Rope-driven snakelike robot with omni-directional moving lifting platform

Abstract

The utility model discloses a rope-driven snakelike robot with an omni-directional moving lifting platform. The robot comprises a bottom support, Mecanum wheels, a supporting leg assembly, a rotary lifting device, a rope driving mechanism and a snakelike mechanical arm. The Mecanum wheels are arranged on the lower portions of the four corners of the bottom support respectively, the supporting leg assemblies are arranged near the Mecanum wheels respectively, the rotary lifting device is arranged on the upper portion of the bottom support, the rope driving mechanism is fixed in the rotary lifting device, and the snakelike mechanical arm is connected with the rope driving mechanism and curled in the rope driving mechanism. The omni-directional lifting platform achieves omni-directional free movement, lifting in the vertical direction and change of the angle of the platform, has the working state of high stability and high maneuverability, is small in overall size, can be conveniently applied to a narrow environment, can work at multiple angles, meets the working requirements of specific occasions, and is suitable for various geographical environments and space states.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a rope-driven snake robot with an omnidirectional mobile lifting platform. Background Technology

[0002] Currently, the most common lifting platforms on the market are scissor lifts and aluminum alloy lifts. The former mainly relies on hydraulic power to drive the scissors for lifting, while the latter relies on belt drive to move the aluminum alloy bars in a staggered manner, thereby lifting the platform. Although these two types of lifting platforms can provide a large load capacity and lifting distance, their platform dimensions tend to be standard, mainly used for lifting operators and some special equipment. They are not specifically designed for snake-like robots and cannot be used in various working conditions and operating environments.

[0003] Snake-like robotic arms, modeled after the biological snake, possess advantages such as high flexibility, high redundancy, and small cross-sectional area, enabling them to operate in confined, complex, and high-risk environments, and have experienced rapid development in recent years. In current technologies, the moving arm of a snake-like robotic arm is mounted on a general-purpose or specially designed mobile platform. The combined movement of the mobile platform and the robotic arm achieves propulsion and obstacle avoidance in narrow spaces. However, this method, due to the large range of motion of the pushing platform, often requires a large workspace to house the mobile platform, hindering the practical application of snake-like robotic arms. Furthermore, because the pushing platform and the snake-like robotic arm are designed separately, the snake-like robotic arm is usually in an extended state when not in operation, occupying a significant amount of space and posing a disadvantage to the structural protection of the snake-like robotic arm itself. Utility Model Content

[0004] This invention designs a lifting mechanism for a snake-like robot, providing a rope-driven snake-like robot with an omnidirectional lifting platform. Suitable for retractable snake-like robotic arms, it offers vertical lifting and adjustable platform angles, enabling the snake-like robot to operate from multiple angles to meet specific work requirements. By integrating the snake-like robotic arm with the pushing platform, the arm can retract within the platform, improving the space utilization of the entire system. Furthermore, the omnidirectional lifting platform enhances the snake-like robot's flexibility and maneuverability.

[0005] The technical solution adopted in this utility model is:

[0006] This utility model includes a bottom support, a Mecanum wheel, a support leg assembly, a rotating lifting device, a rope drive mechanism, and a snake-shaped robotic arm;

[0007] A Mecanum wheel is provided at the lower part of each of the four corners of the bottom support, and a support leg assembly is provided near each Mecanum wheel. A rotating lifting device is provided at the upper part of the bottom support, and the rope drive mechanism is fixed in the rotating lifting device. The snake-shaped robotic arm is connected to the rope drive mechanism and coiled in the rope drive mechanism.

[0008] The bottom support is a rectangular support, and each of the leg components is located on the long side of the bottom support. A pair of leg components on the same long side and a pair of leg components on the other long side are symmetrically distributed. The snake-shaped robotic arm is pulled and driven by a rope drive mechanism.

[0009] The outrigger assembly includes an outrigger device and an outrigger external drive device;

[0010] The outrigger device is located on the outer side of the long side of the bottom bracket, and the outrigger external drive device is located on the inner side of the long side of the bottom bracket at the corresponding position of the outrigger device. The outrigger external drive device cooperates with the outrigger device for transmission.

