaced 120 ° are provided with three necks 64, and one end that three spring leafs 62 are connected with interior circular boop 61 is connected together respectively
In three necks 64, one end end that the spring leaf 62 is stretched out outside interior circular boop 61 is arc-shaped curvature portion 62-1, three
The arc-shaped curvature portion 62-1 of spring leaf 62 bending direction is identical, has been radially arranged on the interior circular boop 61 and has been connected with axis hole 63
Logical structural joint 65.In connecting spring blade 62 on interior circular boop 61, by the arc-shaped curvature portion 62-1's of multiple spring leafs 62
Bending direction is arranged to equidirectional, after such blade wheel is applied on snake-shaped robot, on the one hand can prevent snakelike machine
Debris is rolled and blocks blade wheel by device people when advancing, on the other hand in snake-shaped robot throwing over barrier, the energy of spring leaf 62
Enough play a part of hook.65 are stitched by setting structure, the output shaft for avoiding motor caused by due to expanding with heat and contract with cold is not easy to pacify
The phenomenon being attached in axis hole 63 occurs.
When it is implemented, the output shaft of first motor 20 is connected in the axis hole 63 of the first blade wheel 34, described
The output shaft of two motors 21 is connected in the axis hole 63 of the second blade wheel 35, and the output shaft of the 3rd motor 22 is connected to the 3rd
In the axis hole 63 of blade wheel 36, the output shaft of the 4th motor 23 is connected in the axis hole 63 of quaterfoil wheel 37, and described
The output shaft of five motors 24 is connected in the axis hole 63 of the 5th blade wheel 38, and the output shaft of the 6th motor 25 is connected to the 6th
In the axis hole 63 of blade wheel 39, the output shaft of the 7th motor 26 is connected in the axis hole 63 of the 7th blade wheel 40, and described
The output shaft of eight motors 27 is connected in the axis hole 63 of the 8th blade wheel 41, and the output shaft of the 9th motor 28 is connected to the 9th
In the axis hole 63 of blade wheel 42, the output shaft of the tenth motor 29 is connected in the axis hole 63 of the tenth blade wheel 43.
In the present embodiment, as shown in figure 24, the center position of the interior circular boop 61 is provided with circular protrusions 61-1, described
Axis hole 63 is arranged on circular protrusions 61-1 center position；The interior circular boop 61 is provided with annulus close to the opening position of excircle
Shape projection 61-2, multiple rectangles outside annular projection 61-2 outer ring are uniformly arranged in the radial direction with the interior circular boop 61
Raised 61-3.
In the present embodiment, the spring leaf 62 is be bonded with interior circular boop 61 by glue again after being connected together in neck 64,
A diameter of 20mm of the interior circular boop 61, the length of the spring leaf 62 is 40mm, width 8mm；The shape of the axis hole 63
Shape is D-shaped, a diameter of 2.5mm of the arc-shaped edges of the axis hole 63；The arc-shaped curvature portion 62-1 of the spring leaf 62 bending
Angle is 150 °.Axis hole 63 is designed as D-shaped, is in order to which the D-shaped output shaft with motor is engaged.
In the present embodiment, the master controller 30 is the mini PCs of Vensmile, the USB-RS232 modular converters 32
Model Robotis USB2Dynamixel；The model Arduino Uno R3 of the obstacle avoidance module 33, the communication module
56 be wireless router, and the night vision cam 19 is 1080P wide-angle infrared night vision cameras, the night vision cam 19,
The USB interface of USB-RS232 modular converters 32 and obstacle avoidance module 33 with master controller 30 is connected；The power module 31 includes
12.6V Li-PO rechargeable batteries and 4.5V mercury-free alkaline battery, the obstacle avoidance module 33, the first ultrasonic sensor 16,
Output end of the power line of two ultrasonic sensors 17 and infrared sensor 18 with 4.5V mercury-free alkaline battery is connected, described
First vertical direction steering wheel 6, the second vertical direction steering wheel 8, the 3rd vertical direction steering wheel 10, the 4th vertical direction steering wheel 12,
One horizontal direction steering wheel 7, the second horizontal direction steering wheel 9, the 3rd horizontal direction steering wheel 11, the 4th horizontal direction steering wheel 13, first
Output end of the power line of speed steering wheel 15 and second speed steering wheel 14 with 12.6V Li-PO rechargeable batteries is connected.
The mini PCs of Vensmile are self-powered, the night vision cam 19 and USB-RS232 modular converters 32 with
After the USB interface connection of master controller 30, powered by USB interface；The communication module 56 passes through 220V AC-powereds.It is logical
Wireless router constructing local network is crossed, host computer 60 and master can be completed using local area network remote control software UltraVNC
Communication between controller 30.
