Snakelike robot with mechanical gripper

Abstract

The utility model discloses a snakelike robot with mechanical claws. The snakelike robot comprises a snakelike head mechanism, a snakelike mechanism and a mechanical arm assembly. The snake head mechanism and the mechanical arm assembly are installed at the two ends of the snake-shaped mechanism respectively, the snake-shaped mechanism comprises a first connecting assembly and a second connecting assembly which are arranged at intervals, and adjacent connecting pieces are mutually orthogonal and rotationally connected, so that movement in a three-dimensional space can be achieved; the snake head mechanism and the mechanical arm assembly are rotationally connected with the first connecting assembly or the second connecting assembly distributed at the end. The snake head mechanism is provided with a control unit, image acquisition equipment and an illuminating lamp; the snakelike mechanism is provided with a walking mechanism, and the walking mechanism comprises a driving wheel mechanism and a driven wheel mechanism; the manipulator comprises a driving mechanism and a clamping jaw assembly, and the driving mechanism is in driving connection with the clamping jaw assembly and drives the clamping jaw assembly to be opened or closed. According to the utility model, flexible deformation of the snake-shaped robot and flexible grabbing of the manipulator can be realized, so that the device can execute detection and pickup work in a narrow area.

Description

Technical Field

[0001] The utility model relates to the technical field of narrow - space picking and detecting devices, and particularly relates to a manipulator - claw snake - shaped robot. Background Art

[0002] Natural disasters seriously threaten the lives and property of human beings. The first 3 days after a disaster are the golden rescue time. However, due to the influence of the disaster - site environment, it is very difficult for rescue workers to carry out rescue work at the fastest speed and with the highest efficiency, and sometimes the rescue tasks are also beyond the ability range of rescue workers. For example, the interior of the rescue area is relatively wide, but the external entrance is extremely narrow. Therefore, rescue robots have become an important development trend, and it is very necessary to research a snake - shaped rescue robot that can enter areas with a narrow outer part and a wide inner part.

[0003] At present, most snake - shaped robots are structured as a repeated combination of multiple rigid - module joints, making the snake body generally close to a continuous - type robot. However, each rigid module of the robot itself cannot bend, making it difficult for the robot to actively or passively change the shape or size of each component module according to the characteristics of the environment to better adapt to the environment, and most designs still focus on how to improve the motion performance, with little research attention paid to the active operation ability of snake - shaped robots. Therefore, there is an urgent need to invent and design a new type of gripper - type snake - shaped robot with both yaw and pitch motion capabilities, which can perform picking and detecting work in narrow spaces while ensuring the stability of the snake body. Summary of the Invention

[0004] The purpose of the utility model is to provide a manipulator - claw snake - shaped robot for the problems existing in the prior art, enabling the device to perform detection and picking work in narrow areas, adding separate wheel - type motion to achieve linear motion and wheel - assisted serpentine motion, so as to ensure that the snake - shaped robot can adapt to different types of road surfaces.

[0005] The utility model adopts the following technical solutions:

[0006] A manipulator - claw snake - shaped robot includes a snake - head mechanism, a snake - shaped mechanism, and a manipulator component; the snake - head mechanism and the manipulator component are respectively installed at both ends of the snake - shaped mechanism; the snake - shaped mechanism includes a number of first connection components and second connection components arranged at intervals; the first connection components and the second connection components are rotationally connected; the snake - head mechanism and the manipulator component are respectively rotationally connected to the first connection components or the second connection components distributed at the ends.

[0007] Further, the first connection component includes a first servo, a first servo mount, and a first connecting member. The first servo is fixedly installed inside the first servo mount, and the first connecting member is fixed to one side of the first servo mount. The second connection component includes a second servo, a second servo mount, and a second connecting member. The second servo is fixedly installed inside the second servo mount, and the second connecting member is fixed to one side of the second servo mount. The first servo is horizontally rotatably connected to the second connecting member distributed upstream of it, and the first connecting member is vertically rotatably connected to the second servo distributed downstream of it.

[0008] Further, installation grooves are provided inside both the first servo mount and the second servo mount. The first servo / second servo is fixed inside the installation groove, and through holes communicating with the installation groove are provided on both sides of the first servo mount / second servo mount. The steering wheel of the first servo / second servo extends outside the first servo mount / second servo mount. The first connecting member and the second connecting member are both U-shaped mounting plates, and a steering wheel groove is provided on the inner side of the wing plates of the U-shaped mounting plates. The first servo mount / second servo mount is distributed between the U-shaped mounting plates, and the steering wheel of the first servo / second servo is fixedly connected to the steering wheel groove.

