CN215395218U

CN215395218U - Snake-shaped robot

Info

Publication number: CN215395218U
Application number: CN202121015342.2U
Authority: CN
Inventors: 刘锋; 陈昆江; 苗云龙; 李仕瑾; 张�成; 林俊源; 李杨彬; 周汉超; 刘灿森; 郑怡然; 王庆龙; 冯智燊; 赖智豪
Original assignee: Shaoguan University
Current assignee: Shaoguan University
Priority date: 2021-05-12
Filing date: 2021-05-12
Publication date: 2022-01-04
Anticipated expiration: 2031-05-12

Abstract

A snake robot comprising a head unit, a trunk unit, and joint units at ends; the head unit includes a controller; the joint unit is connected between the head unit and the trunk unit and/or between adjacent trunk units; the joint unit comprises a first hook, a second hook and a locking component; the first hook and/or the second hook are/is respectively connected to the head unit and/or the trunk unit through the locking assembly in an axle mode; the axis of the rotating shaft of the locking assembly is parallel to the working plane of the snake-shaped robot; the locking assembly is electrically connected with the controller and under the control of the controller, and the latch tongues of the adjacent first hook and the second hook are close to or separated from each other along with the rotation of the locking assembly. Compared with the prior art, the snake-shaped robot has the function of automatic cut-off, so that a part of the snake-shaped robot can still move forwards after being pressed heavily, and the normal operation of work is ensured.

Description

Snake-shaped robot

Technical Field

The utility model relates to the technical field of bionic robots, in particular to a snake-shaped robot.

Background

In modern society, the use of robots is becoming increasingly popular. Robots are used to perform various activities instead of humans. For example, in a disaster site, due to the complex terrain and the fact that survivors are often trapped in a narrow space, a secondary disaster occurs in the rescue process, and certain danger is brought to the work of rescue workers. Therefore, people can use the snake-shaped robot which has high flexibility and is suitable for moving in a narrow space to replace rescue workers to search and detect wounded persons and other auxiliary rescue works.

However, after the snake-shaped robot enters a disaster site, due to unstable collapse objects or secondary disasters and other reasons, the snake-shaped robot can be stressed by the collapse objects to be incapable of moving, and the continuous operation is affected.

SUMMERY OF THE UTILITY MODEL

Accordingly, an object of the present invention is to provide a snake-like robot having an automatic cut-off function, which can continuously move forward even if a part of the snake-like robot is pressed, thereby ensuring a normal operation of the snake-like robot.

The utility model is realized by the following technical scheme:

a snake robot comprising a head unit, a trunk unit, and joint units at ends; the head unit includes a controller; the joint unit is connected between the head unit and the trunk unit and/or between adjacent trunk units; the joint unit comprises a first hook, a second hook and a locking component; the first hook and/or the second hook are/is respectively connected to the head unit and/or the trunk unit through the locking assembly in an axle mode; the axis of the rotating shaft of the locking assembly is parallel to the working plane of the snake-shaped robot; the locking assembly is electrically connected with the controller and under the control of the controller, and the latch tongues of the adjacent first hook and the second hook are close to or separated from each other along with the rotation of the locking assembly.

Compared with the prior art, the first hook and the second hook which are movably connected are controlled to rotate through the locking assembly in the snake-shaped robot, so that the first hook and the second hook are close to and separated from each other, and the trunk unit is automatically cut off. When a certain trunk unit is stressed heavily, the joint unit connected with the trunk unit is opened, and other trunk units move forwards continuously along with the head unit, so that the work is ensured to continue normal operation.

Further, the locking assembly includes a shaft and a locking portion; the axis of the rotating shaft is parallel to the working plane of the snake-shaped robot and is coupled with the head unit and/or the trunk unit; the locking part is a semicircular cylinder and is connected with the rotating shaft, and the locking part is positioned on one side of the first hook and/or the second hook, which is far away from the knuckle of the first hook and/or the second hook; and the outer diameter of the locking part is larger than or equal to the minimum distance from the axis of the rotating shaft to the first hook and/or the second hook in the projection along the axis of the rotating shaft. When the rotating shaft is rotated, the locking part rotates along with the rotating shaft, and the locking part is abutted against or separated from the first hook and/or the second hook, so that the first hook and the second hook are close to and separated from each other.