Use the utility model carry out coalmine rescue when the step of for：
Step 1: the coalmine rescue snake-shaped robot enters tunnel from the entrance of coal mine roadway；
Step 2: the ambient image in the captured in real-time coal mine roadway of night vision cam 19, and the colliery that will be photographed
The coal mine roadway that environment image transmitting is received by communication module 56 again to master controller 30, master controller 30 in tunnel
Interior environment image transmitting to host computer 60, the real-time display coalmine rescue snake-shaped robot position of host computer 60
Ambient image in coal mine roadway；Meanwhile first ultrasonic sensor 16, the second ultrasonic sensor 17 and infrared sensor 18 are right
The barrier in coalmine rescue snake-shaped robot walking front detect in real time and the signal detected is transferred into obstacle avoidance module
33, the signal real-time Transmission that obstacle avoidance module 33 is received again is to master controller 30；
Step 3: the signal that the obstacle avoidance module 33 that the master controller 30 receives to it exports analyzes and processes, sentence
Break and whether coalmine rescue snake-shaped robot walking front has barrier, and export to the first vertical direction steering wheel 6, first level
Direction steering wheel 7, the second vertical direction steering wheel 8, the second horizontal direction steering wheel 9, the 3rd vertical direction steering wheel 10, the 3rd horizontal direction
Steering wheel 11, the 4th vertical direction steering wheel 12, the 4th horizontal direction steering wheel 13, First Speed steering wheel 15 and second speed steering wheel 14
Control signal, coalmine rescue snake-shaped robot is carried out obstacle detouring or avoidance traveling, complete rescue task；
Step 4: the coalmine rescue snake-shaped robot leaves tunnel from the outlet of coal mine roadway.
It is described above, only it is preferred embodiment of the present utility model, not the utility model is imposed any restrictions, every
Any simple modification, change and the equivalent structure change made according to the utility model technical spirit to above example, still
Belong in the protection domain of technical solutions of the utility model.
Claims (8)
- A kind of 1. vane wheel type coalmine rescue snake-shaped robot, it is characterised in that：Including robot body and control system of robot System；The robot body includes the first module module (1), second unit module (2), the 3rd list set gradually from front to back Element module (3), the 4th unit module (4) and the 5th unit module (5), the first module module (1) include the first connecting plate (44) it is and the first blade wheel (34) and the second blade wheel (35) that are separately positioned at left and right sides of the first connecting plate (44), described First connecting plate (44) upper left side is provided with the first motor (20) for driving the first blade wheel (34) to rotate, and described first connects Right side is provided with the second motor (21) for driving the second blade wheel (35) to rotate, first connecting plate on fishplate bar (44) (44) rear side is provided with the first vertical direction steering wheel (6), first blade wheel (34) and the output shaft of the first motor (20) on Connection, second blade wheel (35) and the output axis connection of the second motor (21)；The second unit module (2) includes second Connecting plate (45) and the third blade wheel (36) and quaterfoil wheel being separately positioned at left and right sides of the second connecting plate (45) (37), the second connecting plate (45) upper left side is provided with the 3rd motor (22) for driving third blade wheel (36) to rotate, Right side is provided with the 4th motor (23) for driving quaterfoil wheel (37) to rotate on second connecting plate (45), and described the Front side is provided with first level direction steering wheel (7) on two connecting plates (45), and rear side is provided with the on second connecting plate (45) Two vertical direction steering wheels (8), the third blade wheel (36) and the output axis connection of the 3rd motor (22), the quaterfoil wheel (37) with the output axis connection of the 4th motor (23)；The third unit module (3) includes the 3rd connecting plate (46) and difference The 5th blade wheel (38) and the 6th blade wheel (39) being arranged at left and right sides of the 3rd connecting plate (46), the 3rd connecting plate (46) upper left side, which is provided with, is used for the 5th motor (24) that the 5th blade wheel (38) of drive rotates, on the 3rd connecting plate (46) Right side is provided with the 6th motor (25) for driving the 6th blade wheel (39) to rotate, and front side is set on the 3rd connecting plate (46) The second horizontal direction steering wheel (9) is equipped with, rear side is provided with the 3rd vertical direction steering wheel (10), institute on the 3rd connecting plate (46) State the output axis connection of the 5th blade wheel (38) and the 5th motor (24), the 6th blade wheel (39) and the 6th motor (25) Export axis connection；4th unit module (4) includes the 4th connecting plate (47) and is separately positioned on the 4th connecting plate (47) 7th blade wheel (40) of the left and right sides and the 8th blade wheel (41), the 4th connecting plate (47) upper left side are provided with for band The 7th motor (26) that the 7th blade wheel (40) rotates is moved, right side is provided with for driving the 8th