Snakelike robot for operation in deep and narrow environment

Abstract

The snakelike robot for operation in the deep and narrow environment comprises a snakelike mechanical arm and a snakelike mechanical arm control box, the snakelike mechanical arm comprises a snakelike mechanical arm body, and the snakelike mechanical arm body comprises a head joint, a tail joint and a plurality of middle joints; the multiple middle joints are connected between the head joint and the tail joint through the universal joints, and the driving ropes are used for penetrating through the rope passing holes to be fixedly connected with the corresponding middle joints and used for controlling the corresponding middle joints. The snakelike mechanical arm control box comprises a plurality of linear driving units arranged on a driving unit frame, and each linear driving unit is used for driving one driving rope to do contraction or relaxation motion. The linear driving unit comprises a driving motor, a motor flange, a supporting column, a coupler, a lead screw lower base, a driving lead screw, a driving optical shaft, a linear bearing, a driving lead screw nut, a nut base, a tension sensor, a driving rope fixing clamp and a lead screw upper base. The problems that a traditional snakelike industrial robot is small in working range and insufficient in overall rigidity are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of industrial mechanical arms, and in particular relates to a snake-like robot used for operating in deep and narrow environments. Background Art

[0002] Snake robots are a type of super-redundant continuous robot composed of multiple serial joints, with a snake-shaped main body structure. The cross-sectional size of the main body structure is significantly smaller than the total length, which enables them to enter small pipes or orifices, and bend and adapt to irregular environments, thus reaching places that other robots cannot reach. They have great application potential in aerospace, fire rescue, pipeline maintenance and other fields.

[0003] Snake-like industrial robots usually use rope drive to control the position and posture of each serial joint. Each rope is controlled by an independent rope driver, and the movement of each joint is controlled by the length change between different ropes. The main body of the snake-like industrial robot is usually directly connected to the drive box that contains the rope driver. The drive box is connected to the fixed base through a linear guide rail, and the linear movement of the drive box realizes the feeding of the main body. This results in the overall size of the robot being too large, and the working range of the snake-like industrial robot is limited.

[0004] Although the ultra-redundant degrees of freedom provide a high degree of flexibility, it also makes the overall structural rigidity insufficient, resulting in the inability to guarantee sufficient end load and positioning accuracy when operating in deep and narrow environments, making it difficult to meet the needs of fine operations in fields such as human-computer interaction and industrial production. Summary of the invention

[0005] In view of the above-mentioned problems, the purpose of the present invention is to provide a snake-like robot for working in deep and narrow environments, so as to solve the problems of small working range and insufficient overall rigidity of traditional snake-like industrial robots.

[0006] The technical solution of the present invention is: a snake-like robot for working in deep and narrow environments, comprising a snake-like mechanical arm and a snake-like mechanical arm control box for driving the snake-like mechanical arm, wherein the snake-like mechanical arm comprises a snake-like mechanical arm body; The main body of the snake-shaped mechanical arm includes a head joint, a tail joint and a plurality of intermediate joints, wherein the plurality of intermediate joints are connected between the head joint and the tail joint through universal joints, wherein the intermediate joints include an intermediate connecting shaft and an intermediate connecting cylinder coaxially sleeved on both ends of the intermediate connecting shaft, wherein both ends of the intermediate connecting shaft are used to connect the universal joints, wherein the intermediate connecting cylinder is circumferentially provided with a plurality of rope holes, wherein the rope holes are provided with a driving rope, wherein the driving rope is used to pass through the rope holes and be fixedly connected with the corresponding intermediate joints, and is used to control the corresponding intermediate joints; The serpentine robot control box includes a plurality of linear drive units arranged on a drive unit frame, a single linear drive unit is used to drive a drive rope to perform contraction or relaxation movement, the linear drive unit includes a drive motor, a motor flange, a support column, a coupling, a screw lower seat, a drive screw, a drive optical axis, a linear bearing, a drive screw nut, a nut seat, a tension sensor, a drive rope fixing clamp and a screw upper seat, the drive motor is fixedly connected to the motor flange, the motor flange is fixedly connected to the screw lower seat at intervals through the support column, the output shaft of the drive motor is connected to the drive screw through a coupling, and the drive screw is fixed to the screw lower seat through a bearing The screw lower seat is fixedly connected to the drive unit frame, and the upper end of the driving screw is connected to the driving screw nut by a threaded connection, which is used to convert the rotational motion of the driving screw into the linear motion of the driving screw nut. The driving screw nut, linear bearing and tension sensor are all fixed on the nut seat, and the driving optical axis is fixed between the screw lower seat and the screw upper seat. The linear bearing and the driving optical axis are coaxially matched to provide support for the axial movement of the nut seat. The driving rope fixing clamp is fixedly connected to the tension sensor, and the driving rope fixing clamp clamps one end of the driving rope to transmit the driving force to the driving rope through the movement of the nut seat.