[0009] Further, the snake head mechanism includes a snake head body, a cover body, and two groups of mounting plates. The cover body is detachably and fixedly connected to the snake head body. The mounting plates are fixed to the side of the snake head body away from the cover body, and the two groups of mounting plates are parallel to each other. A steering wheel groove is provided on the inner surface of the mounting plate and is fixedly connected to the steering wheel of the first servo / second servo.

[0010] Further, through holes are provided on the cover body. A control unit and an image acquisition device are provided inside the snake head body. The camera of the image acquisition device extends outside the snake head body through the through holes on the cover body. A lighting lamp is also provided on the cover body.

[0011] Further, a traveling mechanism is also provided. The traveling mechanism includes several groups of driving wheel mechanisms 6 and driven wheel mechanisms 7. The driving wheel mechanisms and the driven wheel mechanisms are installed on the outer walls of the first servo mount, the first connecting member, the second servo mount, or the second connecting member.

[0012] Further, one or more sets of driving wheel mechanisms are provided, which are arranged in the middle of the snake-shaped mechanism and are respectively connected to the outer walls of one or more sets of first servo mounting members distributed in the middle part of the snake-shaped mechanism. The length of the first servo mounting member equipped with the driving wheel mechanism is greater than that of other first servo mounting members; several sets of driven wheel mechanisms are provided and are connected to the outer wall of the second connecting member; the driving wheel mechanism includes two driving wheels and two driving wheel servos, and the two driving wheel servos are fixedly installed on the outer wall of the first servo mounting member, and the two driving wheels are respectively drivingly connected to the two driving wheel servos; the driven wheel mechanism includes two driven wheels and a rotating shaft; the rotating shaft is rotatably connected to the outer wall of the second connecting member, and the two driven wheels are respectively fixedly installed at both ends of the rotating shaft.

[0013] Further, the manipulator assembly includes a T-shaped connecting member and a manipulator; a servo mounting groove is provided inside the T-shaped connecting member, and a third servo is fixedly installed. The servo disc of the third servo is fixedly connected to the servo disc groove of the first connecting member / second connecting member distributed at the end of the snake-shaped mechanism; a fourth servo is provided at one end of the T-shaped connecting member facing away from the snake-shaped mechanism, and the fourth servo is drivingly connected to the manipulator.

[0014] Further, the manipulator includes a driving mechanism and a jaw assembly; the jaw assembly includes a jaw fixing plate, several sets of support plates, intermediate connecting rods and jaws; the intermediate connecting rods include a first connecting rod and a second connecting rod that are parallel to each other; the support plates are fixedly connected to the jaw fixing plate, and several sets of support plates are equidistantly distributed; one end of the first connecting rod and the second connecting rod is hinged to the support plate, and the other end is hinged to the jaw, and the second connecting rod is distributed outside the first connecting rod; the driving mechanism is drivingly connected to the jaw assembly to drive the jaw assembly to open or close.

[0015] Further, the driving structure includes a chassis, an upper fixing plate, a fifth servo, a lead screw, a lead screw nut and a connecting rod; the chassis, the upper fixing plate and the jaw fixing plate are fixedly connected by bolts, and one side of the chassis away from the jaw assembly is connected to the fourth servo; the fifth servo is fixedly connected to the upper fixing plate; the lead screw nuts are distributed between each group of jaws; one end of the connecting rod is hinged to the lead screw nut, and the other end is hinged to the first connecting rod; the lead screw is threadedly connected to the lead screw nut, and one end of the lead screw passes through the jaw fixing plate and is connected to the fifth servo.