on the 4th connecting plate (47) The 8th motor (27) that blade wheel (41) rotates, front side is provided with the 3rd horizontal direction steering wheel on the 4th connecting plate (47) (11), rear side is provided with the 4th vertical direction steering wheel (12) on the 4th connecting plate (47), the 7th blade wheel (40) with The output axis connection of 7th motor (26), the 8th blade wheel (41) and the output axis connection of the 8th motor (27)；Described Five unit modules (5) include the 5th connecting plate (48) and the 9th blade being separately positioned at left and right sides of the 5th connecting plate (48) (42) and the tenth blade wheel (43) are taken turns, the 5th connecting plate (48) upper left side is provided with for driving the 9th blade wheel (42) to turn The 9th dynamic motor (28), on the 5th connecting plate (48) right side be provided with for drive that the tenth blade wheel (43) rotates the Ten motors (29), front side is provided with the 4th horizontal direction steering wheel (13), the 9th blade wheel on the 5th connecting plate (48) (42) with the output axis connection of the 9th motor (28), the tenth blade wheel (43) and the output axis connection of the tenth motor (29)； First connecting plate (44) is connected by the first orthogonal joint (49) with the second connecting plate (45), second connecting plate (45) It is connected by the second orthogonal joint (50) with the 3rd connecting plate (46), the 3rd connecting plate (46) passes through the 3rd orthogonal joint (51) it is connected with the 4th connecting plate (47), the 4th connecting plate (47) passes through the 4th orthogonal joint (52) and the 5th connecting plate (48) connect, First Speed steering wheel is connected between the second vertical direction steering wheel (8) and the second horizontal direction steering wheel (9) (15), it is connected with second speed steering wheel between the 3rd vertical direction steering wheel (10) and the 3rd horizontal direction steering wheel (11) (14)；The robot control system includes master controller (30) and power module (31), and connect with master controller (30) USB-RS232 modular converters (32) and the host computer (60) to be connected by communication module (56) with master controller (30)；Institute The input for stating master controller (30) is terminated with obstacle avoidance module (33) and night vision cam (19), the input of the obstacle avoidance module (33) Detection of obstacles unit is terminated with, the detection of obstacles unit includes the first ultrasonic sensor (16), the second ultrasonic wave passes Sensor (17) and infrared sensor (18)；The obstacle avoidance module (33), the first ultrasonic sensor (16), the second supersonic sensing Device (17) and infrared sensor (18), and the first vertical direction steering wheel (6), the second vertical direction steering wheel (8), the 3rd Vertical Square To steering wheel (10), the 4th vertical direction steering wheel (12), first level direction steering wheel (7), the second horizontal direction steering wheel (9), the 3rd Horizontal direction steering wheel (11), the 4th horizontal direction steering wheel (13), the electricity of First Speed steering wheel (15) and second speed steering wheel (14) Output end of the source line with power module (31) is connected；The night vision cam (19) be arranged on the first connecting plate (44) just before End, first ultrasonic sensor (16) and the second ultrasonic sensor (17) installed in the front end of the first connecting plate (44) and It is located at the left and right sides of night vision cam (19) respectively, the infrared sensor (18) is gone forward installed in the first connecting plate (44) Side；The First Speed steering wheel (15) and second speed steering wheel (14), the first vertical direction steering wheel (6), the second vertical direction rudder Machine (8), the 3rd vertical direction steering wheel (10) and the 4th vertical direction steering wheel (12), and first level direction steering wheel (7), second The power line of horizontal direction steering wheel (9), the 3rd horizontal direction steering wheel (11) and the 4th horizontal direction steering wheel (13) with power supply mould The output end connection of block (31)；The First Speed steering wheel (15) and second speed steering wheel (14), the first vertical direction steering wheel (6), the second vertical direction steering wheel (8), the 3rd vertical direction steering wheel (10) and the 4th vertical direction steering wheel (12), and the first water Square to steering wheel (7), the second horizontal direction steering wheel (9), the 3rd horizontal direction steering wheel (11) and the 4th horizontal direction steering wheel (13) Signal wire be connected with USB-RS232 modular converters (32), first motor (20), the 3rd motor (22), the 5th motor (24), power line of the power line of the 7th motor (26) and the 9th motor (28) with second speed steering wheel (14) is connected, and second Motor (21), the 4th motor (23), the 6th motor (25), the power line of the 8th motor (27) and the tenth motor (29) are with first The power line connection of speed steering wheel (15).
- 2. according to a kind of vane wheel type coalmine rescue snake-shaped robot described in claim 1, it is characterised in that：First electricity Machine (20), the second motor (21), the 3rd motor (22), the 4th motor (23), the 5th motor (24), the 6th motor (25), the 7th Motor (26), the 8th motor (27), the 9th motor (28) and the tenth motor (29) are DC speed-reducing.