[0007] Furthermore, the head joint comprises a head connecting shaft and a head connecting cylinder coaxially sleeved on the outside of the head connecting shaft, one end of the head connecting shaft is a connecting shaft with a keyway for connecting the universal joint, and the other end of the head connecting shaft is a disc with a connecting hole for connecting the end actuator, and the edge of the disc is fixedly connected to the head connecting cylinder; The tail joint includes a tail connecting shaft and a tail connecting tube coaxially sleeved on the outside of the tail connecting shaft. One end of the tail connecting shaft is a connecting shaft with a keyway for connecting a universal joint, and the other end of the tail connecting shaft is a disc with a connecting hole, which is fixedly connected to the tail connecting tube.

[0008] Furthermore, the serpentine robotic arm further comprises a linear feeding mechanism for conveying the serpentine robotic arm body, and the linear feeding mechanism comprises: The holder is a hollow tubular structure, with a head end cover and a tail end cover respectively arranged at both ends of the holder, the serpentine robot arm body is arranged through the head end cover and the tail end cover, and the part of the serpentine robot arm body located inside the holder coincides with the axis of the holder, the head end cover and the tail end cover are both provided with a screw seat and two optical axis holders, and the two optical axis holders and the screw seat are arranged in an equilateral triangle with the axis of the holder as the center point; A screw rod, movably connected and arranged between the two screw rod seats; Two optical axes are respectively arranged in the corresponding optical axis holders, and the screw rod and the two optical axes are parallel to the axis of the holder; A feeding motor is arranged on the tail end cover, and the feeding motor is coaxially connected with the screw rod through a coupling to drive the screw rod to rotate; A connecting plate is arranged inside the retaining frame, and a lead screw nut and two limit bearings are provided on the connecting plate. The lead screw nut is threadedly sleeved on the outside of the lead screw, and is used to convert the rotational motion of the lead screw into the linear motion of the lead screw nut, providing driving force for the connecting plate. The two limit bearings are respectively and correspondingly sleeved on the outsides of the two optical axes, and are used to limit the movement of the connecting plate. The connecting plate is connected to the tail connecting shaft, and is used to realize the feeding and exiting movement of the serpentine robotic arm body through the linear motion of the connecting plate.

[0009] Furthermore, the driving rope comprises: The inner line is composed of a plurality of thin steel wire ropes wound together, one end of which is welded with a cylindrical alloy block as a moving end, and the cylindrical alloy block is used to be fixedly connected to the inner wall of the middle connecting tube of the middle joint controlled by the driving rope; A supporting structure layer, comprising a plurality of annular steel wire segments sleeved on the outside of the inner wire; An outer skin, wrapped around the outer side of the supporting structure layer; Two wire tube caps are respectively arranged at two ends of the outer skin and are used to seal the two ends of the outer skin; Two wire tube seats are respectively clamped on the two wire tube caps and used to fix the two ends of the driving rope, wherein one wire tube seat is fixed on the driving unit frame, and the other is fixed on the connecting plate.

[0010] Furthermore, the snake-like robot also includes a lifting platform vehicle, the snake-like robotic arm control box is arranged on the lifting platform vehicle, and a main control box is also arranged on the lifting platform vehicle, and the main control box is control-connected with the snake-like robotic arm control box.

[0011] Furthermore, a rigid mechanical arm is provided on the lifting platform vehicle, and the rigid mechanical arm is control-connected to the main control box. The far end of the rigid mechanical arm is connected to a retaining frame via a flange, and the retaining frame is provided with the serpentine mechanical arm body.

[0012] Furthermore, the lifting platform vehicle is provided with a rigid robotic arm, which is control-connected to the main control box. A connecting mechanism is provided at the far end of the rigid robotic arm, and two retaining frames are fixed in parallel on the connecting mechanism, and each retaining frame contains a serpentine robotic arm body.