[0016] The beneficial effects of the present utility model are as follows:

[0017] (1) In the present utility model, by providing a snake head mechanism, a snake-shaped mechanism and a manipulator assembly, and the first connection assembly is rotatably connected to the second connection assembly, the flexible deformation of the snake-shaped robot and the flexible grasping of the manipulator can be realized, so that the device can perform detection and picking operations in a narrow area;

[0018] (2) In this utility model, the adjacent first connection component and second connection component can rotate relative to each other under the drive of the servo motor, and the rotation direction is the vertical direction or the horizontal direction. This design can achieve movement in two directions and improve the active operation ability of the snake-shaped robot;

[0019] (3) In this utility model, a control unit, an image acquisition device and a lighting lamp are arranged inside the snake head mechanism. The lighting lamp can provide illumination in a dark environment, and the image acquisition device can detect the environment through a camera, so as to accurately control the movement of the snake body;

[0020] (4) In this utility model, a traveling mechanism is installed on the snake-shaped mechanism, and the movement ability and moving stability of the snake-shaped robot are improved through the driving wheel mechanism and the driven wheel mechanism;

[0021] (5) In this utility model, the manipulator includes a driving mechanism and a jaw assembly. The driving mechanism can realize the opening and closing of the jaws through a lead screw and a lead screw nut structure, and has strong structural stability;

[0022] (6) This utility model is reasonably designed, can accurately control the deformation and movement of the snake-shaped mechanism and the opening and closing of the manipulator, can adapt to different types of road surfaces, and can realize picking and detecting work in narrow spaces while ensuring the stability of the snake body, with strong practicability. Brief Description of the Drawings

[0023] Figure 1 is a schematic structural diagram of this utility model;

[0024] Figure 2 is a schematic diagram of the snake head mechanism of this utility model;

[0025] Figures 3 - 4 is a connection schematic diagram of the first connection component and the second connection component of this utility model;

[0026] Figure 5 is an installation schematic diagram of the driven wheel mechanism of this utility model;

[0027] Figure 6 is a schematic structural diagram of the driven wheel mechanism of this utility model;

[0028] Figure 7 is an installation schematic diagram of the driving wheel mechanism of this utility model;

[0029] Figure 8 is a top view of the driving wheel mechanism of this utility model;

[0030] Figure 9 is a schematic structural diagram of the driving wheel mechanism of this utility model;

[0031] Figure 10 is a schematic structural diagram of the manipulator assembly of this utility model;

[0032] The reference numerals in the figures are as follows:

[0033] 1. Snake head mechanism; 1-1. Snake head body; 1-2. Cover body; 1-3. Mounting plate; 1-4. Camera; 1-5. Lighting lamp; 2. Serpentine mechanism; 3. Manipulator assembly; 3-1. T-shaped connecting piece; 3-2. Third servo; 3-3. Fourth servo; 3-4. Claw fixing plate; 3-5. Support plate; 3-6. Claw; 3-7. First connecting rod; 3-8. Second connecting rod; 3-9. Chassis; 3-10. Upper fixing plate; 3-11. Fifth servo; 3-12. Lead screw; 3-13. Lead screw nut; 3-14. Connecting rod; 3-15. Bolt; 4. First connecting assembly; 4-1. First servo; 4-2. First servo mounting piece; 4-3. First connecting piece; 5. Second connecting assembly; 5-1. Second servo; 5-2. Second servo mounting piece; 5-3. Second connecting piece; 6. Driving wheel mechanism; 7. Driven wheel mechanism. Detailed implementation manners

[0034] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0035] Embodiment 1

[0036] Referring to Figure 1 , an embodiment of the present utility model provides a manipulator claw serpentine robot, which includes a snake head mechanism 1, a serpentine mechanism 2 and a manipulator assembly 3.

[0037] The snake head mechanism 1 and the manipulator assembly 3 are respectively installed at both ends of the serpentine mechanism 2. Among them, the serpentine mechanism 2 includes a plurality of first connecting assemblies 4 and second connecting assemblies 5 arranged at intervals, and the first connecting assemblies 4 and the second connecting assemblies 5 are rotatably connected. The snake head mechanism 1 and the manipulator assembly 3 are respectively rotatably connected to the first connecting assembly 4 or the second connecting assembly 5 distributed at the ends.

[0038] Embodiment 2

[0039] The main structure of this embodiment is the same as that of Embodiment 1. The difference is that the structures of the first connecting assembly 4 and the second connecting assembly 5 are defined in this embodiment.