- 3. according to a kind of vane wheel type coalmine rescue snake-shaped robot described in claim 1, it is characterised in that：Described first just Joint (49) are handed over to include being used for the first vertical direction steering wheel installing plate (49-1) of the first vertical direction steering wheel (6) of installation and be used for The first level direction steering wheel installing plate (49-2) of first level direction steering wheel (7), the first vertical direction steering wheel peace are installed Loading board (49-1) includes header portion and the bossing that is inclined upwardly being arranged at left and right sides of header portion, and described first is vertical The header portion of direction steering wheel installing plate (49-1) is provided with four the first vertical direction steering wheel installing plate connecting holes (49-11), The bossing that is inclined upwardly on the left of the first vertical direction steering wheel installing plate (49-1) is provided with first vertical direction Mounting hole (49-13) on the left of the exposed hole of steering wheel steering wheel (49-12) and four the first vertical direction steering wheels, four the first vertical direction Mounting hole (49-13) is distributed in around a first exposed hole of vertical direction steering wheel steering wheel (49-12) on the left of steering wheel, and described first The bossing that is inclined upwardly on the right side of vertical direction steering wheel installing plate (49-1) is provided with the right side of a first vertical direction steering wheel Mounting hole (49-14)；The first level direction steering wheel installing plate (49-2) includes header portion and is arranged on a header portion left side The upward vertical bossing of right both sides, the header portion of the first level direction steering wheel installing plate (49-2) are provided with four The first level direction steering wheel installing plate connecting hole (49- being engaged with the first vertical direction steering wheel installing plate connecting hole (49-11) 21), vertical bossing is provided with a first level upwards in the left side of the first level direction steering wheel installing plate (49-2) Mounting hole (49-23) on the left of the direction exposed hole of steering wheel steering wheel (49-22) and four first level direction steering wheels, four first levels Mounting hole (49-23) is distributed in around a first level direction exposed hole of steering wheel steering wheel (49-22) on the left of the steering wheel of direction, described Vertical bossing is provided with a first level direction steering wheel upwards on the right side of first level direction steering wheel installing plate (49-2) Right side mounting hole (49-24)；The opening of the first vertical direction steering wheel installing plate (49-1) is set towards the first connecting plate (44) Put, the bossing that is inclined upwardly on the left of the first vertical direction steering wheel installing plate (49-1) is located at the robot body Left side, the opening of the first level direction steering wheel installing plate (49-2) are set towards the second connecting plate (45), first water Square to the left side of steering wheel installing plate (49-2), vertical bossing is located at the bottom of the robot body upwards, and described first The header portion of vertical direction steering wheel installing plate (49-1) and the header portion of first level direction steering wheel installing plate (49-2) lead to Cross through the first vertical direction steering wheel installing plate connecting hole (49-11) and first level direction steering wheel installing plate connecting hole (49- 21) screw is fixedly connected；Second orthogonal joint (50) includes being used for the second vertical direction steering wheel installation for installing the second vertical direction steering wheel (8) Plate (50-1) and the second horizontal direction steering wheel installing plate (50-2) for installing the second horizontal direction steering wheel (9), described second Vertical direction steering wheel installing plate (50-1) includes header portion and the lug boss that is inclined upwardly being arranged at left and right sides of header portion Point, the header portion of the second vertical direction steering wheel installing plate (50-1) is provided with four the second vertical direction steering wheel installing plates Connecting hole (50-11), the bossing that is inclined upwardly on the left of the second vertical direction steering wheel installing plate (50-1) are provided with one Mounting hole (50-13) on the left of the individual exposed hole of second vertical direction steering wheel steering wheel (50-12) and four the second vertical direction steering wheels, four Mounting hole (50-13) is distributed in a second exposed hole (50- of vertical direction steering wheel steering wheel on the left of individual second vertical direction steering wheel 12) around, the bossing that is inclined upwardly on the right side of the second vertical direction steering wheel installing plate (50-1) is provided with one second Mounting hole (50-14) on the right side of vertical direction steering wheel；The second horizontal direction steering wheel installing plate (50-2) include header portion and The upward vertical bossing being arranged at left and right sides of header portion, the horizontal stroke of the second horizontal direction steering wheel installing plate (50-2) Beam portion, which sets up separately, is equipped with four the second horizontal direction steering wheels being engaged with