Further, the head unit further comprises a mobile power supply electrically connected with the controller; the locking assembly further comprises a rotor, an electromagnetic coil, and a magnet; the rotor is sleeved at one end of the rotating shaft; the magnet is fixedly arranged on the head unit and/or the body unit and is close to the rotor; the electromagnetic coil is sleeved on the rotor, and the direction of ampere force generated by the electromagnetic coil and the magnet is vertical to the axis of the rotating shaft; the mobile power supply energizes the electromagnetic coil under the control of the controller. The rotating shaft is driven to rotate by the acting force generated by cutting the magnetic force lines.

Furthermore, the joint unit also comprises a limiting block; the limiting block is fixedly arranged on the head unit and/or the body unit, and when the hook tongues of the first hook and the second hook are close to each other, the hook tongues of the second hook are positioned between the limiting block and the hook tongues of the first hook. The limiting block further limits the first hook to fall off from the second hook.

Further, the first hook or the second hook is provided with a through hole, and the extending direction of the through hole is parallel to the advancing direction of the snake-shaped robot; the second hook or the first hook is provided with an insertion piece corresponding to the through hole; when the adjacent first hook and the second hook are close to each other, the inserting pieces are inserted into the through holes and clamped with each other. Thereby further restricting the first hook from falling off the second hook.

Further, the trunk unit comprises a swing motor, a lifting motor, a driving motor, a mounting plate, a swing motor support frame for mounting the swing motor, a lifting motor support frame for mounting the lifting motor, a driving motor support frame for mounting the driving motor, rollers and a lifting connecting piece; the swing motor, the lifting motor and the driving motor are all electrically connected with the controller; the axes of the output shafts of the swing motor and the driving motor are both parallel to the working plane where the snake-shaped robot is located; the output shaft of the driving motor is vertical to the working plane of the snake-shaped robot; the number of the mounting plates is two, and the plate surfaces are parallel to each other; the swing motor support frame, the driving motor support frame and the lifting motor support frame are sequentially arranged along the advancing direction of the snake-shaped robot; the number of the rollers is two, the rollers are arranged on two sides of the mounting plate, and the driving motor drives the rollers to rotate; the lifting connecting piece is in shaft connection with an output shaft of the lifting motor; the lifting connecting piece is fixedly connected with the head unit or the swing motor supporting frame of the adjacent front trunk unit. The swing motor, the lifting motor and the driving motor are mutually matched to realize smooth movement of the snake-shaped robot.

Further, the torso unit further comprises a compression spring; the plate surface of the mounting plate is provided with a protruding part protruding towards the driving motor support frame; the compression spring is connected between the driving motor support frame and the boss of the mounting plate, and the axis of the compression spring is parallel to the axis of the output shaft of the driving motor. The compression spring provides a restoring force for the return of the trunk unit.

Furthermore, two sides of the same mounting plate are respectively provided with a convex part; the driving motor support frame is positioned between the two opposite convex parts; the number of the compression springs is more than two, and the compression springs are symmetrically connected to two sides of the driving motor support frame. Two compression springs prevent the snake robot from jamming during its movement.

Furthermore, the head unit further comprises a shell, a detection camera, a photoresistor module, an ultrasonic sensor, an infrared sensor, a detection lamp, a temperature and humidity sensor, a gyroscope and a wireless signal transceiver, wherein the detection camera, the photoresistor module, the ultrasonic sensor, the infrared sensor and the detection lamp are respectively positioned on the outer side of the shell; the detection camera, the photoresistor module, the ultrasonic sensor, the infrared sensor, the detection lamp, the temperature and humidity sensor, the gyroscope and the wireless signal transceiver are all electrically connected with the controller and the mobile power supply. And the operator judges the environment of the snake-shaped robot according to the received data and controls the environment.