[0013] Furthermore, an asymptotic switch is fixedly provided on the upper screw seat and the lower screw seat respectively, and the asymptotic switch is used to send a signal to the control module of the drive motor when the nut seat moves to a set position to prevent the nut seat from exceeding the set movement range.

[0014] The working principle of the present invention is as follows: the snake-like robot can control the joint angle changes of the rigid mechanical arm and the snake-like mechanical arm through the main control box, thereby changing the overall posture and end position of the robot; First, move the lifting platform vehicle to a suitable working location and fix it to provide a working platform with sufficient rigidity for the movement of the snake robot; second, control the posture of the rigid robotic arm through the main control box and place the snake robotic arm in a suitable working position; finally, control the posture of the snake robotic arm through the snake robotic arm control box, and cooperate with the axial feeding movement of the linear feeding mechanism to extend the main body of the snake robotic arm into a deep and narrow environment with a complex posture to complete the operation; Several linear drive units in the serpentine robot control box each control a drive rope. Each joint of each serpentine robot is controlled by several drive ropes. The pitch and yaw motions of a single joint are realized through the extension and retraction motion of the drive ropes. Each joint has two rotational degrees of freedom, and the redundant degrees of freedom of the serpentine robot are realized by connecting several joints in series.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. By reconstructing the design of the snake-like robot arm and installing it at the end of the rigid robot arm, it can provide a higher degree of freedom under the premise of a larger working range and higher motion stability, and can operate in more complex deep and narrow environments.

[0016] 2. Separating the driving structure and the execution structure of the snake-like robot arm can significantly reduce the volume and weight of the snake-like robot arm, so that the snake-like robot can obtain a larger work load-bearing capacity and higher flexibility. At the same time, the separation design makes the installation and deployment of the snake-like robot more flexible and can be used on different work platforms.

[0017] 3. The linear feeding mechanism can realize the feeding and withdrawal of the snake-like robot arm. When working in deep and narrow environments, it can independently control the posture and feeding length of the snake-like robot arm, which improves the operability and flexibility of the snake-like robot.

[0018] 4. The lifting platform vehicle can expand the movement range of the snake-like robot. By replacing different types of platforms, flexible operations in all terrains can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the snake-shaped mechanical arm of the present invention; Figure 3 It is a schematic diagram of the main structure of the snake-shaped mechanical arm of the present invention; Figure 4 It is a schematic diagram of the head joint and tail joint structure of the present invention; Figure 5It is a schematic diagram of the structure of the intermediate joint of the present invention; Figure 6 It is a schematic diagram of the driving rope structure of the present invention; Figure 7 is a schematic diagram of a double-arm connection structure in Embodiment 2 of the present invention; Figure 8 It is a schematic diagram of the structure of the linear drive unit of the present invention; Fig. 9 It is a schematic diagram of the structure of the drive unit frame of the present invention.

[0020] Among them, 1. Snake-shaped robot arm; 11. Snake-shaped robot arm body; 111. Head joint; 1111. Head connecting shaft; 1112. Head connecting tube; 112. Tail joint; 1121. Tail connecting shaft; 1122. Tail connecting tube; 113. Intermediate joint; 1131. Intermediate connecting shaft; 1132. Intermediate connecting tube; 114. Driving rope; 1141. Inner wire; 1142. Support structure layer; 1143. Outer skin; 1144. Wire tube cap; 1145. Wire tube seat; 115. Universal joint; 12. Linear feeding mechanism; 121. Cage; 122. Screw rod; 123. Optical axis; 124. Connecting plate; 125. Head end cover; 126. Tail End cover; 127, feed motor; 13, connecting mechanism; 2, rigid robot arm; 3, main control box; 31, snake robot arm control box; 312, drive unit frame; 311, linear drive unit; 31101, drive motor; 31102, motor flange; 31103, support column; 31104, coupling; 31105, screw lower seat; 31106, drive screw; 31107, drive optical axis; 31108, linear bearing; 31109, drive screw nut; 31110, nut seat; 31111, tension sensor; 31112, drive rope fixing clamp; 31113, screw upper seat; 31114, asymptotic switch; 4, lifting platform vehicle. DETAILED DESCRIPTION

[0021] The following is combined with Figure 1 To the attached Fig. 9 , the specific embodiments of the present invention are described in detail. In the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0022] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0023] It should be noted that the circuit connections involved in the present invention all adopt conventional circuit connection methods and do not involve any innovation.

