CN113211423A - Spherical hinge pull wire variable auxiliary wheel type snake-shaped robot - Google Patents
Spherical hinge pull wire variable auxiliary wheel type snake-shaped robot Download PDFInfo
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- CN113211423A CN113211423A CN202110427508.XA CN202110427508A CN113211423A CN 113211423 A CN113211423 A CN 113211423A CN 202110427508 A CN202110427508 A CN 202110427508A CN 113211423 A CN113211423 A CN 113211423A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- Robotics (AREA)
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Abstract
The invention discloses a ball-hinged stay wire variable auxiliary wheel type snake-shaped robot which comprises a plurality of joint units, wherein the joint units are connected end to end along the length direction of the snake-shaped robot, the front end plate and the rear end plate of two adjacent joints are connected through a steering mechanism, and the joint unit at the foremost end is rotatably connected with a camera unit. The invention can adapt to various complex rescue environments, and can carry out information acquisition and rescue detection; the robot adopts a telescopic auxiliary wheel type structure, the auxiliary wheels extend out of the flat ground, the moving friction force is reduced, the mobility is greatly enhanced, the auxiliary wheels are retracted when complex environments such as climbing, ruins and fields are encountered, the sliding friction force is increased, the obstacle crossing capability and flexibility of the robot are improved, and the robot has stronger self-adaptability.
Description
Technical Field
The invention relates to the field of robots, in particular to a spherical hinge stay wire variable auxiliary wheel type snake-shaped robot.
Background
The snake-shaped robot is structurally divided into a wheel-type snake-shaped robot and a non-wheel-type snake-shaped robot, the wheel-type snake-shaped robot is represented by Japan industrial university and Shenyang automation, the friction of the wheel-type snake-shaped robot is anisotropic, the tangential friction force is far smaller than the normal friction force, the control is convenient, and the two-dimensional motion is dominant, but the mass of a single module is large, the motion of a complicated three-dimensional space cannot be completed, such as climbing, and the defect of poor motion flexibility exists; the non-wheeled snake-shaped robot has higher integration level, smaller size and simpler structure, overcomes the defect of poor flexibility of the wheeled snake-shaped robot, is dominant in climbing tasks, but is relatively difficult to control because of lack of constraint in the motion direction.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a spherical hinge pull wire variable auxiliary wheel type snake-shaped robot.
The technical scheme of the invention is as follows:
the utility model provides a ball pivot is acted as go-between and is become supplementary wheeled snake robot, includes a plurality of joint unit, along snake robot length direction end to end connection between a plurality of joint unit, connects through steering mechanism between preceding, the back end plate of two adjacent joints, rotates on the joint unit of foremost and is connected with the unit of making a video recording.
Preferably, a self-adaptive mechanism is arranged in each joint unit, and the self-adaptive mechanism comprises an electric telescopic rod, a first hinged support, a second hinged support, a plurality of rocking bars, a connecting rod and an auxiliary wheel; the stiff end of electric telescopic handle is fixed at joint unit front end housing inboard, and first hinged-support fixed mounting is at electric telescopic handle's stiff end, and the one end of a plurality of connecting rods articulates on first hinged-support, and the other end of connecting rod rotates connects the auxiliary wheel, and second hinged-support links firmly at electric telescopic handle's flexible end, and the one end of a plurality of rockers articulates on second hinged-support, and the other end of rocker articulates on the connecting rod.
The self-adaptive mechanism adopts a telescopic auxiliary wheel type structure, the auxiliary wheels extend out of the flat ground, the moving friction force is reduced, the mobility is greatly enhanced, the auxiliary wheels are retracted when complex environments such as climbing, ruins and fields are encountered, the sliding friction force is increased, the obstacle crossing capability and flexibility of the robot are improved, and the robot has stronger self-adaptability.
Preferably, the steering mechanism comprises a ball rod, a ball seat, a pull wire and a servo motor, the rear end of the ball seat is fixed at the central position of a front end plate of the joint unit, a flange plate is arranged at the front end of the ball seat, a spherical crown is connected to the flange plate, the front end of the ball rod is fixed at the central position of a rear end plate of the joint unit, a ball head is arranged at the rear end of the ball rod, and the ball head between two adjacent joint units is rotatably connected in the spherical crown; the servo motor is fixedly connected to the inner side of the rear end plate of the joint unit, one end of a stay wire is wound on a rotating shaft of the servo motor, and the other end of the stay wire penetrates through the front end plate of the joint unit and is fixedly connected with a hinge wire seat on the rear end plate of the previous joint unit.