[0011] The outrigger device includes a hinge seat, a hinge column, a bearing, a lower outrigger seat, an upper outrigger seat, a linear slide rail, a slider, and a support leg auxiliary mechanism.

[0012] The hinge seat is installed on the outer side of the long side of the bottom bracket. The hinge column is inserted into the hinge seat. The bearing is installed on the upper part of the hinge column. The lower support leg seat is fixedly connected to the hinge column. The upper support leg seat is located on the upper part of the lower support leg seat. The lower end face of one end of the upper support leg seat is fixedly connected to the upper end face of the lower support leg seat. The lower end face of the other end of the upper support leg seat is provided with the linear slide rail. The slider is fitted onto the linear slide rail to form a sliding pair. The slider and the linear slide rail are slidably connected. The lower part of the lower support leg seat is provided with the support leg seat auxiliary mechanism.

[0013] The supporting leg auxiliary mechanism includes a first push rod clamp, a first electric push rod, a sliding clamp, a stop block, an inner connecting rod, a reinforcing connecting rod, and a supporting leg.

[0014] The lower part of the lower support leg is provided with the first push rod clamp, and the lower end face of the slider is fixed with the sliding clamp by bolts. The first push rod clamp and the sliding clamp together clamp and fix the first electric push rod. A stop block is fixed at the outer end of the linear slide rail to prevent the slider from sliding out of the linear slide rail. The sliding clamp is hinged to one end of the inner connecting rod, the other end of the inner connecting rod is hinged to one end of the reinforcing connecting rod, and the other end of the reinforcing connecting rod is hinged to the stop block. At the hinge point of the inner connecting rod and the reinforcing connecting rod, the top of the support leg is simultaneously hinged to the inner connecting rod and the reinforcing connecting rod.

[0015] The support leg auxiliary mechanism includes three revolute joints. The reinforcing link is connected to the stop block to form a first revolute joint. The inner link is connected to the sliding clamp to form a second revolute joint. The inner link and the reinforcing link are connected to the support leg to form a third revolute joint.

[0016] The outrigger external drive device includes a belt, gears, and a stepper motor;

[0017] The stepper motor is disposed on the inner side of the long side of the bottom bracket corresponding to the support leg device. The gears are respectively nested on the hinge column of the support leg device and the stepper motor. The gears mesh with the belt to drive the stepper motor to the hinge column, thereby enabling the support leg external drive device to drive the support leg device.

[0018] The rotating lifting device includes a left support column, a right support column, a right support inclined rod, a lower rotating auxiliary connecting rod, an upper rotating auxiliary connecting rod, and a second electric push rod;

[0019] The two left support columns and the two right support columns are arranged parallel to each other on the upper part of the bottom support. Each right support column has a right support diagonal rod on its top side. The other end of the right support diagonal rod is fixed to the short side of the bottom support. A lower rotating joint connecting rod is arranged between the right support column and the left support column on the same side of the bottom support. One end of the lower rotating joint connecting rod is fixed to the upper part of the right support column, and the other end is fixed to the top of the left support column. The end of the lower rotating joint connecting rod near the left support column is hinged to one end of the upper rotating joint connecting rod to form a rotating joint. A second electric push rod for support and lifting is arranged between the other end of the upper rotating joint connecting rod and the middle part of the lower rotating joint connecting rod on the same side of the bottom support. The other end of the upper rotating joint connecting rod is fixedly connected to one end of the second electric push rod, and the other end of the second electric push rod is fixed to the middle part of the lower rotating joint connecting rod.

[0020] The rope drive mechanism includes a main housing, a serpentine robotic arm connector, a housing side clamp, a housing base plate, a cable tray base, and a rope drive device.