[0024] Example: Figure 1 As shown, a snake-like robot for working in deep and narrow environments includes a snake-like mechanical arm 1 and a snake-like mechanical arm control box 31 for driving the snake-like mechanical arm 1. Among them: like Figure 2-3 As shown, the snake-shaped robot arm 1 includes a snake-shaped robot arm body 11, and the snake-shaped robot arm body 11 includes a head joint 111, a tail joint 112 and a plurality of intermediate joints 113, and the plurality of intermediate joints 113 are connected between the head joint 111 and the tail joint 112 through a universal joint 115. Figure 5 As shown, the intermediate joint 113 includes an intermediate connecting shaft 1131 and an intermediate connecting cylinder 1132 coaxially sleeved at both ends of the intermediate connecting shaft 1131, the two ends of the intermediate connecting shaft 1131 are used to connect the universal joint 115, and the intermediate connecting cylinder 1132 is circumferentially provided with a plurality of rope holes, and the rope holes are provided with a driving rope 114, and the driving rope 114 is used to pass through the rope holes and be fixedly connected to the corresponding intermediate joint 113, so as to control the corresponding intermediate joint 113; Figure 4 As shown, the head joint 111 includes a head connecting shaft 1111 and a head connecting cylinder 1112 coaxially sleeved on the outside of the head connecting shaft 1111, one end of the head connecting shaft 1111 is a connecting shaft with a keyway for connecting the universal joint 115, the other end of the head connecting shaft 1111 is a disk with a connecting hole for connecting the end actuator, and the edge of the disk is fixedly connected to the head connecting cylinder 1112; the tail joint 112 is connected to the connecting plate 124, the tail joint 112 includes a tail connecting shaft 1121 and a tail connecting cylinder 1122 coaxially sleeved on the outside of the tail connecting shaft 1121, one end of the tail connecting shaft 1121 is a connecting shaft with a keyway for connecting the universal joint 115, the other end of the tail connecting shaft 1121 is a disk with a connecting hole, and is fixedly connected to the tail connecting cylinder 1122; like Figure 6As shown, the driving rope 114 includes an inner wire 1141, a supporting structure layer 1142, an outer skin 1143, two wire tube caps 1144 and two wire tube seats 1145; the inner wire 1141 is composed of a plurality of thin steel wire ropes wound together, one end of which is welded with a cylindrical alloy block as a moving end, and the cylindrical alloy block is used to be fixedly connected to the inner wall of the middle connecting tube 1132 of the middle joint 113 controlled by the driving rope 114; the supporting structure layer 1142 includes a plurality of annular steel wire sections sleeved on the outside of the inner wire 1141; the outer skin 1143 is wrapped and arranged on the outside of the supporting structure layer 1142; the two wire tube caps 1144 are respectively arranged at both ends of the outer skin 1143, and are used to seal the two ends of the outer skin 1143; the two wire tube seats 1145 are respectively clamped on the two wire tube caps 1144, and are used to fix the two ends of the driving rope 114, one of the wire tube seats 1145 is fixed on the driving unit frame 312, and the other is fixed on the connecting plate 124; like Fig. 9 As shown, the snake-shaped robot arm control box 31 includes a plurality of linear drive units 311 arranged on a drive unit frame 312, and a single linear drive unit 311 is used to drive a drive rope 114 to perform contraction or relaxation movement, such as Figure 8As shown, the linear drive unit 311 includes a drive motor 31101, a motor flange 31102, a support column 31103, a coupling 31104, a screw lower seat 31105, a drive screw 31106, a drive optical axis 31107, a linear bearing 31108, a drive screw nut 31109, a nut seat 31110, a tension sensor 31111, a drive rope fixing clamp 31112 and a screw upper seat 31113. The drive motor 31101 is fixedly connected to the motor flange 31102. The machine flange 31102 is fixedly connected to the screw lower seat 31105 through the support column 31103, the output shaft of the driving motor 31101 is connected to the driving screw 31106 through the coupling 31104, the driving screw 31106 is fixed on the central axis between the screw lower seat 31105 and the screw upper seat 31113 through the bearing, the screw lower seat 31105 is fixedly connected to the driving unit frame 312, and the upper end of the driving screw 31106 is connected to the driving screw nut 31109 through a threaded connection, which is used to drive The rotational motion of the screw rod 31106 is converted into the linear motion of the driving screw rod nut 31109. The driving screw rod nut 31109, the linear bearing 31108 and the tension sensor 31111 are all fixed on the nut seat 31110. The driving optical axis 31107 is fixed between the screw rod lower seat 31105 and the screw rod upper seat 31113. The linear bearing 31108 and the driving optical axis 31107 are coaxially matched to provide support for the axial motion of the nut seat 31110. The driving rope fixing clamp 31112 and the tension sensor 31111 are fixed on the nut seat 31110. The force sensor 31111 is fixedly connected, and the drive rope fixing clamp 31112 clamps one end of the drive rope 114 to transmit the driving force to the drive rope 114 through the movement of the nut seat 31110. The upper screw seat 31113 and the lower screw seat 31105 are respectively fixed with an approach switch 31114. The approach switch 31114 is used to send a signal to the control module of the drive motor 31101 when the nut seat 31110 moves to the set position, so as to prevent the nut seat 31110 from exceeding the set movement range.