Furthermore, the number of the head units is two, the head units are respectively positioned at two ends of the snake-shaped robot, and when a certain section of the trunk unit is stressed heavily, the snake-shaped robot can be divided into two parts to continue working.

For a better understanding and practice, the utility model is described in detail below with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic view of the overall structure of the snake-shaped robot of the present invention;

FIG. 2 is an enlarged view of a portion of the head unit of the present invention;

FIG. 3 is a schematic view of the head unit according to the present invention;

FIG. 4 is a schematic view of the torso unit of the present invention;

FIG. 5 is an exploded view of the torso unit of the present invention;

FIG. 6 is a projection view of FIG. 4 taken along direction A;

FIG. 7 is a schematic structural view of a joint unit according to the present invention;

FIG. 8 is a cross-sectional projection view taken along line B-B of FIG. 7;

FIG. 9 is a cross-sectional projection view taken along line C-C of FIG. 7;

fig. 10 is a partial enlarged view D of fig. 9;

FIG. 11 is a partial schematic structural view of the locking assembly;

FIG. 12 is a schematic view of the assembly between the locking assembly and the first clevis;

fig. 13 is a schematic view when projected in the direction E of fig. 12 and the first hook is in a locked state;

fig. 14 is a schematic view when projected in the direction E of fig. 12 and the first hook is in an open state.

Detailed Description

Specifically, referring to fig. 1, the snake robot of the present invention includes a head unit 1 located at the foremost end, a multi-section trunk unit 3, and a joint unit 5. The joint unit 5 is connected between the head unit 1 and the trunk unit 3 or between two adjacent trunk units 3. When a certain trunk unit 3 is pressed heavily, the joint unit 5 connecting the trunk unit 3 is opened and separated from the adjacent trunk unit 3, and the head unit 1 drives the remaining trunk units 3 to move forward.

Referring to fig. 2 and fig. 3, the head unit 1 includes a housing 11, a detection camera 12, a photo-resistor module 13, an ultrasonic sensor 14, an infrared sensor 15, a detection lamp 16, a temperature and humidity sensor 17, a gyroscope 18, a mobile power supply 19, and a controller 20, which are respectively located outside the housing 11. The controller 20 and the mobile power supply 19 are electrically connected with the detection camera 12, the photoresistor module 13, the ultrasonic sensor 14, the infrared sensor 15, the detection lamp 16, the temperature and humidity sensor 17 and the gyroscope 18 and receive data detected by the detection camera and the infrared sensor, and the mobile power supply 19 supplies power. Preferably, the housing 11 is triangular pyramidal in shape, mimicking a serpentine head shape, to enhance resistance to movement, to mention flexibility. Further, the head unit 1 further includes a wireless signal transceiver 21 electrically connected to the controller 20, and the operator controls the movement of the serpentine robot through the wireless signal transceiver 21 and determines the environment in which the serpentine robot is located based on the received data. In one embodiment, the controller 20 is provided with an STM32 main control board to perform rapid acquisition and analysis of data; the wireless signal transceiver 21 is provided with a bluetooth module. During the use, head unit 1 is located this snake robot's foremost, through the illumination of survey lamp 16, survey camera 12 and shoot the image, photo resistance module 13, ultrasonic sensor 14, infrared ray sensor 15, temperature and humidity sensor 17 detects and passes through wireless signal transceiver 21 conveys to operating personnel for the reference, gyroscope 18 detects this snake robot's three-dimensional space state so that adjust this snake robot's action.