the second vertical direction steering wheel installing plate connecting hole (50-11) Installing plate connecting hole (50-21), vertical lug boss sets up separately upwards in the left side of the second horizontal direction steering wheel installing plate (50-2) It is equipped with mounting hole (50- on the left of a second exposed hole of horizontal direction steering wheel steering wheel (50-22) and four the second horizontal direction steering wheels 23), mounting hole (50-23) is distributed in a second exposed hole of horizontal direction steering wheel steering wheel on the left of four the second horizontal direction steering wheels Around (50-22), vertical bossing is provided with one upwards on the right side of the second horizontal direction steering wheel installing plate (50-2) Mounting hole (50-24) on the right side of second horizontal direction steering wheel；The opening direction of the second vertical direction steering wheel installing plate (50-1) Second connecting plate (45) is set, and the bossing that is inclined upwardly on the left of the second vertical direction steering wheel installing plate (50-1) is located at The left side of the robot body, opening the 3rd connecting plate (46) of direction of the second horizontal direction steering wheel installing plate (50-2) Set, vertical bossing is located at the robot body upwards in the left side of the second horizontal direction steering wheel installing plate (50-2) Bottom, the header portion of the second vertical direction steering wheel installing plate (50-1) and the second horizontal direction steering wheel installing plate (50- 2) header portion through the second vertical direction steering wheel installing plate connecting hole (50-11) and the second horizontal direction steering wheel by installing The screw of plate connecting hole (50-21) is fixedly connected；3rd orthogonal joint (51) includes being used for the 3rd vertical direction steering wheel peace for installing the 3rd vertical direction steering wheel (10) Loading board (51-1) and the 3rd horizontal direction steering wheel installing plate (51-2) for installing the 3rd horizontal direction steering wheel (11), described the Three vertical direction steering wheel installing plates (51-1) include header portion and the projection that is inclined upwardly being arranged at left and right sides of header portion Part, the header portion of the 3rd vertical direction steering wheel installing plate (51-1) are provided with four the 3rd vertical direction steering wheel installations Plate connecting hole (51-11), the bossing that is inclined upwardly on the left of the 3rd vertical direction steering wheel installing plate (51-1) are provided with Mounting hole (51-13) on the left of one the 3rd exposed hole of vertical direction steering wheel steering wheel (51-12) and four the 3rd vertical direction steering wheels, Mounting hole (51-13) is distributed in a 3rd exposed hole (51- of vertical direction steering wheel steering wheel on the left of four the 3rd vertical direction steering wheels 12) around, the bossing that is inclined upwardly on the right side of the 3rd vertical direction steering wheel installing plate (51-1) is provided with one the 3rd Mounting hole (51-14) on the right side of vertical direction steering wheel；The 3rd horizontal direction steering wheel installing plate (51-2) include header portion and The upward vertical bossing being arranged at left and right sides of header portion, the horizontal stroke of the 3rd horizontal direction steering wheel installing plate (51-2) Beam portion, which sets up separately, is equipped with four the 3rd horizontal direction steering wheels being engaged with the 3rd vertical direction steering wheel installing plate connecting hole (51-11) Installing plate connecting hole (51-21), vertical lug boss sets up separately upwards in the left side of the 3rd horizontal direction steering wheel installing plate (51-2) It is equipped with mounting hole (51- on the left of a 3rd exposed hole of horizontal direction steering wheel steering wheel (51-22) and four the 3rd horizontal direction steering wheels 23), mounting hole (51-23) is distributed in a 3rd exposed hole of horizontal direction steering wheel steering wheel on the left of four the 3rd horizontal direction steering wheels Around (51-22), vertical bossing is provided with one upwards on the right side of the 3rd horizontal direction steering wheel installing plate (51-2) Mounting hole (51-24) on the right side of 3rd horizontal direction steering wheel；The opening direction of the 3rd vertical direction steering wheel installing plate (51-1) 3rd connecting plate (46) is set, and the bossing that is inclined upwardly on the left of the 3rd vertical direction steering wheel installing plate (51-1) is located at The left side of the robot body, opening the 4th connecting plate (47) of direction of the 3rd horizontal direction steering wheel installing plate (51-2) Set, vertical bossing is located at the robot body upwards in the left side of the 3rd horizontal direction steering wheel installing plate (51-2) Bottom, the header portion of the 3rd vertical direction steering wheel installing plate (51-1) and the 3rd horizontal direction steering wheel installing plate (51- 2) header portion through the 3rd vertical direction steering wheel installing plate connecting hole (51-11) and the 3rd horizontal direction steering wheel by installing The screw of plate connecting hole (51-21) is fixedly connected；4th orthogonal joint (52) includes being used for the 4th vertical direction steering wheel peace for installing the 