[0025] Preferably, the serpentine robot 1 also includes a linear feeding mechanism 12 for conveying the serpentine robot body 11, and the linear feeding mechanism 12 includes a holder 121, a screw rod 122, an optical axis 123, a connecting plate 124 and a feeding motor 127; the holder 121 is a hollow tubular structure, and a head end cover 125 and a tail end cover 126 are respectively arranged at both ends of the holder 121, and the serpentine robot body 11 is arranged through the head end cover 125 and the tail end cover 126, and the part of the serpentine robot body 11 located inside the holder 121 coincides with the axis of the holder 121, and the head end cover 125 and the tail end cover 126 are both provided with a screw rod seat and two optical axis clamps, and the two optical axis clamps and the screw rod seat are arranged in an equilateral triangle with the axis of the holder 121 as the center point; the screw rod 122 is movably connected and arranged between the two screw rod seats; the two optical axes 123 are respectively arranged In the corresponding optical axis clamp, the screw rod 122 and the two optical axes 123 are parallel to the axis of the retaining frame 121; the feeding motor 127 is arranged on the tail end cover 126, and the feeding motor 127 is coaxially connected to the screw rod 122 through a coupling, so as to drive the screw rod 122 to rotate; the connecting plate 124 is arranged inside the retaining frame 121, and a screw nut and two limit bearings are provided on the connecting plate 124, and the screw nut threadedly fits on the outside of the screw rod 122, so as to convert the rotational motion of the screw rod 122 into the linear motion of the screw nut, thereby providing driving force for the connecting plate 124, and the two limit bearings are respectively and correspondingly movably sleeved on the outside of the two optical axes 123, so as to limit the motion of the connecting plate 124, and the connecting plate 124 is connected to the tail connecting shaft 1121, so as to realize the feeding and exiting motion of the serpentine robot arm body 11 through the linear motion of the connecting plate 124.

[0026] Preferably, the snake-like robot also includes a lifting platform vehicle 4, on which a serpentine robotic arm control box 31 is arranged, and a main control box 3 is also provided on the lifting platform vehicle 4, which is control-connected to the serpentine robotic arm control box 31; a rigid robotic arm 2 is provided on the lifting platform vehicle 4, which is control-connected to the main control box 3, and a retaining frame 121 is connected to the far end of the rigid robotic arm 2 through a flange, and a serpentine robotic arm body 11 is provided in the retaining frame 121.

[0027] Embodiment 2: It is basically the same as Embodiment 1, except that a connection mechanism 13 is provided at the far end of the rigid robot arm 2, two holders 121 are fixedly provided in parallel on the connection mechanism 13, and a snake-shaped robot arm body 11 is provided in each holder 121, such as Figure 7 shown.

[0028] The working principle of the above embodiment is: The snake-like robot can control the joint angle changes of the rigid robot arm 2 and the snake-like robot arm 1 through the main control box 3, thereby changing the overall posture and end position of the robot; First, the lifting platform vehicle 4 is moved to a suitable working location and fixed to provide a working platform with sufficient rigidity for the movement of the snake-like robot; secondly, the posture of the rigid robotic arm 2 is controlled by the main control box 3, and the snake-like robotic arm 1 is placed in a suitable working position; finally, the posture of the snake-like robotic arm 1 is controlled by the snake-like robotic arm control box 31, and the axial feeding movement of the linear feeding mechanism 12 is coordinated to extend the snake-like robotic arm body 11 into a small and complex environment in a complex posture to complete the operation; Several linear drive units 311 in the serpentine robot control box 31 each control a drive rope 114, and each joint of each serpentine robot 1 is controlled by several drive ropes 114. The pitch and yaw movements of a single joint are realized through the extension and retraction movement of the drive rope 114. Each joint has two rotational degrees of freedom, and the redundant degrees of freedom of the serpentine robot 1 are realized by connecting several joints in series.