Referring to fig. 4 and 5, the trunk unit 3 includes a swing motor 31 for controlling left and right rotation, a lift motor 32 for controlling up and down rotation, a driving motor 33 for controlling forward movement, a mounting plate 34, a swing motor support 35, a lift motor support 36, a driving motor support 37, rollers 38, a lift connector 39, and a compression spring 40. The swing motor 31, the lift motor 32, and the driving motor 33 are electrically connected to and controlled by the controller 20. The output shaft axes of the lifting motor 32 and the driving motor 33 are parallel to each other and perpendicular to the output shaft axis of the swing motor 31, and the output shaft axes of the lifting motor 32 and the driving motor 33 are both parallel to the working plane of the snake-shaped robot. The quantity of mounting panel 34 is two and the face is parallel to each other, swing motor 31's output shaft axis perpendicular to its face. The swing motor support frame 35, the lifting motor support frame 36 and the driving motor support frame 37 are fixedly arranged between the two mounting plates 34. The swing motor 31 is arranged on the swing motor support frame 36, and an output shaft of the swing motor is coupled with the mounting plate 34. The swing motor 31 is started, and the mounting plate 34 swings left and right around the axis of the output shaft of the swing motor 31. The lifting motor 32 is installed on the lifting motor support frame 36, and the lifting connecting piece 39 is coupled to an output shaft of the lifting motor 32. The housing 11 is secured to the lifting connector 39 when the torso unit 3 is connected to the head unit 1. And starting the lifting motor 32, wherein the lifting connecting piece 39 rotates around the output shaft of the lifting motor 32 to realize the up-and-down rotation of the shell 11. Preferably, the number of the lifting connectors 39 is two, and the lifting motor 32 is located between the two lifting connectors 39 and drives the two lifting connectors 39 to rotate at the same time. The driving motor 33 is fixed on the driving motor support frame 37, and the number of the rollers 38 is two, and the rollers are symmetrically arranged on two sides of the mounting plate 34. The drive motor 33 is located between the two rollers 38 and simultaneously rotates them. Preferably, the roller 38 is a non-slip, shock-absorbing rubber wheel. The same mounting plate 34 is symmetrically provided at both sides thereof with protrusions 341 protruding toward the driving motor support bracket 37. Referring to fig. 6, the driving motor supporting frame 37 is located between the two protrusions 341, the compression spring 40 is disposed between the protrusions 341 and the driving motor supporting frame 37, and the axis of the compression spring 41 is parallel to the axis of the output shaft of the driving motor supporting frame 37. When the swing motor 31 rotates the mounting plate 34 to the left or right, the compression spring 40 is compressed or extended to be reset. Further, the number of the compression springs 40 is more than two, and the compression springs are arranged on two opposite sides of the driving motor support frame 37, so that the buffering and the timely adjustment of the movement direction are facilitated, and the movement is smooth. Under the driving of the swing motor 31, the lifting motor 32 and the driving motor 33, the snake-shaped robot swings left and right, rotates up and down and advances, so that the simulation motion of the snake is realized. Preferably, wear-resistant rubber materials are arranged on the outer surfaces of the swing motor support frame 35 and the drive motor support frame 37, so that the service life is prolonged.