[0040] Specifically, referring to Figure 1 and Figures 3 - 4, in this embodiment, the first connection component 4 includes a first servo 4-1, a first servo mounting member 4-2, and a first connecting member 4-3. The first servo 4-1 is fixedly installed inside the first servo mounting member 4-2, and the first connecting member 4-3 is fixed to one side of the first servo mounting member 4-2. The second connection component 5 includes a second servo 5-1, a second servo mounting member 5-2, and a second connecting member 5-3. The second servo 5-1 is fixedly installed inside the second servo mounting member 5-2, and the second connecting member 5-3 is fixed to one side of the second servo mounting member 5-2.

[0041] The first servo 4-1 is horizontally drivingly connected to the second connecting member 5-3 distributed upstream of it, and the first connecting member 4-3 is vertically drivingly connected to the second servo 5-1 distributed downstream of it, that is, orthogonal connections are adopted between adjacent connection components. Driven by the first servo 4-1, the first connecting member 4-3 rotates in the vertical direction relative to the second connecting member 5-3 distributed upstream of it. Driven by the second servo 5-1, the first connecting member 4-3 rotates in the horizontal direction relative to the second connecting member 5-3 distributed downstream of it.

[0042] Wherein, mounting grooves are provided inside both the first servo mounting member 4-2 and the second servo mounting member 5-2. The first servo 4-1 / second servo 5-1 is fixed inside the mounting groove, and through holes communicating with the mounting groove are provided on both sides of the first servo mounting member 4-2 / second servo mounting member 5-2. The steering wheel of the first servo 4-1 / second servo 5-1 extends outside the first servo mounting member 4-2 / second servo mounting member 5-2. The first connecting member 4-3 and the second connecting member 5-3 are both U-shaped mounting plates. Steering wheel grooves are provided on the inner sides of the wing plates of the U-shaped mounting plates. The first servo mounting member 4-2 / second servo mounting member 5-2 is distributed between the U-shaped mounting plates, and the steering wheel of the first servo 4-1 / second servo 5-1 is fixedly connected to the steering wheel groove. The steering wheel in the previous connecting member is installed in the steering wheel mounting groove of the next connecting member, and adjacent connecting members are orthogonal to each other, enabling movement in three-dimensional space.

[0043] In the present utility model, adjacent first connection components 4 and second connection components 5 can rotate relative to each other under the drive of the servo, and the rotation directions are vertical or horizontal. This design can achieve movement in two directions and improve the active operation ability of the snake-shaped robot.

[0044] Embodiment 3

[0045] The main structure of this embodiment is the same as that of Embodiment 2, except that the snake head mechanism is defined in this embodiment.

[0046] Specifically, referring to Figures 1 - 2 , in this embodiment, the snake head mechanism 1 includes a snake head body 1-1, a cover body 1-2, and two groups of mounting plates 1-3. The snake head body 1-1 has a hollow structure.

[0047] The cover body 1-2 is detachably and fixedly connected to the snake head body 1-1. The mounting plate 1-3 is fixed to the side of the snake head body 1-1 away from the cover body 1-2, and the two sets of mounting plates 1-3 are parallel to each other. The inner surface of the mounting plate 1-3 is provided with a steering wheel groove, which is fixedly connected to the steering wheel of the first servo 4-1 of the first connection assembly 4 or the steering wheel of the second servo 5-1 of the second connection assembly 5. Driven by the first servo 4-1 or the second servo 5-1, the snake head mechanism 1 can rotate horizontally or vertically relative to the snake-shaped mechanism 2.

[0048] In this embodiment, a through hole is provided on the cover body 1-2. A control unit and an image acquisition device are arranged inside the snake head body 1-1. The camera 1-4 of the image acquisition device extends outside the snake head body 1-1 through the through hole on the cover body 1-2 to obtain a field of view. The image acquisition device is connected to the control unit, and the environment is detected through the camera 1-4, thereby controlling the movement of the snake body. A lighting lamp 1-5 is also provided on the cover body 1-2 to provide illumination in a dark environment. The servo in the servo installation groove is connected to the PWM interface of the motor driver, and the motor driver is controlled by the microcontroller, thereby controlling the rotation of the servo.

[0049] Embodiment 4

[0050] The main structure of this embodiment is the same as that of Embodiment 3, except that this embodiment is also provided with a traveling mechanism.

[0051] Specifically, referring to Figures 3 - 4 , in this embodiment, the traveling mechanism includes a plurality of sets of alternately arranged driving wheel mechanisms 6 and driven wheel mechanisms 7, and the number of the driving wheel mechanisms 6 and the driven wheel mechanisms 7 can be set according to requirements.