[0029] The specific models of the above electronic components are not specially specified, and ordinary products available on the market can be selected as long as they can meet the use requirements of the present invention.

[0030] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and does not limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims

1. A snake-like robot for operating in a deep and narrow environment, comprising a snake-like mechanical arm (1) and a snake-like mechanical arm control box (31) for driving the snake-like mechanical arm (1), wherein the snake-like mechanical arm (1) comprises a snake-like mechanical arm body (11), characterized in that: The snake-shaped mechanical arm body (11) comprises a head joint (111), a tail joint (112) and a plurality of intermediate joints (113); the plurality of intermediate joints (113) are connected between the head joint (111) and the tail joint (112) via a universal joint (115); the intermediate joint (113) comprises an intermediate connecting shaft (1131) and an intermediate connecting tube (1132) coaxially sleeved at both ends of the intermediate connecting shaft (1131); the two ends of the intermediate connecting shaft (1131) are used to connect the universal joint (115); a plurality of rope holes are circumferentially arranged on the intermediate connecting tube (1132); a driving rope (114) is arranged in the rope hole; the driving rope (114) is used to pass through the rope hole to be fixedly connected to the corresponding intermediate joint (113) and is used to control the corresponding intermediate joint (113); The snake-shaped robot arm control box (31) comprises a plurality of linear drive units (311) arranged on a drive unit frame (312), wherein a single linear drive unit (311) is used to drive a drive rope (114) to perform contraction or relaxation movement, and the linear drive unit (311) comprises a drive motor (31101), a motor flange (31102), a support column (31103), a coupling (31104), a screw lower seat (31105), a drive screw (31106), a drive optical axis (31107), a linear bearing (31108), A drive screw nut (31109), a nut seat (31110), a tension sensor (31111), a drive rope fixing clamp (31112) and a screw upper seat (31113); the drive motor (31101) is fixedly connected to the motor flange (31102); the motor flange (31102) is fixedly connected to the screw lower seat (31105) at intervals via a support column (31103); the output shaft of the drive motor (31101) is connected to the drive screw (31106) via a coupling (31104); the drive screw (31106) is connected to the drive screw (31106) via a coupling (31104); The bearing is fixed on the central axis between the screw lower seat (31105) and the screw upper seat (31113), the screw lower seat (31105) is fixedly connected to the drive unit frame (312), the upper end of the drive screw (31106) is connected to the drive screw nut (31109) through a thread, and is used to convert the rotational motion of the drive screw (31106) into the linear motion of the drive screw nut (31109), and the drive screw nut (31109), the linear bearing (31108) and the tension sensor (31111) are all fixed on the nut seat (3111 0), a driving optical axis (31107) is fixed between a screw lower seat (31105) and a screw upper seat (31113), a linear bearing (31108) is coaxially matched with the driving optical axis (31107) and is used to provide support for the axial movement of the nut seat (31110), a driving rope fixing clamp (31112) is fixedly connected to the tension sensor (31111), and the driving rope fixing clamp (31112) clamps and fixes one end of the driving rope (114) and is used to transmit the driving force to the driving rope (114) through the movement of the nut seat (31110).

2. A snake-like robot for operation in deep and narrow environments as claimed in claim 1, characterized in that: The head joint (111) comprises a head connecting shaft (1111) and a head connecting tube (1112) coaxially sleeved on the outside of the head connecting shaft (1111); one end of the head connecting shaft (1111) is a connecting shaft with a keyway for connecting to a universal joint (115); the other end of the head connecting shaft (1111) is a disk with a connecting hole for connecting to an end actuator; the edge of the disk is fixedly connected to the head connecting tube (1112); The tail joint (112) comprises a tail connecting shaft (1121) and a tail connecting tube (1122) coaxially sleeved on the outside of the tail connecting shaft (1121); one end of the tail connecting shaft (1121) is a connecting shaft with a keyway for connecting to the universal joint (115); the other end of the tail connecting shaft (1121) is a disk with a connecting hole and fixedly connected to the tail connecting tube (1122).