In a preferred embodiment, three servo motors are provided, namely direct current motors, three pull wires are provided, and the three pull wires are symmetrically distributed by taking the axis of the robot joint as a center.
As a preferred embodiment, the spherical crown comprises two symmetrical hemispherical structures, the two structures are spliced on the flange plate to form the spherical crown which is integrally of a spherical structure, openings are formed in the upper end and the lower end of the spherical crown, the ball head is located in the spherical crown, the bottom end of the spherical crown is provided with an outer edge which is outwards turned and extended, a threaded hole which is connected with the flange plate in a matched mode is formed in the outer edge, and the spherical crown is connected with the ball seat through a bolt group of the flange plate.
Preferably, the camera shooting unit comprises a platform, a supporting piece, a first steering engine, a first coupling, an orthogonal joint, a second steering engine, a second coupling, a camera mounting frame and a camera, wherein the supporting piece is fixed on a front side panel of the platform through a screw, a ball rod is fixedly connected to the center of a rear side panel of the platform, and three hinge line seats are fixedly connected to the rear side panel of the platform;
the support piece is of a U-shaped frame structure and is provided with two support vertical plates, wherein one support vertical plate is provided with a U-shaped notch, and the other support vertical plate is provided with a mounting hole penetrating through the thickness of the vertical plate;
the front side panel of the orthogonal joint is provided with two first vertical plates which are oppositely arranged, wherein one first vertical plate is provided with a U-shaped notch, and the other first vertical plate is provided with a mounting hole which penetrates through the first vertical plate in thickness; the rear side panel of the orthogonal joint is provided with two vertical plates II which are oppositely arranged, one vertical plate II is provided with a mounting hole which penetrates through the thickness of the vertical plate II, and the other vertical plate II is provided with a mounting hole which is used for connecting the coupling I;
the front side panel of the camera mounting frame is provided with two oppositely arranged vertical plates III, the inner side walls of the two vertical plates III are provided with chutes, the outer side wall of the camera is provided with two outwards convex slide rails, the slide rails are connected in the chutes through the slide rails, and the camera is connected on the camera mounting frame in a sliding manner; the front side panel of the camera mounting rack is provided with two oppositely arranged vertical plates IV, wherein one vertical plate IV is provided with a mounting hole penetrating the thickness of the vertical plate IV, and the other vertical plate is provided with a mounting hole for connecting a coupler II;
a first steering engine is fixedly connected between the two supporting vertical plates, a shell at one end of the first steering engine, which is close to the rotating shaft, is fixedly connected with the supporting vertical plates, the rotating shaft of the first steering engine extends out of the U-shaped notch, a connecting pin is arranged at one end of the first steering engine, which is far away from the rotating shaft, and the connecting pin extends out of mounting holes of the supporting vertical plates and the second vertical plates and is fixedly connected with the second vertical plates; a rotating shaft of the first steering engine sequentially penetrates through the supporting vertical plate and the second vertical plate, the rotating shaft of the first steering engine is fixedly connected with the orthogonal joint through a first coupling connected to the rotating shaft of the first steering engine and the second vertical plate, and the first steering engine rotates to drive the orthogonal joint to rotate together;
a second steering engine is fixedly connected between the first vertical plates, a shell at one end, close to the rotating shaft, of the second steering engine is fixedly connected with the first vertical plates, the rotating shaft of the second steering engine extends out of the U-shaped notch, and a connecting pin is arranged at one end, far away from the rotating shaft, of the second steering engine and extends out of mounting holes of the first vertical plates and the second vertical plates and is fixedly connected with the first vertical plates; the rotating shaft of the second steering engine penetrates through the first vertical plate and the fourth vertical plate in sequence, the second coupling is connected to the rotating shaft of the second steering engine and the fourth vertical plate, the rotating shaft of the second steering engine is fixedly connected with the camera mounting frame, and the second steering engine rotates to drive the camera mounting frame to rotate together.