[0021] A main housing is disposed between the two outer housing base plates, and the two outer housing base plates are fixedly connected to the main housing to form a closed box, which serves as the housing of the rope drive mechanism. An opening is provided on the main housing, and the serpentine robotic arm connector is disposed in the opening. The serpentine robotic arm connector extends out of the housing of the rope drive mechanism and connects to the serpentine robotic arm. The serpentine robotic arm is coiled between the two outer housing base plates. A housing side clamp facing the outside of the rope drive mechanism is provided at the center of each outer housing base plate. The housing side clamp is connected to the upper rotating joint connecting rod of the rotating lifting device. The rope drive mechanism is clamped by the two rotating joint connecting rods of the rotating lifting device and supported and lifted by the two second electric push rods. Inside the rope drive mechanism, a wire groove base is provided on one of the outer housing base plates, and the rope drive device is disposed on the wire groove base.

[0022] The rope drive device includes a rope pull groove, a groove drive motor, and a rope;

[0023] The base of the cable tray has fifteen grooves, each groove containing a pull rope groove. Each pull rope groove has a cable tray drive motor at its upper part and a rope wound inside each pull rope groove. One end of the rope is connected to the cable tray drive motor and is driven by the cable tray drive motor. The fifteen ropes pass through the snake-shaped robotic arm connector and are connected to the snake-shaped robotic arm, pulling and driving the snake-shaped robotic arm.

[0024] The snake-shaped robotic arm includes snake-shaped robotic arm joints and universal joints.

[0025] A universal joint is provided between every two of the snake-shaped robotic arm joints and is hinged. Each universal joint provides two degrees of freedom. The universal joint near the opening of the main housing is hinged to the end of the snake-shaped robotic arm connector of the rope drive mechanism. Each snake-shaped robotic arm joint is connected to three ropes. Each snake-shaped robotic arm joint is connected to three cable slot drive motors through the three ropes and is thus pulled and driven by the three cable slot drive motors.

[0026] The beneficial effects of this utility model are:

[0027] 1. It achieves omnidirectional free movement and a highly stable and highly maneuverable working state for snake-like robots, making it suitable for various geographical environments and spatial conditions.

[0028] 2. By integrating the snake-shaped robotic arm with the propulsion platform, the overall size is reduced, making it easier to use in confined environments.

[0029] 3. It enables the snake-like robot to lift and lower vertically and change the platform angle, allowing the snake-like robot to operate from multiple angles and meet the work requirements of specific occasions. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of this utility model.

[0031] Figure 2 This is a schematic diagram of the support leg device in this utility model.

[0032] Figure 3 This is a schematic diagram of the structure of the outrigger external drive device in this utility model.

[0033] Figure 4 , Figure 5 This is a schematic diagram of the structure of the rope drive mechanism of this utility model.

[0034] Figure 6 This is a schematic diagram of the snake-shaped robotic arm in this utility model.

[0035] In the picture:

[0036] 1. Bottom support; 2. Mecanum wheel; 3. Outrigger assembly; 3.1. Hinge seat; 3.2. Hinge column; 3.3. Bearing; 3.4. Lower outrigger seat; 3.5. Upper outrigger seat; 3.6. Linear guide rail; 3.7. Slider; 3.8. First push rod clamp; 3.9. First electric push rod; 3.10. Sliding clamp; 3.11. Stop; 3.12. Inner connecting rod; 3.13. Reinforcing connecting rod; 3.14. Support leg seat; 4. Outrigger external drive device; 4.1. Belt; 4.2. Gear; 4.3. Stepper motor. 5. Rotating Lifting Device, 5.1 Left Support Upright, 5.2 Right Support Upright, 5.3 Right Support Diagonal Rod, 5.4 Lower Rotating Joint Linkage, 5.5 Upper Rotating Joint Linkage, 5.6 Second Electric Push Rod, 6. Rope Drive Mechanism, 6.1 Main Housing, 6.2 Snake-shaped Robotic Arm Connector, 6.3 Side Clamp of Housing, 6.4 Base Plate of Housing, 6.5 Cable Tray Base, 6.6 Cable Tray, 6.7 Cable Tray Drive Motor, 7. Snake-shaped Robotic Arm, 7.1 Snake-shaped Robotic Arm Joint, 7.2 Universal Joint. Detailed Implementation