4th vertical direction steering wheel (12) Loading board (52-1) and the 4th horizontal direction steering wheel installing plate (52-2) for installing the 4th horizontal direction steering wheel (13), described the Four vertical direction steering wheel installing plates (52-1) include header portion and the projection that is inclined upwardly being arranged at left and right sides of header portion Part, the header portion of the 4th vertical direction steering wheel installing plate (52-1) are provided with four the 4th vertical direction steering wheel installations Plate connecting hole (52-11), the bossing that is inclined upwardly on the left of the 4th vertical direction steering wheel installing plate (52-1) are provided with Mounting hole (52-13) on the left of one the 4th exposed hole of vertical direction steering wheel steering wheel (52-12) and four the 4th vertical direction steering wheels, Mounting hole (52-13) is distributed in a 4th exposed hole (52- of vertical direction steering wheel steering wheel on the left of four the 4th vertical direction steering wheels 12) around, the bossing that is inclined upwardly on the right side of the 4th vertical direction steering wheel installing plate (52-1) is provided with one the 4th Mounting hole (52-14) on the right side of vertical direction steering wheel；The 4th horizontal direction steering wheel installing plate (52-2) include header portion and The upward vertical bossing being arranged at left and right sides of header portion, the horizontal stroke of the 4th horizontal direction steering wheel installing plate (52-2) Beam portion, which sets up separately, is equipped with four the 4th horizontal direction steering wheels being engaged with the 4th vertical direction steering wheel installing plate connecting hole (52-11) Installing plate connecting hole (52-21), vertical lug boss sets up separately upwards in the left side of the 4th horizontal direction steering wheel installing plate (52-2) It is equipped with mounting hole (52- on the left of a 4th exposed hole of horizontal direction steering wheel steering wheel (52-22) and four the 4th horizontal direction steering wheels 23), mounting hole (52-23) is distributed in a 4th exposed hole of horizontal direction steering wheel steering wheel on the left of four the 4th horizontal direction steering wheels Around (52-22), vertical bossing is provided with one upwards on the right side of the 4th horizontal direction steering wheel installing plate (52-2) Mounting hole (52-24) on the right side of 4th horizontal direction steering wheel；The opening direction of the 4th vertical direction steering wheel installing plate (52-1) 4th connecting plate (47) is set, and the bossing that is inclined upwardly on the left of the 4th vertical direction steering wheel installing plate (52-1) is located at The left side of the robot body, opening the 5th connecting plate (48) of direction of the 4th horizontal direction steering wheel installing plate (52-2) Set, vertical bossing is located at the robot body upwards in the left side of the 4th horizontal direction steering wheel installing plate (52-2) Bottom, the header portion of the 4th vertical direction steering wheel installing plate (52-1) and the 4th horizontal direction steering wheel installing plate (52- 2) header portion through the 4th vertical direction steering wheel installing plate connecting hole (52-11) and the 4th horizontal direction steering wheel by installing The screw of plate connecting hole (52-21) is fixedly connected.
- 4. according to a kind of vane wheel type coalmine rescue snake-shaped robot described in claim 1, it is characterised in that：Described first connects Fishplate bar (44) includes octagonal first connecting bottom board (44-1) and is connected on rear side of the first connecting bottom board (44-1) and for connecting The first steering wheel connecting plate (44-2) of the first vertical direction steering wheel (6) is connect, two are provided with the left of first connecting plate (44) Individual the first motor connection hole (44-11) for being used to connect the first motor (20), is provided with the right side of first connecting plate (44) Two the second motor connection holes (44-12) for being used to connect the second motor (21), the front end of first connecting bottom board (44-1) It is provided with the night vision cam connecting plate (44-14) for connecting night vision cam (19), the night vision cam connecting plate Night vision cam connecting hole (44-15) is provided with (44-14), is provided with front side of first connecting bottom board (44-1) infrared Sensor connecting hole (44-16) and two are respectively at left and right sides of infrared sensor connecting hole (44-16) and the company of being respectively used to The ultrasonic sensor connecting hole (44-17) of the first ultrasonic sensor (16) and the second ultrasonic sensor (17) is connect, it is described Be provided with rear side of first connecting bottom board (44-1) six be used for connect the first steering wheel connecting plate (44-2) the first steering wheel connect Plate connecting hole (44-13)；The first steering wheel connecting plate (44-2) includes header portion and is arranged at left and right sides of header portion The part that raises up, the header portion of the first steering wheel connecting plate (44-2) is provided with and the first steering wheel connecting plate connecting hole The second steering wheel connecting plate connecting hole (44-21) that (44-13) is engaged, the first steering wheel connecting plate (44-2) two on the side Bossing be each provided with two be used