[0052] In this embodiment, a plurality of sets of driving wheel mechanisms 6 are provided and arranged in the middle of the snake-shaped mechanism 2, and are respectively connected to the outer walls of a plurality of sets of first servo mounting members 4-2 distributed in the middle part of the snake-shaped mechanism 2. The length of the first servo mounting members 4-2 distributed in the middle part of the snake-shaped mechanism 2 is greater than that of other first servo mounting members, so as to facilitate the installation of the driving wheel mechanisms 6. A plurality of sets of driven wheel mechanisms 7 are provided and connected to the outer wall of the second connecting member 5-3.

[0053] Referring to Figures 7 - 9 , the driving wheel mechanism 6 includes two driving wheels and two driving wheel servos. The two driving wheel servos are fixedly installed on the outer wall of the first servo mounting member 4-2, and the two driving wheels are respectively driven and connected to the two driving wheel servos; referring to Figures 5 - 6 , the driven wheel mechanism 7 includes two driven wheels and a rotating shaft; the rotating shaft is rotatably connected to the outer wall of the second connecting member 5-3, and the two driven wheels are respectively fixedly installed at both ends of the rotating shaft.

[0054] Example 5

[0055] The main structure of this embodiment is the same as that of Embodiment 4. The difference is that the manipulator assembly is defined in this embodiment.

[0056] Specifically, referring to Figure 10 , in this embodiment, the manipulator assembly 3 includes a T-shaped connecting piece 3-1 and a manipulator; a servo installation groove is provided inside the T-shaped connecting piece 3-1, and a third servo 3-2 is fixedly installed. The servo disc of the third servo 3-2 is fixedly connected to the servo disc grooves of the first connecting piece 4-3 / second connecting piece 5-3 distributed at the end of the snake-shaped mechanism 2. One end of the T-shaped connecting piece 3-1 facing away from the snake-shaped mechanism 2 is provided with a fourth servo 3-3. The fourth servo 3-3 is drivingly connected to the manipulator, and the rotation of the fourth servo 3-3 can drive the entire mechanical claw to rotate.

[0057] The manipulator includes a driving mechanism and a jaw assembly. The jaw assembly includes a jaw fixing plate 3-4, three groups of support plates 3-5, three groups of intermediate connecting rods, and three groups of jaws 3-6. Among them, the intermediate connecting rod includes a first connecting rod 3-7 and a second connecting rod 3-8 that are parallel to each other. The support plate 3-5 is fixedly connected to the jaw fixing plate 3-4. If the three groups of support plates 3-5 are equidistantly distributed, one end of the first connecting rod 3-7 and the second connecting rod 3-8 is hinged to the support plate 3-5, and the other end is hinged to the jaw 3-6. The second connecting rod 3-8 is distributed outside the first connecting rod 3-7. The driving mechanism is drivingly connected to the jaw assembly to drive the jaw assembly to open or close.

[0058] The driving structure includes a chassis 3-9, an upper fixing plate 3-10, a fifth servo 3-11, a lead screw 3-12, a lead screw nut 3-13, and a connecting rod 3-14. The chassis 3-9, the upper fixing plate 3-10, and the jaw fixing plate 3-4 are fixedly connected by bolts 3-15, and one side of the chassis 3-9 away from the jaw assembly is connected to the fourth servo 3-3. The fifth servo 3-11 is fixedly connected to the upper fixing plate 3-10.

[0059] The lead screw nut 3-13 is distributed among the three groups of jaws 3-6. One end of the connecting rod 3-14 is hinged to the lead screw nut 3-13, and the other end is hinged to the first connecting rod 3-7. The lead screw 3-12 is threadedly connected to the lead screw nut 3-13, and one end of the lead screw 3-12 passes through the jaw fixing plate 3-4 and is connected to the fifth servo 3-11.

[0060] During application, the fifth servo 3-11 drives the lead screw 3-12 to rotate, thereby driving the lead screw nut 3-13 to move linearly along the lead screw 3-12. When the manipulator grabs an object, the fifth servo 3-11 drives the lead screw 3-12 to rotate clockwise, and the lead screw nut 3-13 moves away from the fifth servo 3-11, driving the connecting rod 3-14 to pull in the middle connecting rod (the first connecting rod 3-7) to close the jaw 3-6. When the manipulator releases the object, the fifth servo 3-11 drives the lead screw 3-12 to rotate counterclockwise, and the lead screw nut 3-13 moves towards the fifth servo 3-11, driving the connecting rod 3-14 to open the middle connecting rod (the first connecting rod 3-7) to open the jaw 3-6.

