A snake-like robot for working in deep and narrow environments

Abstract

The present invention discloses a snake-like robot for operating in deep and narrow environments, comprising a snake-like robotic arm and a snake-like robotic arm control box. The snake-like robotic arm comprises a snake-like robotic arm body, which comprises a head joint, a tail joint, and multiple intermediate joints. The multiple intermediate joints are connected between the head joint and the tail joint via universal joints. A drive rope is used to pass through a rope hole and is fixedly connected to the corresponding intermediate joint to control the corresponding intermediate joint. The snake-like robotic arm control box comprises multiple 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 comprises 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 present invention solves the problems of traditional snake-like industrial robots with a small working range and insufficient overall rigidity.

Description

Technical Field

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

[0002] Snake robots are a type of hyper-redundant continuous robot composed of multiple serially linked joints. Their serpentine-like main structure has a cross-sectional dimension significantly smaller than its overall length, enabling them to enter small pipes and orifices, bend, and adapt to irregular environments, reaching locations inaccessible to other robots. These robots have great potential for application in aerospace, firefighting, and pipeline maintenance.

[0003] Snake-like industrial robots typically use a 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 varying the length of the ropes. The main body of the snake-like industrial robot is usually directly connected to the drive box that houses the rope drivers. The drive box is connected to a fixed base via linear guides, and the linear movement of the drive box enables the main body to be advanced. This results in an excessively large robot overall size and limits the snake-like industrial robot's working range.

[0004] Although the super-redundant degrees of freedom provide a high degree of flexibility, it also makes its 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 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 operating in deep and narrow environments, comprising a snake-like robotic arm and a snake-like robotic arm control box for driving the snake-like robotic arm, wherein the snake-like robotic arm comprises a snake-like robotic arm body;

[0007] The main body of the snake-like robotic 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 via 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 the ends of the intermediate connecting shaft are used to connect to the universal joints, and the intermediate connecting cylinder is circumferentially provided with a plurality of rope holes, wherein the rope holes are provided with a driving rope, and the driving rope is used to pass through the rope holes and be fixedly connected to the corresponding intermediate joint for controlling the corresponding intermediate joint;

[0008] The serpentine robotic arm control box includes a plurality of linear drive units arranged on a drive unit frame, a single linear drive unit is used to drive one of the drive ropes to perform contraction or relaxation movements, and 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 lower seat of the screw 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 lower seat of the screw and the upper seat of the screw. 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. The driving rope fixing clamp clamps one end of the driving rope and is used to transmit the driving force to the driving rope through the movement of the nut seat.

[0009] Furthermore, the head joint includes 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 to the universal joint, and the other end of the head connecting shaft is a disc with a connecting hole for connecting to the end actuator, and the edge of the disc is fixedly connected to the head connecting cylinder;

[0010] 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 the 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.

[0011] Furthermore, the serpentine robotic arm further comprises a linear feeding mechanism for conveying the serpentine robotic arm body, and the linear feeding mechanism comprises:

[0012] The holder is a hollow tubular structure with a head end cap and a tail end cap provided at each end of the holder. The serpentine robot arm body is provided through the head end cap and the tail end cap, and the portion of the serpentine robot arm body located inside the holder coincides with the axis of the holder. The head end cap and the tail end cap are both provided with a screw seat and two optical axis holders. The two optical axis holders and the screw seat are arranged in an equilateral triangle with the holder axis as the center point.

[0013] A screw rod, movably connected and arranged between the two screw rod seats;

[0014] Two optical axes are respectively arranged in the corresponding optical axis holders, and the lead screw and the two optical axes are parallel to the axis of the holder;

[0015] A feeding motor is provided on the tail end cover, the feeding motor is coaxially connected to the screw rod through a coupling, and is used to drive the screw rod to rotate;

[0016] The connecting plate is arranged inside the retaining frame, and a screw nut and two limit bearings are provided on the connecting plate. The screw nut is threaded and sleeved on the outside of the screw, and is used to convert the rotational motion of the screw into the linear motion of the screw nut, providing driving force for the connecting plate. The two limit bearings are respectively and movably sleeved on the outside 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 exit movement of the serpentine robotic arm body through the linear motion of the connecting plate.