Referring to fig. 7 to 9, the joint unit 5 includes a first hook 51, a second hook 52, a stopper 53 and a locking component 54. The first hook 51 is pivotally connected to the housing 11 and/or the swing motor support 35 of the front torso unit 3. The second hook 52 is journalled on the lift connector 39 of the rear torso unit 3. The first hook 51 and the second hook 52 are U-shaped structures, and the tongues of the first hook 51 and the second hook 52 extend in opposite directions, and the adjacent tongues of the first hook 51 and the second hook 52 can be far away from or close to each other by rotating the first hook 51 and/or the second hook 52 in opposite directions. When locked, the latch tongues of the adjacent first hooks 51 and the latch tongues of the adjacent second hooks 52 are hooked with each other. The limiting block 53 is fixedly arranged on the shell 11 and/or the swing motor support 35 of the previous trunk unit 3 and is on the same side as the first hook 51. When the lock is locked, the latch of the second hook 52 is located between the latch of the first hook 51 and the limit block 53. Preferably, the limiting block 53 is provided with a slope 531. In the extending direction of the knuckle of the first hook 51, the distance from the inclined surface 531 to the knuckle of the second hook 52 gradually decreases. Referring to fig. 9 to 13, the locking assembly 54 includes a rotating shaft 541, a locking portion 542, a rotor 543, an electromagnetic coil 544, and a magnet 545. One end of the rotating shaft 541 is coupled to the housing 11, or the swing motor support frame 35, or the lifting connector 39, and the other end of the rotor 543 is sleeved with the rotor. The axis of the rotating shaft 541 is parallel to the axis of the output shaft of the driving motor 33. In one embodiment, the housing 11, or the swing motor support 35, or the lift link 39 is located between the first hook 51 and/or the second hook 52 and the rotor 543. The electromagnetic coil 544 is inserted into the rotor 543 and electrically connected to the portable power source 19, and the controller 20 is electrically connected to the portable power source 19 and controls energization thereof. The direction of the ampere force generated when the electromagnetic coil 544 is energized is perpendicular to the axis of the rotating shaft 541. The magnet 545 is secured to the housing 11, or the swing motor support bracket 35, or the lift connector 39, proximate to the electromagnetic coil 544. In one embodiment, there are four electromagnetic coils 544 on a single rotor 543 and the directions of the ampere forces generated by two adjacent electromagnetic coils 544 are perpendicular to each other, and the number of the magnets 545 is more than two and symmetrically surrounds the two sides of the electromagnetic coils 544. When the electromagnetic coil 544 is energized, the electromagnetic coil 544 is subjected to electromagnetic force to cut magnetic field lines, and the electromagnetic coil 544 is matched with the magnet 545, so that the rotor 543 rotates around the rotating shaft 541. The locking portion 542 is fixedly disposed at a middle portion of the rotating shaft 541, i.e., between the first hook 51 and/or the second hook 52 and the rotor 543, and rotates with the rotating shaft 541. The locking portion 542 is a cylinder with a semicircular cross section, and the axis of the locking portion is parallel to the axis of the rotating shaft 541 and is located on a side of the first hook 51 and/or the second hook 52 away from the knuckle thereof. The outer diameter R of the locking portion 542 is equal to or greater than the minimum distance L from the axial center O of the rotation shaft 541 to the first hook 51 and/or the second hook 52, when projected in the axial direction of the rotation shaft 541. When locking, under the control of the controller 20, the outer side of the locking portion 542 turns to the side away from the first hook 51 or the second hook 52, the locking portion 542 does not abut against the first hook 51 or the second hook 52, and the first hook 51 or the second hook 52 approaches and hooks each other under the action of gravity. When the latch is unlocked, the electromagnetic coil 544 is energized under the control of the controller 20, the electromagnetic coil 544 is subjected to electromagnetic force to cut magnetic field lines, and the rotor 543 rotates around the rotating shaft 541, so that the outer side of the locking portion 542 is driven to rotate towards the first hook 51 or the second hook 52. The first hook 51 and the second hook 52 are rotated in opposite directions and separated from each other by the friction and the thrust. Further, the first hook 51 or the second hook 52 is provided with a through hole 511, and the extending direction of the through hole 511 is parallel to the advancing direction of the snake-shaped robot. The second hook 52 or the first hook 51 is provided with an insert 521 corresponding to the through hole 511. When the latch of the first latch 51 and the latch of the second latch 52 approach each other, the insert 521 is inserted into the through hole 511 to be limited. In addition, the rotating shaft 541 may be driven to rotate by a motor electrically connected to the controller 20, instead of rotating the rotating shaft 541 by cutting magnetic field lines, which is a conventional technical means in the prior art and will not be described in detail herein.

Further, head units 1 are arranged at two ends of the snake-shaped robot, SPI communication is carried out between the two head units 1, a two-way communication mode is adopted, a controller 20 of one head unit 1 is a master, a controller 20 of the other head unit 1 is a slave, and data of the master and the slave are mutually transmitted.