The models of the steering engine I and the steering engine II in the preferred embodiment of the invention are DS3235, and other models can be selected.
Compared with the prior art, the invention has the following beneficial effects:
the invention can adapt to various complex rescue environments, and can carry out information acquisition and rescue detection; the robot adopts a telescopic auxiliary wheel type structure, the auxiliary wheels extend out of the flat ground, the moving friction force is reduced, the mobility is greatly enhanced, the auxiliary wheels are retracted when complex environments such as climbing, ruins and fields are encountered, the sliding friction force is increased, the obstacle crossing capability and flexibility of the robot are improved, and the robot has stronger self-adaptability; the invention adopts a spherical hinge stay wire type structure, controls three degrees of freedom of the snake-shaped robot by stretching three stay wires, solves the problem of high redundancy of the degrees of freedom, and makes the steering of the robot more flexible by adopting the spherical hinge structure; the invention can ensure that rescue workers can carry out all-round detection only by operating the robot without entering a complex disaster relief environment; the invention is easy to manufacture, has low manufacturing cost and reduces the rescue cost.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a schematic structural view of embodiment 1;
FIG. 3 is a schematic structural diagram of an adaptive mechanism;
FIG. 4 is a schematic view of the structure of the camera unit;
fig. 5 is an exploded view of the camera unit;
FIG. 6 is a schematic view showing the connection structure of the club and the tee;
fig. 7 is a schematic view of the housing structure.
Detailed Description
The technical solution of the present invention will be described in detail and clearly with reference to the accompanying drawings of the embodiments of the present invention, which are only one application state of the disclosure, but not all embodiments. Other embodiments obtained by other engineers without creative work based on the embodiment of the invention belong to the protection scope of the invention.
As shown in figures 1-7, the ball-hinged stay wire variable auxiliary wheel type snake-shaped robot comprises a plurality of joint units 1, wherein the joint units are connected end to end along the length direction of the snake-shaped robot, two adjacent joints are connected through a steering mechanism, and the joint unit at the foremost end is rotatably connected with a camera unit.
As shown in fig. 2, the serpentine shape of the present embodiment has two joint units, namely, an anterior joint unit and a posterior joint unit, the anterior and posterior ends of the two joints are connected by a steering mechanism, the anterior plate 25 of the anterior joint unit is connected to the image pickup unit by the steering mechanism, and the posterior plate 24 of the anterior joint unit is connected to the anterior plate of the posterior joint unit by the steering mechanism.
As shown in fig. 2-6, the steering mechanism includes a ball rod 3, a ball seat 6, a pull wire 7 and a servo motor 8, the rear end of the ball seat is fixed at the center of the front end plate of the joint unit through a screw, the front end of the ball seat is provided with a flange 5, the flange is connected with a spherical crown 4, the front end of the ball rod is fixed at the center of the rear end plate of the joint unit through a screw, the rear end of the ball rod is provided with a ball head, and the ball head between two adjacent joint units is rotatably connected in the spherical crown; the servo motor 8 is fixedly connected with the inner side of the rear end plate of the joint unit, one end of a stay wire is wound on a rotating shaft of the servo motor, and the other end of the stay wire penetrates through the front end plate of the joint unit and is fixedly connected with a hinge wire seat on the rear end plate of the previous joint unit.
In this embodiment, three servo motors are provided, which are dc motors, and three pull wires 7 are provided, and are symmetrically distributed around the axis of the robot joint. The three servo motors 8 control the three pull wires 7 to stretch and retract so as to realize the joint movement of the robot, and the length of the robot is changed by increasing or decreasing the number of steering mechanisms and robot joint units.
As shown in fig. 6, the spherical cap 4 includes two symmetrical hemispherical structures, the two structures are spliced on the flange to form the spherical cap with a spherical structure, the upper and lower ends of the spherical cap have openings, the ball head 2 is located in the spherical cap 4, the bottom end of the spherical cap has an outer edge which is folded outwards and extended, the outer edge has a threaded hole matched and connected with the flange, and the spherical cap 4 is connected with the ball seat 6 through a bolt group of the flange 5.