[0017] Furthermore, the driving rope includes:

[0018] The inner line is composed of multiple strands of thin steel wire ropes, one end of which is welded with a cylindrical alloy block as the moving end. 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;

[0019] A supporting structure layer comprising a plurality of annular steel wire segments sleeved on the outside of the inner wire;

[0020] An outer skin, wrapped around the outer side of the supporting structure layer;

[0021] Two wire tube caps are respectively provided at both ends of the outer skin for sealing the two ends of the outer skin;

[0022] Two wire tube seats are respectively clamped on the two wire tube caps and are used to fix the two ends of the driving rope. One of the wire tube seats is fixed on the driving unit frame, and the other is fixed on the connecting plate.

[0023] 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 provided on the lifting platform vehicle, and the main control box is control-connected to the snake-like robotic arm control box.

[0024] Furthermore, a rigid robotic arm is provided on the lifting platform vehicle, and the rigid robotic arm is control-connected to the main control box. The far end of the rigid robotic arm is connected to a retaining frame via a flange, and the serpentine robotic arm body is provided in the retaining frame.

[0025] 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 is provided with a serpentine robotic arm body.

[0026] Furthermore, an asymptotic switch is fixed on the upper screw seat and the lower screw seat respectively. 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.

[0027] The working principle of the present invention is as follows: the snake-like robot can control the joint angle changes of the rigid robotic arm and the snake-like robotic arm through the main control box, thereby changing the overall posture and end position of the robot;

[0028] First, the lifting platform vehicle is moved to a suitable work location and fixed, providing a sufficiently rigid work platform for the snake robot's movement. Second, the posture of the rigid robotic arm is controlled by the main control box, and the snake robot is placed in the appropriate working position. Finally, the posture of the snake robot arm is controlled by the snake robot arm control box, and the axial feed motion of the linear feed mechanism is coordinated to extend the main body of the snake robot arm in a complex posture into deep and narrow environments to complete the task.

[0029] 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 achieved through the extension and retraction of the drive ropes. Each joint has two rotational degrees of freedom, and the redundant degrees of freedom of the serpentine robot are achieved by connecting several joints in series.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. By reconstructing the snake-like robotic arm and installing it at the end of the rigid robotic 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.

[0032] 2. Separating the driving structure and the execution structure of the snake-like robot arm can significantly reduce the size and weight of the snake-like robot arm, giving the snake-like robot a greater work load 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.

[0033] 3. The linear feeding mechanism can realize the feeding and exit of the snake-like robotic arm. When operating in deep and narrow environments, it can independently control the posture and feeding length of the snake-like robotic arm, thereby improving the operability and flexibility of the snake-like robot.

[0034] 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

[0035] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0036] Figure 2 It is a schematic diagram of the structure of the snake-shaped robotic arm of the present invention;

[0037] Figure 3 This is a schematic diagram of the main structure of the snake-shaped robotic arm of the present invention;

[0038] Figure 4 Schematic diagram of the head joint and tail joint structure of the present invention;

[0039] Figure 5 It is a schematic diagram of the intermediate joint structure of the present invention;

[0040] Figure 6 Schematic diagram of the drive rope structure of the present invention;

[0041] Figure 7 Schematic diagram of the double-arm connection structure in Example 2 of the present invention;

[0042] Figure 8 It is a schematic structural diagram of the linear drive unit of the present invention;

[0043] Figure 9 It is a schematic diagram of the drive unit frame structure of the present invention.

[0044] 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. Drive rope; 1141. Inner wire; 1142. Support structure layer; 1143. Outer skin; 1144. Wire tube cap; 1145. Wire tube seat; 115. Universal joint; 12. Linear feed mechanism; 121. Cage; 122. Screw; 123. Optical axis; 124. Connecting plate; 125. Head end cover; 126. Tail End cover; 127. Feed motor; 13. Connecting mechanism; 2. Rigid robotic arm; 3. Main control box; 31. Snake robotic 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. Approach switch; 4. Lifting platform vehicle. DETAILED DESCRIPTION

[0045] The following is combined with Figure 1 To the attached Figure 9 , a detailed description of the specific embodiments of the present invention is provided. 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," "inner," "outer," and the like, indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed, or operate in a specific direction. Therefore, they should not be construed as limiting the present invention.

[0046] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the technical features being referred to. Thus, features specified as "first" or "second" may explicitly or implicitly include one or more of such features; and in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0047] 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.