3. A snake-like robot for operation in deep and narrow environments as claimed in claim 2, characterized in that: The serpentine robot arm (1) further comprises a linear feeding mechanism (12) for conveying the serpentine robot arm body (11), wherein the linear feeding mechanism (12) comprises: A retaining frame (121) having a hollow tubular structure, wherein a head end cover (125) and a tail end cover (126) are respectively arranged at both ends of the retaining frame (121), the serpentine mechanical arm body (11) is arranged through the head end cover (125) and the tail end cover (126), and the portion of the serpentine mechanical arm body (11) located inside the retaining frame (121) coincides with the axis of the retaining frame (121), and the head end cover (125) and the tail end cover (126) are both provided with a screw seat and two optical axis holders, and the two optical axis holders and the screw seat are arranged in an equilateral triangle with the axis of the retaining frame (121) as the center point; A screw rod (122) movably connected and arranged between the two screw rod seats; Two optical axes (123) are respectively arranged in the corresponding optical axis holders, and the screw rod (122) and the two optical axes (123) are parallel to the axis of the retaining frame (121); A feeding motor (127) is arranged on the tail end cover (126); the feeding motor (127) is coaxially connected to the screw rod (122) via a coupling, and is used to drive the screw rod (122) to rotate; A connecting plate (124) is arranged inside the retaining frame (121); a lead screw nut and two limit bearings are provided on the connecting plate (124); the lead screw nut is threadedly sleeved on the outside of the lead screw (122) and is used to convert the rotational motion of the lead screw (122) into the linear motion of the lead screw nut, thereby providing a driving force for the connecting plate (124); the two limit bearings are respectively and movably sleeved on the outside of the two optical axes (123) and are used to limit the motion of the connecting plate (124); the connecting plate (124) is connected to the tail connecting shaft (1121) and is used to realize the feeding and withdrawing motion of the snake-shaped mechanical arm body (11) through the linear motion of the connecting plate (124).

4. A snake-like robot for operation in deep and narrow environments as claimed in claim 3, characterized in that: The driving rope (114) comprises: The inner line (1141) is formed by winding a plurality of thin steel wire ropes, one end of which is welded with a cylindrical alloy block as a moving end, and the cylindrical alloy block is used to be fixedly connected to the inner wall of the middle connecting tube (1132) of the middle joint (113) controlled by the driving rope (114); The supporting structure layer (1142) comprises a plurality of annular steel wire segments sleeved on the outside of the inner wire (1141); An outer skin (1143), wrapped around the outside of the supporting structure layer (1142); Two wire tube caps (1144), respectively disposed at two ends of the outer skin (1143), and used to seal the two ends of the outer skin (1143); Two wire tube seats (1145) are respectively clamped on the two wire tube caps (1144) and are used to fix the two ends of the driving rope (114), wherein one wire tube seat (1145) is fixed on the driving unit frame (312), and the other is fixed on the connecting plate (124).

5. A snake-like robot for operation in deep and narrow environments as claimed in claim 3, characterized in that: It also comprises a lifting platform vehicle (4), the serpentine mechanical arm control box (31) being arranged on the lifting platform vehicle (4), and a main control box (3) being also arranged on the lifting platform vehicle (4), the main control box (3) being control-connected to the serpentine mechanical arm control box (31).

6. A snake-like robot for operation in deep and narrow environments as claimed in claim 5, characterized in that: The lifting platform vehicle (4) is provided with a rigid mechanical arm (2), the rigid mechanical arm (2) being control-connected to the main control box (3), the far end of the rigid mechanical arm (2) being connected to a retaining frame (121) via a flange, the retaining frame (121) being provided with the serpentine mechanical arm body (11).

7. A snake-like robot for operation in deep and narrow environments as claimed in claim 5, characterized in that: The lifting platform vehicle (4) is provided with a rigid mechanical arm (2), the rigid mechanical arm (2) being control-connected to the main control box (3), a connecting mechanism (13) being provided at the far end of the rigid mechanical arm (2), two retaining frames (121) being fixedly provided in parallel on the connecting mechanism (13), and each retaining frame (121) having a serpentine mechanical arm body (11) disposed therein.

8. A snake-like robot for operation in deep and narrow environments as claimed in claim 1, characterized in that: An asymptotic switch (31114) is fixedly provided on the upper screw seat (31113) and the lower screw seat (31105), respectively. The asymptotic switch (31114) is used to send a signal to the control module of the drive motor (31101) when the nut seat (31110) moves to a set position, so as to prevent the nut seat (31110) from exceeding a set movement range.

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