As shown in fig. 4 and 5, the camera shooting unit includes a platform 15, a support piece 16, a first steering engine 17, a first coupling 18, an orthogonal joint 19, a second steering engine 20, a second coupling 21, a camera mounting rack 22 and a camera 23, the support piece 16 is fixed on a front side panel of the platform 15 through screws, a ball rod is fixedly connected to the center of a rear side panel of the platform, and three hinge seats are fixedly connected to the rear side panel of the platform;
the support piece is of a U-shaped frame structure and is provided with two support vertical plates, wherein one support vertical plate is provided with a U-shaped notch, and the other support vertical plate is provided with a mounting hole penetrating through the thickness of the vertical plate;
the front side panel of the orthogonal joint is provided with two first vertical plates which are oppositely arranged, wherein one first vertical plate is provided with a U-shaped notch, and the other first vertical plate is provided with a mounting hole which penetrates through the first vertical plate in thickness; the rear side panel of the orthogonal joint is provided with two vertical plates II which are oppositely arranged, one vertical plate II is provided with a mounting hole which penetrates through the thickness of the vertical plate II, and the other vertical plate II is provided with a mounting hole which is used for connecting the coupling I;
the front side panel of the camera mounting frame is provided with two oppositely arranged vertical plates III, the inner side walls of the two vertical plates III are provided with chutes, the outer side wall of the camera 23 is provided with two slide rails protruding outwards, the slide rails are connected in the chutes through the slide rails, and the camera is connected on the camera mounting frame in a sliding manner; the front side panel of the camera mounting rack is provided with two oppositely arranged vertical plates IV, wherein one vertical plate IV is provided with a mounting hole penetrating the thickness of the vertical plate IV, and the other vertical plate is provided with a mounting hole for connecting a coupler II;
a first steering engine is fixedly connected between the two supporting vertical plates, a shell at one end of the first steering engine, which is close to the rotating shaft, is fixedly connected with the supporting vertical plates, the rotating shaft of the first steering engine extends out of the U-shaped notch, a connecting pin is arranged at one end of the first steering engine, which is far away from the rotating shaft, and the connecting pin extends out of mounting holes of the supporting vertical plates and the second vertical plates and is fixedly connected with the second vertical plates; a rotating shaft of the first steering engine sequentially penetrates through the supporting vertical plate and the second vertical plate, the rotating shaft of the first steering engine is fixedly connected with the orthogonal joint through a first coupling connected to the rotating shaft of the first steering engine and the second vertical plate, and the first steering engine rotates to drive the orthogonal joint to rotate together;
a second steering engine is fixedly connected between the first vertical plates, a shell at one end, close to the rotating shaft, of the second steering engine is fixedly connected with the first vertical plates, the rotating shaft of the second steering engine extends out of the U-shaped notch, and a connecting pin is arranged at one end, far away from the rotating shaft, of the second steering engine and extends out of mounting holes of the first vertical plates and the second vertical plates and is fixedly connected with the first vertical plates; a rotating shaft of the second steering engine sequentially penetrates through the first vertical plate and the fourth vertical plate, the second coupling is connected to the rotating shaft of the second steering engine and the fourth vertical plate, the rotating shaft of the second steering engine is fixedly connected with the camera mounting frame, and the second steering engine rotates to drive the camera mounting frame to rotate together;
the pitching motion of the camera can be controlled through the rotation of the first steering engine, the left-right swinging motion of the camera 20 can be controlled through the rotation of the second steering engine, the freedom degree and the orthogonal joint of the two steering engines are combined, and the camera can realize dead-angle-free detection and collect information. And the operator observes and monitors the surrounding environment through videos and controls the traveling direction of the robot.
The first and second selectable models of the steering engine are DS3235, DS3225 and the like.
As shown in fig. 3, in the present embodiment, the adaptive mechanism includes an electric telescopic rod 11, a first hinge support 9, a second hinge support 10, a plurality of rocking bars 12, a connecting rod 13 and an auxiliary wheel 14; the stiff end of electric telescopic handle is fixed at joint unit front end housing inboard, and first hinged-support 9 fixed mounting is at electric telescopic handle's stiff end, and the one end of a plurality of connecting rods 13 articulates on first hinged-support, and the other end of connecting rod rotates connects the auxiliary wheel, and second hinged-support 10 links firmly at electric telescopic handle's flexible end, and the one end of a plurality of rockers articulates on second hinged-support, and the other end of rocker articulates on the connecting rod.