[0048] Example: Figure 1As shown, a snake-like robot for working in deep and narrow environments includes a snake-like robotic arm 1 and a snake-like robotic arm control box 31 for driving the snake-like robotic arm 1.

[0049] like Figure 2-3 As shown, the snake-shaped robot arm 1 includes a snake-shaped robot arm body 11, which includes 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 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 on both ends of the intermediate connecting shaft 1131. The ends of the intermediate connecting shaft 1131 are used to connect to the universal joint 115. The intermediate connecting cylinder 1132 is provided with a plurality of rope holes circumferentially. The rope holes are provided with a driving rope 114. The driving rope 114 is used to pass through the rope holes and be fixedly connected to the corresponding intermediate joint 113 for controlling 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 to the universal joint 115, the other end of the head connecting shaft 1111 is a disc with a connecting hole for connecting to the end actuator, and the edge of the disc 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 to the universal joint 115, the other end of the tail connecting shaft 1121 is a disc with a connecting hole, and is fixedly connected to the tail connecting cylinder 1122;

[0050] like Figure 6 As 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 intermediate connecting tube 1132 of the intermediate joint 113 controlled by the driving rope 114; the supporting structure layer 1142 includes a plurality of annular steel wire segments sleeved on the outside of the inner wire 1141; the outer skin 1143 is wrapped around 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 for sealing the two ends of the outer skin 1143; the two wire tube seats 1145 are respectively clamped on the two wire tube caps 1144 for fixing 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;

[0051] like Figure 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. A single linear drive unit 311 is used to drive a drive rope 114 to perform contraction or relaxation motion. Figure 8 As 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 lower seat 31105 of the screw rod through the support column 31103. The output shaft of the driving motor 31101 is connected to the driving screw rod 31106 through the coupling 31104. The driving screw rod 31106 is fixed on the central axis between the lower seat 31105 and the upper seat 31113 of the screw rod through the bearing. The lower seat 31105 is fixedly connected to the driving unit frame 312. The upper end of the driving screw rod 31106 is connected to the driving screw rod nut 31109 through a threaded connection for driving The rotational motion of the screw rod 31106 is converted into the linear motion of the driving screw nut 31109. The driving screw 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 lower seat 31105 and the screw 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 fixed drive rope 114, which is used to transmit the driving force to the drive rope 114 through the movement of the nut seat 31110, and 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.

[0052] Preferably, the serpentine robotic arm 1 also includes a linear feeding mechanism 12 for conveying the serpentine robotic arm 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 provided at both ends of the holder 121, and the serpentine robotic arm body 11 is arranged through the head end cover 125 and the tail end cover 126, and the part of the serpentine robotic arm 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 holder, 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, which is used 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. The screw nut thread is fitted on the outside of the screw rod 122 to convert the rotational motion of the screw rod 122 into the linear motion of the screw nut, providing driving force for the connecting plate 124. The two limit bearings are respectively movably sleeved on the outside of the two optical axes 123 to limit the motion of the connecting plate 124. The connecting plate 124 is connected to the tail connecting shaft 1121 to realize the feeding and exit motion of the serpentine robotic arm body 11 through the linear motion of the connecting plate 124.

[0053] Preferably, the snake robot also includes a lifting platform vehicle 4, a snake-shaped robotic arm control box 31 is arranged on the lifting platform vehicle 4, and a main control box 3 is also provided on the lifting platform vehicle 4, and the main control box 3 is control-connected to the snake-shaped robotic arm control box 31; a rigid robotic arm 2 is provided on the lifting platform vehicle 4, and the rigid robotic arm 2 is control-connected to the main control box 3, and the far end of the rigid robotic arm 2 is connected to a retaining frame 121 through a flange, and a snake-shaped robotic arm body 11 is provided in the retaining frame 121.

[0054] Example 2: It is basically the same as Example 1, except that a connection mechanism 13 is provided at the distal end of the rigid robotic arm 2, two holders 121 are fixed in parallel on the connection mechanism 13, and a snake-shaped robotic arm body 11 is provided in each holder 121. Figure 7 shown.

[0055] The working principle of the above embodiment is:

[0056] The snake-like robot can control the joint angle changes of the rigid manipulator arm 2 and the snake-like manipulator arm 1 through the main control box 3, thereby changing the overall posture and end position of the robot;

[0057] First, the lifting platform vehicle 4 is moved to a suitable work location and fixed, providing a work platform with sufficient rigidity for the movement of the snake-like robot. Second, 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 with a complex posture to complete the task.