[0061] In this device, all servos are electrically connected to the control unit, and the rotation of each servo is controlled by the control unit to realize the movement of the snake robot and the grasping of the manipulator. The control unit includes a host computer and a slave computer. The host computer is mainly used to receive the camera image information and transmit it to the user terminal through wireless communication. The slave computer is mainly used for motor drive control to adjust the movement gait of the snake robot and the movement of the mechanical claw. Serial communication is used between the host computer and the slave computer. The user terminal can remotely control the snake robot according to the image information transmitted by the host computer of the snake robot in real time. When the snake robot is in a complex environment, the preset movement mode of the snake robot can be selected on the user terminal.

[0062] Embodiment 6

[0063] This embodiment describes the movement mode of the snake robot by way of example.

[0064] In this device, the user terminal can remotely control the snake robot according to the image information transmitted by the host computer of the snake robot in real time. When the snake robot is in a complex environment, the preset movement mode of the snake robot can be selected on the user terminal, where the preset movement mode includes a linear movement mode, a wheel-assisted serpentine movement mode, and a working mode. These three movement modes are explained in detail below.

[0065] Referring to Figure 1 , in this embodiment, the snake mechanism 2 includes 10 first connection components 4 and 9 second connection components 5 arranged at intervals. The snake head mechanism 1 is connected to the first connection components 4 distributed at the head, and the manipulator assembly 3 is connected to the second connection components 5 distributed at the tail.

[0066] Linear movement mode: When the servos of all the first connection components 4 and the second connection components 5 return to zero, and all the servos of the manipulator assembly 3 return to zero, the snake body forms a straight line. Start the servos of the driving wheel mechanisms 6 provided on the 3rd, 4th, 7th, and 8th first connection components 4 from left to right to drive the driving wheels to rotate, thereby driving the snake robot to move.

[0067] Wheel-assisted serpentine motion mode: For the convenience of explanation, the servos set by the 1st, 2nd, 3rd, 4th, 5th, 6th, 7th, 8th, 9th, and 10th first connection components 4 from left to right are numbered 1, 2... n (n = 10) in sequence. Given that the angular frequency of servo 1 is ω (i.e., the period ), the amplitude is A (representing the maximum angle), and the initial phase is of the sine signal, denoted as signal y1. Then, given that the angular frequency and amplitude of servo 2 are the same as those of servo 1, and the phase angle is of the sine signal y2. At this time where Similarly, the input signal of servo 3 is Thus, the input signal of each joint is where i = 2, 3,... n. The machine snake is driven forward by the friction between the passive wheels and the ground. Due to the existence of the active wheels, during the serpentine motion of the machine snake, the active wheels can be driven to assist the motion of the machine snake, improving the motion efficiency of the serpentine motion.

[0068] Working mode: The servos of the 5th first connection component 4 from left to right and the servos of the 6th second connection component 5 from left to right rotate 90° around the Z axis towards the direction of the target object to be grasped, so that the snake head and the mechanical claw face the same direction. At this time, the machine snake is in a U shape. The servos of the active wheel mechanisms of the 3rd and 4th first connection components 4 from left to right rotate clockwise, and the servos of the active wheel mechanisms of the 7th and 8th first connection components 4 from left to right rotate counterclockwise to drive the active wheels to rotate, making the machine snake move.

[0069] When the machine snake needs to enter a space that is narrow on the outside and wide on the inside, the snake body is generally in a straight line (the straight-line motion mode and the wheel-assisted serpentine motion mode can be selected according to the actual situation). The lighting lamp is turned on, and the user terminal wirelessly remotely controls the machine snake to enter the space through the narrow passage according to the image transmitted by the camera. When the machine snake moves near the object to be grasped, the gait is adjusted to the working mode. The machine snake is in a U shape. The servos of the 2nd and 8th second connection components 5 from left to right are controlled to rotate by a corresponding angle around the x axis through wireless remote control to lift both ends of the snake-shaped robot. At this time, rotating the servo on the 1st first connection component 4 can enable the camera to obtain a wider field of view, and rotating the third servo 3-2 of the manipulator component can expand the grasping range of the manipulator claw. If the manipulator claw still cannot reach the object to be grasped at this time, then control the servos of the active wheel mechanisms 6 set on the 3rd, 4th, 7th, and 8th first connection components 4 from left to right to rotate, so that the machine snake approaches the object to be grasped, and the servo of the manipulator component is wirelessly remotely controlled to complete the grasping.