Based on the above structure, the moving process will be described in detail below. In each embodiment, the plane of the XY axis is defined as the ground, and the Z axis is perpendicular to the ground. The swing motor 31 is located at the rear end of the forward direction, the lift motor 32 is located at the front end of the forward direction, and the driving motor 33 is located between the swing motor 31 and the lift motor 32:

the first embodiment is as follows: when going forward and turning left along the ground

The snake robot moves forward in the positive direction along the X-axis, and the output shaft of the drive motor 33 rotates about the Y-axis. When steering is required, taking left turn as an example, the output shaft of the swing motor 31 rotates around the Z axis, and drives the lifting connecting piece 39 to shift left through the mounting plate 34, and the housing 11 turns left accordingly. The compression spring 40 on the left side is extruded, the compression spring 40 on the right side is stretched, and the driving motor support frame 37 is subjected to rightward restoring force and is offset with the centripetal force during rotation, so that the acting force acting on the swing motor 31 and the driving motor 33 is reduced, the motors are protected, and the situation of jamming or even jamming is avoided. When the snake-shaped robot turns left as a whole and keeps straight, the compression spring 40 is restored to be deformed. The overall motion of the snake robot tends to be smooth under the action of the compression spring 40.

Example two: when climbing

In this embodiment, an obstacle like a step appears in front of the snake robot in the X-axis direction, and before the snake robot moves to the obstacle, the output shaft of the lifting motor 32 rotates around the Y-axis, and the housing 11 is rotated by a certain angle by the lifting link 39 to lift the housing 11. The output shaft of the driving motor 33 rotates around the Y axis to push the trunk unit 3 connected with the head unit 1 to climb along the obstacle until the housing 11 and the trunk unit 3 climb on the obstacle.

Example three: when a certain section of the trunk unit 3 is pressed

The controller 20 controls the portable power source 19 to supply power to the electromagnetic coil 544 connected to both ends of the pressed trunk unit 3, the rotor 543 rotates and rotates the first hook 51 and the second hook 52 in opposite directions, the first hook 51 and the second hook 52 are separated from each other, and the snake-like robot is divided into two segments. The two serpentine robots continue to move in different directions under the control of their respective controllers 20.

Compared with the prior art, the snake-shaped robot has the function of automatic cut-off, so that a part of the snake-shaped robot can still move forwards after being stressed, the normal operation of work is ensured, the snake-shaped robot can be divided into two parts according to the requirement, and the adaptability in use is improved. When the trunk unit is not required to be cut off, the tight connection between the trunk unit and the head unit is kept through a limiting block and/or a clamping mode. In addition, the swing motor, the lifting motor and the driving motor of the snake-shaped robot are mutually matched, so that the smooth movement is ensured. And the device for preventing the blocking is arranged, so that the flexibility of the movement is further improved. And the control of operators is facilitated by matching with various sensors.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims

1. A snake-like robot, which is characterized in that: comprises a head unit, a trunk unit and a joint unit which are positioned at the end parts; the head unit includes a controller; the joint unit is connected between the head unit and the trunk unit and/or between adjacent trunk units; the joint unit comprises a first hook, a second hook and a locking component; the first hook and/or the second hook are/is respectively connected to the head unit and/or the trunk unit through the locking assembly in an axle mode; the axis of the rotating shaft of the locking assembly is parallel to the working plane of the snake-shaped robot; the locking assembly is electrically connected with the controller and under the control of the controller, and the latch tongues of the adjacent first hook and the second hook are close to or separated from each other along with the rotation of the locking assembly.