for connect the first vertical direction steering wheel (6) the first vertical direction steering wheel connecting hole (44- 22)；Second connecting plate (45) includes octagonal second connecting bottom board (45-1) and is connected to the second connecting bottom board (45- 1) rear side and the second steering wheel connecting plate (45-2) for connecting the second vertical direction steering wheel (8), second connecting bottom board Be provided with the left of (45-1) two be used for connect the 3rd motor (22) the 3rd motor connection hole (45-11), it is described second company Connect be provided with the right side of bottom plate (45-1) two be used for connect the 4th motor (23) the 4th motor connection hole (45-12), it is described Four first level rudders for being used to connect first level direction steering wheel (7) are provided with front side of second connecting bottom board (45-1) Machine connecting hole (45-14), be provided with rear side of second connecting bottom board (45-1) six be used for connect the second steering wheel connecting plate The 3rd steering wheel connecting plate connecting hole (45-13) of (45-2)；The second steering wheel connecting plate (45-2) includes header portion and set Put the part that raises up at left and right sides of header portion, the header portion of the second steering wheel connecting plate (45-2) be provided with The 4th steering wheel connecting plate connecting hole (45-21) that 3rd steering wheel connecting plate connecting hole (45-13) is engaged, second steering wheel connect The both sides of fishplate bar (45-2) raise up part be each provided with two be used for connect the second vertical direction steering wheel (8) it is second vertical Direction steering wheel connecting hole (45-22)；3rd connecting plate (46) includes octagonal 3rd connecting bottom board (46-1) and is connected to the 3rd connecting bottom board (46- 1) rear side and the 3rd steering wheel connecting plate (46-2) for connecting the 3rd vertical direction steering wheel (10), the 3rd connecting bottom board Be provided with the left of (46-1) two be used for connect the 5th motor (24) the 5th motor connection hole (46-11), it is described 3rd company Connect be provided with the right side of bottom plate (46-1) two be used for connect the 6th motor (25) the 6th motor connection hole (46-12), it is described Be provided with front side of 3rd connecting bottom board (46-1) four be used for connect the second horizontal direction steering wheel (9) the second horizontal direction rudder Machine connecting hole (46-14)；Be provided with rear side of 3rd connecting bottom board (46-1) six be used for connect the 3rd steering wheel connecting plate The 5th steering wheel connecting plate connecting hole (46-13) of (46-2)；The 3rd steering wheel connecting plate (46-2) includes header portion and set Put the part that raises up at left and right sides of header portion, the header portion of the 3rd steering wheel connecting plate (46-2) be provided with The 6th steering wheel connecting plate connecting hole (46-21) that 5th steering wheel connecting plate connecting hole (46-13) is engaged, the 3rd steering wheel connect The both sides of fishplate bar (46-2) raise up part be each provided with two be used for connect the 3rd vertical direction steering wheel (10) it is the 3rd vertical Nogata is to steering wheel connecting hole (46-22)；4th connecting plate (47) includes octagonal 4th connecting bottom board (47-1) and is connected to the 4th connecting bottom board (47- 1) rear side and the 4th steering wheel connecting plate (47-2) for connecting the 4th vertical direction steering wheel (12), the 4th connecting bottom board Be provided with the left of (47-1) two be used for connect the 7th motor (26) the 7th motor connection hole (47-11), it is described 4th company Connect be provided with the right side of bottom plate (47-1) two be used for connect the 8th motor (27) the 8th motor connection hole (47-12), it is described Be provided with front side of 4th connecting bottom board (47-1) four be used for connect the 3rd horizontal direction steering wheel (11) the 3rd horizontal direction Steering wheel connecting hole (47-14)；Be provided with rear side of 4th connecting bottom board (47-1) six be used for connect the 4th steering wheel connect 7th steering wheel connecting plate connecting hole (47-13) of plate (47-2)；The 4th steering wheel connecting plate (47-2) include header portion and The part that raises up being arranged at left and right sides of header portion, the header portion of the 4th steering wheel connecting plate (47-2) are provided with The 8th steering wheel connecting plate connecting hole (47-21) being engaged with the 7th steering wheel connecting plate connecting hole (47-13), the 4th steering wheel The both sides of connecting plate (47-2) raise up part be each provided with two be used for connect the 4th vertical direction steering wheel (12) the 4th Vertical direction steering wheel connecting hole (47-22)；5th connecting plate (48) includes octagonal 5th connecting bottom board (48-1), the 5th connecting bottom board (48-1) Left side be provided with two be used for connect the 9th motor (28) the 9th motor connection hole (48-11), the 5th connecting bottom board Be provided with the right side of (48-1) two be used for connect the tenth motor (29) the tenth motor connection hole (48-12), it is described 5th company Connect be provided with front side of bottom plate (48-1) four be used for connect the 4th horizontal direction steering wheel (13) the 3rd horizontal direction steering wheel company Connect hole (48-13).