[0070] When there is an obstacle in the forward direction of the snake robot, first adjust the gait to the working mode, control the servo motor of the 4th second connection component 5 from left to right to rotate a certain angle, lift the snake head mechanism and the front end of the snake-shaped robot, and control the servo motor at the front end of the snake-shaped robot to adjust the viewing angle of the camera to observe the surrounding environment. If the obstacle is relatively short, control the servo motor at the rear end of the snake-shaped robot to make the mechanical claw go around from above the obstacle, and grasp the target object after reaching the appropriate position. If the terrain is not suitable for the snake robot to grasp, then control the movement of each joint servo motor, and according to the image transmitted by the camera, remotely control the snake robot to move to the appropriate working position.

[0071] The above are only the preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements should be regarded as within the protection scope of the present invention.

Claims

1. A manipulator claw snake-shaped robot, characterized in that it includes a snake head mechanism (1), a snake-shaped mechanism (2) and a manipulator assembly (3); The snake head mechanism (1) and the manipulator assembly (3) are respectively installed at both ends of the snake-shaped mechanism (2); The snake-shaped mechanism (2) includes a number of first connection components (4) and second connection components (5) arranged at intervals; the first connection components (4) and the second connection components (5) are rotatably connected; The snake head mechanism (1) and the manipulator assembly (3) are respectively rotatably connected to the first connection component (4) or the second connection component (5) distributed at the end.

2. The manipulator claw snake-shaped robot according to claim 1, characterized in that The first connection component (4) includes a first servo motor (4-1), a first servo motor mounting member (4-2) and a first connecting member (4-3). The first servo motor (4-1) is fixedly installed inside the first servo motor mounting member (4-2), and the first connecting member (4-3) is fixed to one side of the first servo motor mounting member (4-2); The second connection component (5) includes a second servo motor (5-1), a second servo motor mounting member (5-2) and a second connecting member (5-3). The second servo motor (5-1) is fixedly installed inside the second servo motor mounting member (5-2), and the second connecting member (5-3) is fixed to one side of the second servo motor mounting member (5-2); The first servo motor (4-1) is horizontally rotatably connected to the second connecting member (5-3) distributed upstream of it, and the first connecting member (4-3) is vertically rotatably connected to the second servo motor (5-1) distributed downstream of it.

3. The manipulator claw snake-shaped robot according to claim 2, characterized in that Installation grooves are provided inside both the first servo motor mounting member (4-2) and the second servo motor mounting member (5-2). The first servo motor (4-1) / second servo motor (5-1) is fixed inside the installation groove, and through holes communicating with the installation groove are provided on both sides of the first servo motor mounting member (4-2) / second servo motor mounting member (5-2). The steering wheel of the first servo motor (4-1) / second servo motor (5-1) extends outside the first servo motor mounting member (4-2) / second servo motor mounting member (5-2); Both the first connecting member (4-3) and the second connecting member (5-3) are U-shaped mounting plates, and a steering wheel groove is provided on the inner side of the wing plates of the U-shaped mounting plates; the first servo motor mounting member (4-2) / second servo motor mounting member (5-2) is distributed between the U-shaped mounting plates, and the steering wheel of the first servo motor (4-1) / second servo motor (5-1) is fixedly connected to the steering wheel groove.

4. The manipulator claw snake-shaped robot according to claim 1, characterized in that The snake head mechanism (1) includes a snake head body (1-1), a cover body (1-2) and two groups of mounting plates (1-3); The cover body (1-2) is detachably and fixedly connected to the snake head body (1-1). The mounting plates (1-3) are fixed to the side of the snake head body (1-1) away from the cover body (1-2), and the two groups of mounting plates (1-3) are parallel to each other; The inner surface of the mounting plate (1-3) is provided with a steering wheel groove, which is fixedly connected to the steering wheel of the first servo (4-1) / the second servo (5-1).