2. The serpentine robot of claim 1, wherein: the locking assembly comprises a rotating shaft and a locking part; the axis of the rotating shaft is parallel to the working plane of the snake-shaped robot and is coupled with the head unit and/or the trunk unit; the locking part is a semicircular cylinder and is connected with the rotating shaft, and the locking part is positioned on one side of the first hook and/or the second hook, which is far away from the knuckle of the first hook and/or the second hook; and the outer diameter of the locking part is larger than or equal to the minimum distance from the axis of the rotating shaft to the first hook and/or the second hook in the projection along the axis of the rotating shaft.

3. The serpentine robot of claim 2, wherein: the head unit further comprises a mobile power supply electrically connected with the controller; the locking assembly further comprises a rotor, an electromagnetic coil, and a magnet; the rotor is sleeved at one end of the rotating shaft; the magnet is fixedly arranged on the head unit and/or the body unit and is close to the rotor; the electromagnetic coil is sleeved on the rotor, and the direction of ampere force generated by the electromagnetic coil and the magnet is vertical to the axis of the rotating shaft; the mobile power supply energizes the electromagnetic coil under the control of the controller.

4. The serpentine robot of claim 3, wherein: the joint unit further comprises a limiting block; the limiting block is fixedly arranged on the head unit and/or the body unit, and when the hook tongues of the first hook and the second hook are close to each other, the hook tongues of the second hook are positioned between the limiting block and the hook tongues of the first hook.

5. The serpentine robot of claim 3, wherein: the first hook or the second hook is provided with a through hole with the extending direction parallel to the advancing direction of the snake-shaped robot; the second hook or the first hook is provided with an insertion piece corresponding to the through hole; when the adjacent first hook and the second hook are close to each other, the insert is inserted into the through hole.

6. The serpentine robot of claim 3, wherein: the trunk unit comprises a swing motor, a lifting motor, a driving motor, a mounting plate, a swing motor support frame for mounting the swing motor, a lifting motor support frame for mounting the lifting motor, a driving motor support frame for mounting the driving motor, rollers and a lifting connecting piece; the swing motor, the lifting motor and the driving motor are all electrically connected with the controller; the axes of the output shafts of the swing motor and the driving motor are both parallel to the working plane where the snake-shaped robot is located; the output shaft of the driving motor is vertical to the working plane of the snake-shaped robot; the number of the mounting plates is two, and the plate surfaces are parallel to each other; the swing motor support frame, the driving motor support frame and the lifting motor support frame are sequentially arranged along the advancing direction of the snake-shaped robot; the number of the rollers is two, the rollers are arranged on two sides of the mounting plate, and the driving motor drives the rollers to rotate; the lifting connecting piece is in shaft connection with an output shaft of the lifting motor; the lifting connecting piece is fixedly connected with the head unit or the swing motor supporting frame of the adjacent front trunk unit.

7. The serpentine robot of claim 6, wherein: the torso unit further comprises a compression spring; the plate surface of the mounting plate is provided with a protruding part protruding towards the driving motor support frame; the compression spring is connected between the driving motor support frame and the boss of the mounting plate, and the axis of the compression spring is parallel to the axis of the output shaft of the driving motor.

8. The serpentine robot of claim 7, wherein: two sides of the same mounting plate are respectively provided with a convex part; the driving motor support frame is positioned between the two opposite convex parts; the number of the compression springs is more than two, and the compression springs are symmetrically connected to two sides of the driving motor support frame.

9. The serpentine robot of claim 3, wherein: the head unit further comprises a shell, a detection camera, a photoresistor module, an ultrasonic sensor, an infrared sensor, a detection lamp, a temperature and humidity sensor, a gyroscope and a wireless signal transceiver, wherein the detection camera, the photoresistor module, the ultrasonic sensor, the infrared sensor and the detection lamp are respectively positioned on the outer side of the shell; the detection camera, the photoresistor module, the ultrasonic sensor, the infrared sensor, the detection lamp, the temperature and humidity sensor, the gyroscope and the wireless signal transceiver are all electrically connected with the controller and the mobile power supply.

10. The serpentine robot of claim 9, wherein: the number of the head units is two, and the head units are respectively positioned at two ends of the snake-shaped robot.