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] The structural schematic diagram of this utility model is shown below. Figure 1As shown, this utility model includes a bottom support 1, Mecanum wheels 2, outrigger assemblies, a rotating lifting device 5, a rope drive mechanism 6, and a snake-shaped robotic arm 7. A Mecanum wheel 2 is installed at the lower part of each of the four corners of the bottom support 1, and an outrigger assembly is installed near each Mecanum wheel 2 to enable omnidirectional movement of the robot and ensure the stability of the robot's working state. The rotating lifting device 5 is installed at the upper part of the bottom support 1 to enable the rope drive mechanism to lift and lower vertically and change the platform angle, allowing the robot to work under different working conditions and geographical environments, achieving multi-angle operations and meeting the needs of specific occasions. The rope drive mechanism 6 is fixed in the rotating lifting device 5, and the snake-shaped robotic arm 7 is connected to and coiled within the rope drive mechanism 6, improving space utilization and achieving an integrated design of the snake-shaped robotic arm and the pushing platform, reducing the overall size and facilitating use in confined spaces.

[0039] The bottom support is a rectangular rigid support that provides upper accommodating space. Each leg assembly is set on the long side of the bottom support 1, and a pair of leg assemblies on the same long side and a pair of leg assemblies on the other long side are symmetrically distributed. The snake-shaped robotic arm 7 is pulled and driven by the rope drive mechanism 6.

[0040] The outrigger assembly includes an outrigger device 3 and an outrigger external drive device 4. The outrigger device 3 is located on the outer side of the long side of the bottom support 1, and the outrigger external drive device 4 is located on the inner side of the long side of the bottom support 1 at the corresponding position of the outrigger device 3. The outrigger external drive device 4 cooperates with the outrigger device 3 for transmission.

[0041] A schematic diagram of the outrigger device 3 is shown below. Figure 2 As shown, the outrigger device 3 includes a hinge seat 3.1, a hinge column 3.2, a bearing 3.3, a lower outrigger seat 3.4, an upper outrigger seat 3.5, a linear slide rail 3.6, a slider 3.7, and a support leg auxiliary mechanism. The hinge seat 3.1 is installed on the outer side of the long side of the bottom bracket 1. The hinge column 3.2 is inserted into the hinge seat 3.1, allowing the outrigger device to rotate freely within 180 degrees in the horizontal direction around the hinge column 3.2. The bearing 3.3 is installed on the upper part of the hinge column 3.2, and the lower outrigger seat 3.4... The support leg 3.4 is fixedly connected to the hinge column 3.2. The upper support leg 3.5 is located on the upper part of the lower support leg 3.4. The lower end face of one end of the upper support leg 3.5 is fixedly connected to the upper end face of the lower support leg 3.4. The lower end face of the other end of the upper support leg 3.5 is provided with a linear slide rail 3.6. The slider 3.7 is fitted onto the linear slide rail 3.6 to form a sliding pair. The slider 3.7 is slidably connected to the linear slide rail 3.6. The lower part of the lower support leg 3.4 is provided with a support leg auxiliary mechanism.

[0042] The support leg base auxiliary mechanism includes a first push rod clamp 3.8, a first electric push rod 3.9, a sliding clamp 3.10, a stop block 3.11, an inner connecting rod 3.12, a reinforcing connecting rod 3.13, and a support leg base 3.14. The lower part of the lower support leg base 3.4 is provided with the first push rod clamp 3.8, and the lower end face of the slider 3.7 is fixed with the sliding clamp 3.10 by bolts. The first push rod clamp 3.8 and the sliding clamp 3.10 together clamp and fix the first electric push rod 3.9. A device is fixed at the outer end of the linear slide rail 3.6. To prevent the slider 3.7 from sliding out of the linear guide rail 3.6, the stop block 3.11 is used. The sliding clamp 3.10 is hinged to one end 3.12 of the inner connecting rod. The other end of the inner connecting rod 3.12 is hinged to one end of the reinforcing connecting rod 3.13. The other end of the reinforcing connecting rod 3.13 is hinged to the stop block 3.11. At the hinge point of the inner connecting rod 3.12 and the reinforcing connecting rod 3.13, the top of the support leg 3.14 is simultaneously hinged to both the inner connecting rod 3.12 and the reinforcing connecting rod 3.13. Due to gravity, the support leg 3.14 is always perpendicular to the ground.