5. The manipulator claw snake-shaped robot according to claim 4, wherein A through hole is provided on the cover body (1-2), and a control unit and an image acquisition device are arranged inside the snake head body (1-1). The camera (1-4) of the image acquisition device extends outside the snake head body (1-1) through the through hole on the cover body (1-2); A lighting lamp (1-5) is also arranged on the cover body (1-2).

6. The manipulator claw snake-shaped robot according to claim 2, wherein A traveling mechanism is further provided, and the traveling mechanism includes a driving wheel mechanism (6) and a driven wheel mechanism (7); The driving wheel mechanism (6) and the driven wheel mechanism (7) are installed on the outer walls of the first servo mounting member (4-2), the first connecting member (4-3), the second servo mounting member (5-2) or the second connecting member (5-3).

7. The manipulator claw snake-shaped robot according to claim 6, wherein One group or multiple groups of the driving wheel mechanisms (6) are provided, which are arranged in the middle of the snake-shaped mechanism (2) and are respectively connected to the outer walls of one group or multiple groups of the first servo mounting members (4-2) distributed in the middle part of the snake-shaped mechanism (2). The length of the first servo mounting member equipped with the driving wheel mechanism (6) is greater than the lengths of other first servo mounting members; Several groups of the driven wheel mechanisms (7) are provided and are connected to the outer wall of the second connecting member (5-3); The driving wheel mechanism (6) includes two driving wheels and two driving wheel servos. The two driving wheel servos are fixedly installed on the outer wall of the first servo mounting member (4-2), and the two driving wheels are respectively drivingly connected to the two driving wheel servos; The driven wheel mechanism (7) includes two driven wheels and a rotating shaft; The rotating shaft is rotatably connected to the outer wall of the second connecting member (5-3), and the two driven wheels are respectively fixedly installed at both ends of the rotating shaft.

8. The manipulator claw snake-shaped robot according to claim 1, wherein The manipulator assembly (3) includes a T-shaped connecting member (3-1) and a manipulator; A servo mounting groove is arranged inside the T-shaped connecting member (3-1), and a third servo (3-2) is fixedly installed. The steering wheel of the third servo (3-2) is fixedly connected to the steering wheel groove of the first connecting member (4-3) / the second connecting member (5-3) distributed at the end of the snake-shaped mechanism (2); One end of the T-shaped connecting member (3-1) facing away from the snake-shaped mechanism (2) is provided with a fourth servo (3-3), and the fourth servo (3-3) is drivingly connected to the manipulator.

9. The manipulator claw snake-shaped robot according to claim 8, wherein The manipulator includes a driving mechanism and a jaw assembly; The jaw assembly includes a jaw fixing plate (3-4) and several groups of support plates (3-5), an intermediate connecting rod and a jaw (3-6); The intermediate connecting rod includes a first connecting rod (3-7) and a second connecting rod (3-8) that are parallel to each other; The support plate (3-5) is fixedly connected to the jaw fixing plate (3-4), and several groups of support plates (3-5) are equidistantly distributed; one end of the first connecting rod (3-7) and the second connecting rod (3-8) is hinged to the support plate (3-5), and the other end is connected to the jaw (3-6), and the second connecting rod (3-8) is distributed outside the first connecting rod (3-7). The driving mechanism is drivingly connected to the jaw assembly to drive the jaw assembly to open or close.

10. The robotic hand snake robot according to claim 9, wherein The driving mechanism includes a chassis (3-9), an upper fixing plate (3-10), a fifth servo (3-11), a lead screw (3-12), a lead screw nut (3-13), and a connecting rod (3-14). The chassis (3-9), the upper fixing plate (3-10), and the jaw fixing plate (3-4) are fixedly connected by bolts (3-15), and one side of the chassis (3-9) away from the jaw assembly is connected to the fourth servo (3-3); the fifth servo (3-11) is fixedly connected to the upper fixing plate (3-10). The lead screw nuts (3-13) are distributed between the jaws (3-6); one end of the connecting rod (3-14) is hinged to the lead screw nut (3-13), and the other end is hinged to the first connecting rod (3-7); the lead screw (3-12) is threadedly connected to the lead screw nut (3-13), and one end of the lead screw (3-12) passes through the jaw fixing plate (3-4) and is connected to the fifth servo (3-11).

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