- 5. according to a kind of vane wheel type coalmine rescue snake-shaped robot described in claim 1, it is characterised in that：First leaf Piece wheel (34), the second blade wheel (35), third blade wheel (36), quaterfoil wheel (37), the 5th blade wheel (38), the 6th blade Wheel (39), the 7th blade wheel (40), the 8th blade wheel (41), the 9th blade wheel (42) are identical with the structure of the tenth blade wheel (43) And include interior circular boop (61) and be connected to three spring leafs (62) on interior circular boop (61) and in stretching outside circular boop (61), The center position of the interior circular boop (61) is provided with axis hole (63), spaced 120 on the circumference of the interior circular boop (61)°If Three necks (64) are equipped with, three spring leafs (62) are connected together in three necks respectively with one end that interior circular boop (61) is connected (64) in, the spring leaf (62) stretch out in the outside one end end of circular boop (61) be arc-shaped curvature portion (62-1), three bullets The bending direction of the arc-shaped curvature portion (62-1) of spring blade (62) is identical, has been radially arranged on the interior circular boop (61) and axis hole (63) structural joint (65) being connected.
- 6. according to a kind of vane wheel type coalmine rescue snake-shaped robot described in claim 5, it is characterised in that：The interior circular boop (61) center position is provided with circular protrusions (61-1), and the axis hole (63) is arranged on circular protrusions (61-1) centre bit Put place；It is raised (61-2) that the interior circular boop (61) close to the opening position of excircle is provided with annular, on the interior circular boop (61) It is uniformly arranged in the radial direction with multiple rectangular preiections (61-3) outside annular raised (61-2) outer ring.
- 7. according to a kind of vane wheel type coalmine rescue snake-shaped robot described in claim 5, it is characterised in that：The spring leaf Piece (62) is Nian Jie with interior circular boop (61) by glue again after being connected together in the neck (64), the interior circular boop (61) it is a diameter of 20mm, the length of the spring leaf (62) is 40mm, width 8mm；The axis hole (63) is shaped as D-shaped, the axis hole (63) a diameter of 2.5mm of arc-shaped edges；The angle of bend of the arc-shaped curvature portion (62-1) of the spring leaf (62) is 150 °.
- 8. according to a kind of vane wheel type coalmine rescue snake-shaped robot described in claim 1, it is characterised in that：The main control Device (30) is the mini PCs of Vensmile, the model Robotis of the USB-RS232 modular converters (32) USB2Dynamixel；The model Arduino Uno R3 of the obstacle avoidance module (33), the communication module (56) are without circuit By device, the night vision cam (19) is 1080P wide-angle infrared night vision cameras, the night vision cam (19), USB-RS232 The USB interface of modular converter (32) and obstacle avoidance module (33) with master controller (30) is connected；The power module (31) includes 12.6V Li-PO rechargeable batteries and 4.5V mercury-free alkaline battery, the obstacle avoidance module (33), the first ultrasonic sensor (16), output of the power line of the second ultrasonic sensor (17) and infrared sensor (18) with 4.5V mercury-free alkaline battery End connection, the first vertical direction steering wheel (6), the second vertical direction steering wheel (8), the 3rd vertical direction steering wheel (10), the 4th Vertical direction steering wheel (12), first level direction steering wheel (7), the second horizontal direction steering wheel (9), the 3rd horizontal direction steering wheel (11), the power line of the 4th horizontal direction steering wheel (13), First Speed steering wheel (15) and second speed steering wheel (14) is and 12.6V Li-PO rechargeable batteries output end connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720779748.5U CN206855440U (en) | 2017-06-29 | 2017-06-29 | A kind of vane wheel type coalmine rescue snake-shaped robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720779748.5U CN206855440U (en) | 2017-06-29 | 2017-06-29 | A kind of vane wheel type coalmine rescue snake-shaped robot |
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| CN206855440U true CN206855440U (en) | 2018-01-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139168A (en) * | 2017-06-29 | 2017-09-08 | 西安科技大学 | A kind of coalmine rescue snake-shaped robot and its coalmine rescue method |
| CN112356015A (en) * | 2020-09-30 | 2021-02-12 | 浙江理工大学 | Bionic snake-shaped peristaltic robot |
-
2017
- 2017-06-29 CN CN201720779748.5U patent/CN206855440U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139168A (en) * | 2017-06-29 | 2017-09-08 | 西安科技大学 | A kind of coalmine rescue snake-shaped robot and its coalmine rescue method |
| CN107139168B (en) * | 2017-06-29 | 2023-09-01 | 西安科技大学 | Coal mine rescue snake-shaped robot and coal mine rescue method thereof |
| CN112356015A (en) * | 2020-09-30 | 2021-02-12 | 浙江理工大学 | Bionic snake-shaped peristaltic robot |
| CN112356015B (en) * | 2020-09-30 | 2022-04-01 | 浙江理工大学 | Bionic snake-shaped peristaltic robot |
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Granted publication date: 20180109 |