[0058] Several linear drive units 311 in the serpentine robot control box 31 each control a drive rope 114. 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.

[0059] The specific models of the above electronic components are not particularly specified, and common products available on the market can be selected as long as they can meet the use requirements of the present invention.

[0060] 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 are only specific embodiments of the present invention and do 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 scope of protection of the present invention.

Claims

1. A snake-like robot for operating in a deep and narrow environment, comprising a snake-like robot arm (1) and a snake-like robot arm control box (31) for driving the snake-like robot arm (1), wherein the snake-like robot arm (1) comprises a snake-like robot arm body (11), and is characterized in that: The snake-shaped robotic arm body (11) includes a head joint (111), a tail joint (112) and a plurality of intermediate joints (113), wherein the plurality of intermediate joints (113) are connected between the head joint (111) and the tail joint (112) via a universal joint (115), wherein the intermediate joint (113) includes an intermediate connecting shaft (1131) and an intermediate connecting cylinder (1132) coaxially sleeved on both ends of the intermediate connecting shaft (1131), wherein both ends of the intermediate connecting shaft (1131) are used to connect to the universal joint (115), wherein the intermediate connecting cylinder (1132) is provided with a plurality of rope holes in a circumferential direction, wherein a driving rope (114) is provided in the rope holes, and wherein the driving rope (114) is used to pass through the rope holes and be fixedly connected to the corresponding intermediate joint (113), and is used to control the corresponding intermediate joint (113); The snake-shaped robotic arm control box (31) includes 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) 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 motor flange (31102) is fixedly connected to the screw lower seat (31105) at intervals through a support column (31103); the output shaft of the drive motor (31101) is connected to the drive screw (31106) through a coupling (31104); the drive screw (31106) is fixedly connected to the screw lower seat (31105) through a support column (31103); 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), 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); The head joint (111) comprises 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 to the universal joint (115), and the other end of the head connecting shaft (1111) is a disk with a connecting hole for connecting to the end actuator, and the edge of the disk is fixedly connected to the head connecting cylinder (1112); The tail joint (112) comprises 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 to the universal joint (115), and the other end of the tail connecting shaft (1121) is a disc with a connecting hole, and is fixedly connected to the tail connecting cylinder (1122); The serpentine robotic arm (1) further comprises a linear feed mechanism (12) for conveying the serpentine robotic arm body (11), wherein the linear feed mechanism (12) comprises: The holder (121) is a hollow tubular structure, and a head end cover (125) and a tail end cover (126) are respectively provided at both ends of the holder (121). The serpentine robot arm body (11) is provided through the head end cover (125) and the tail end cover (126), and the portion of the serpentine robot arm body (11) located inside the holder (121) coincides with the axis of the holder (121). 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 holder (121) as the center point. A screw rod (122) is 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 provided on the tail end cover (126), and 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), and a screw nut and two limit bearings are provided on the connecting plate (124). The screw nut is threadedly sleeved on the outside of the screw (122) and is used to convert the rotational motion of the screw (122) into the linear motion of the screw nut, 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 robotic arm body (11) through the linear motion of the connecting plate (124); It also includes a lifting platform vehicle (4), the serpentine robot arm control box (31) is arranged on the lifting platform vehicle (4), and the lifting platform vehicle (4) is also provided with a main control box (3), and the main control box (3) is control-connected to the serpentine robot arm control box (31); The lifting platform vehicle (4) is provided with a rigid mechanical arm (2), the rigid mechanical arm (2) is control-connected to the main control box (3), the far end of the rigid mechanical arm (2) is connected to a retaining frame (121) via a flange, and the retaining frame (121) is provided with the serpentine mechanical arm body (11); The drive rope (114) comprises: The inner line (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); A supporting structure layer (1142) comprising 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) are respectively arranged at both ends of the outer skin (1143) and are 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 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); The lifting platform vehicle (4) is provided with a rigid mechanical arm (2), the rigid mechanical arm (2) is control-connected to the main control box (3), a connecting mechanism (13) is provided at the far end of the rigid mechanical arm (2), two retaining frames (121) are fixedly provided in parallel on the connecting mechanism (13), and each retaining frame (121) contains a serpentine mechanical arm body (11); 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 the set movement range.

Images