In this embodiment, the other end of the rocker is hinged to the middle of the connecting rod 13.
An auxiliary wheel, rocker and connecting rod constitute a set of train, and in this embodiment, including three sets of trains, through electric telescopic handle 11 flexible drive second hinged-support 10 removes, drives the rocker in the position of connecting rod 13, the flexible different work environment of adaptation of control auxiliary wheel 14.
The self-adaptive mechanism has different working conditions under different environments, the auxiliary wheels 14 extend out of the flat and good ground, the joints are driven by the pull wires 7 to swing left and right to realize forward movement of the robot, the auxiliary wheels 14 can reduce moving friction force, the auxiliary wheels 14 are retracted when complex environments such as climbing, ruins and fields are encountered, and movement is realized by friction force generated by the shells of the joint units of the robot and the ground.
Claims (7)
1. The utility model provides a ball pivot is acted as go-between and is become auxiliary wheel formula snake robot which characterized in that: including a plurality of joint unit, connect along snake robot length direction end to end between a plurality of joint unit, connect through steering mechanism between the preceding, the rear end plate of two adjacent joints, rotate on the joint unit of foremost and be connected with the unit of making a video recording.
2. The ball-hinged pull-wire variable auxiliary wheel type snake-shaped robot as claimed in claim 1, wherein: each joint unit is internally provided with a self-adaptive mechanism, and the self-adaptive mechanism comprises an electric telescopic rod, a first hinged support, a second hinged support, a plurality of rocking rods, a connecting rod and an auxiliary wheel; the stiff end of electric telescopic handle is fixed at joint unit front end housing inboard, and first hinged-support fixed mounting is at electric telescopic handle's stiff end, and the one end of a plurality of connecting rods articulates on first hinged-support, and the other end of connecting rod rotates connects the auxiliary wheel, and second hinged-support links firmly at electric telescopic handle's flexible end, and the one end of a plurality of rockers articulates on second hinged-support, and the other end of rocker articulates on the connecting rod.
3. The ball-hinged pull-wire variable auxiliary wheel type snake-shaped robot as claimed in claim 2, wherein: the steering mechanism comprises a ball rod, a ball seat, a pull wire and a servo motor, wherein the rear end of the ball seat is fixed at the center of the front end plate of the joint unit, the front end of the ball seat is provided with a flange plate, a spherical crown is connected onto the flange plate, the front end of the ball rod is fixed at the center of the rear end plate of the joint unit, the rear end of the ball rod is provided with a ball head, and the ball head between every two adjacent joint units is rotatably connected into the spherical crown; the servo motor is fixedly connected to the inner side of the rear end plate of the joint unit, one end of a stay wire is wound on a rotating shaft of the servo motor, and the other end of the stay wire penetrates through the front end plate of the joint unit and is fixedly connected with a hinge wire seat on the rear end plate of the previous joint unit.
4. A ball-hinged pull-wire variable auxiliary wheel type snake-shaped robot as claimed in claim 3, characterized in that: three servo motors are direct current motors, three pull wires are arranged, and the three pull wires are symmetrically distributed by taking the axis of the robot joint as a center.
5. The ball-hinged pull-wire variable auxiliary wheel type snake-shaped robot as claimed in claim 3, wherein: the spherical crown comprises two symmetrical hemispherical structures, the two spherical crowns are spliced on the flange plate to form a whole spherical structure, openings are arranged at the upper end and the lower end of the spherical crown, the ball head is located in the spherical crown, the bottom end of the spherical crown is provided with an outer edge which is outwards folded and extended, a threaded hole which is connected with the flange plate in a matched mode is formed in the outer edge, and the spherical crown is connected with the ball seat through a bolt group of the flange plate.
6. The ball-hinged pull-wire variable auxiliary wheel type snake-shaped robot as claimed in claim 3, wherein: the camera shooting unit comprises a platform, a supporting piece, a first steering engine, a first coupling, an orthogonal joint, a second steering engine, a second coupling, a camera mounting frame and a camera, wherein the supporting piece is fixed on a front side panel of the platform through a screw, a ball rod is fixedly connected to the center of a rear side panel of the platform, and three hinge line seats are fixedly connected to the rear side panel of the platform;
the support piece is of a U-shaped frame structure and is provided with two support vertical plates, wherein one support vertical plate is provided with a U-shaped notch, and the other support vertical plate is provided with a mounting hole penetrating through the thickness of the vertical plate;
the front side panel of the orthogonal joint is provided with two first vertical plates which are oppositely arranged, wherein one first vertical plate is provided with a U-shaped notch, and the other first vertical plate is provided with a mounting hole which penetrates through the first vertical plate in thickness; the rear side panel of the orthogonal joint is provided with two vertical plates II which are oppositely arranged, one vertical plate II is provided with a mounting hole which penetrates through the thickness of the vertical plate II, and the other vertical plate II is provided with a mounting hole which is used for connecting the coupling I;
the front side panel of the camera mounting frame is provided with two oppositely arranged vertical plates III, the inner side walls of the two vertical plates III are provided with chutes, the outer side wall of the camera is provided with two outwards convex slide rails, the slide rails are connected in the chutes through the slide rails, and the camera is connected on the camera mounting frame in a sliding manner; the front side panel of the camera mounting rack is provided with two oppositely arranged vertical plates IV, wherein one vertical plate IV is provided with a mounting hole penetrating the thickness of the vertical plate IV, and the other vertical plate is provided with a mounting hole for connecting a coupler II;
a first steering engine is fixedly connected between the two supporting vertical plates, a shell at one end of the first steering engine, which is close to the rotating shaft, is fixedly connected with the supporting vertical plates, the rotating shaft of the first steering engine extends out of the U-shaped notch, a connecting pin is arranged at one end of the first steering engine, which is far away from the rotating shaft, and the connecting pin extends out of mounting holes of the supporting vertical plates and the second vertical plates and is fixedly connected with the second vertical plates; a rotating shaft of the first steering engine sequentially penetrates through the supporting vertical plate and the second vertical plate, the rotating shaft of the first steering engine is fixedly connected with the orthogonal joint through a first coupling connected to the rotating shaft of the first steering engine and the second vertical plate, and the first steering engine rotates to drive the orthogonal joint to rotate together;
a second steering engine is fixedly connected between the first vertical plates, a shell at one end, close to the rotating shaft, of the second steering engine is fixedly connected with the first vertical plates, the rotating shaft of the second steering engine extends out of the U-shaped notch, and a connecting pin is arranged at one end, far away from the rotating shaft, of the second steering engine and extends out of mounting holes of the first vertical plates and the second vertical plates and is fixedly connected with the first vertical plates; the rotating shaft of the second steering engine penetrates through the first vertical plate and the fourth vertical plate in sequence, the second coupling is connected to the rotating shaft of the second steering engine and the fourth vertical plate, the rotating shaft of the second steering engine is fixedly connected with the camera mounting frame, and the second steering engine rotates to drive the camera mounting frame to rotate together.
7. The ball-hinged pull-wire variable auxiliary wheel type snake-shaped robot as claimed in claim 6, wherein: the model of the steering engine I and the model of the steering engine II are DS 3235.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110427508.XA CN113211423A (en) | 2021-04-21 | 2021-04-21 | Spherical hinge pull wire variable auxiliary wheel type snake-shaped robot |
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| CN202110427508.XA CN113211423A (en) | 2021-04-21 | 2021-04-21 | Spherical hinge pull wire variable auxiliary wheel type snake-shaped robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114505883A (en) * | 2022-03-23 | 2022-05-17 | 北京信息科技大学 | Guyed robot-oriented liquid metal auxiliary universal joint and design method |
| CN115194729A (en) * | 2022-03-08 | 2022-10-18 | 厦门大学嘉庚学院 | Rubber air bag driving device of snake-shaped robot and working method |
| CN115416010A (en) * | 2022-10-19 | 2022-12-02 | 哈尔滨工业大学 | Can realize not having interactive snakelike robot of wheeled and wheeled |
| CN115488866A (en) * | 2022-10-11 | 2022-12-20 | 吉林大学 | Self-adaptive multifunctional snake-shaped robot |
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| CN111347401A (en) * | 2020-03-29 | 2020-06-30 | 南京电博机器人技术有限公司 | Snakelike line climbing robot and line patrol method |
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