[0043] More specifically, the support leg auxiliary mechanism includes three revolute joints: the reinforcing link 3.13 is connected to the stop block 3.11 to form the first revolute joint; the inner link 3.12 is connected to the sliding clamp 3.10 to form the second revolute joint; and the inner link 3.12 and the reinforcing link 3.13 are connected together to the support leg 3.14 to form the third revolute joint.

[0044] A schematic diagram of the structure of the outrigger external drive device 4 is shown below. Figure 3 As shown, the outrigger external drive device 4 includes a belt 4.1, a gear 4.2, and a stepper motor 4.3. The stepper motor 4.3 is disposed on the inner side of the long side of the bottom bracket 1 corresponding to the outrigger device 3. The gear 4.2 is nested on the hinge post 3.2 of the outrigger device 3 and the stepper motor 4.3 respectively. The gear 4.2 meshes with the belt 4.1 to drive the stepper motor 4.3 to the hinge post 3.2, thereby enabling the outrigger external drive device 4 to drive the outrigger device 3.

[0045] The rotating lifting device 5 includes a left support column 5.1, a right support column 5.2, a right support diagonal rod 5.3, a lower rotating joint connecting rod 5.4, an upper rotating joint connecting rod 5.5, and a second electric push rod 5.6. The two left support columns 5.1 and the two right support columns 5.2 are arranged parallel to each other on the upper part of the bottom support. Each right support column 5.2 has a right support diagonal rod 5.3 on its top side, and the other end of the right support diagonal rod 5.3 is fixed to the short side of the bottom support 1, forming a triangular structure to enhance the stability of the rotating lifting device 5. A lower rotating joint connecting rod 5.4 is provided between the right support column 5.2 and the left support column 5.1 on the same side of the bottom support 1. One end of the lower rotating joint link 5.4 is fixed to the upper part of the right support column 5.2, and the other end of the lower rotating joint link 5.4 is fixed to the top of the left support column 5.1. One end of the lower rotating joint link 5.4 near the left support column 5.1 is hinged to one end of the upper rotating joint link 5.5 to form a rotating joint. A second electric push rod 5.6 for support and lifting is provided between the other end of the upper rotating joint link 5.5 and the middle part of the lower rotating joint link 5.4 located on the same side of the bottom support 1. The other end of the upper rotating joint link 5.5 is fixedly connected to one end of the second electric push rod 5.6, and the other end of the second electric push rod 5.6 is fixed to the middle part of the lower rotating joint link 5.4.

[0046] A schematic diagram of the rope drive mechanism 6 is shown below. Figure 4 and Figure 5 As shown, the rope drive mechanism 6 includes a main housing 6.1, a serpentine robotic arm connector 6.2, a side clamp 6.3, a base plate 6.4, a cable groove base 6.5, and a rope drive device. The main housing 6.1 is located between the two base plates 6.4, forming an outer edge groove for the rope drive mechanism 6, which is used for the coiling and storage of the serpentine robotic arm 7. The two base plates 6.4 are fixedly connected to the main housing 6.1 to form a closed box, which serves as the housing of the rope drive mechanism. An opening is provided on the main housing 6.1, and the serpentine robotic arm connector 6.2 is located in the opening, extending out of the rope drive mechanism. The outer shell is then connected to the serpentine robotic arm 7, which is coiled between two outer shell base plates 6.4. Each outer shell base plate 6.4 has an outer shell side clamp 6.3 facing outwards from the center of the circle. The outer shell side clamp 6.3 is connected to the upper rotary joint connecting rod 5.5 of the rotary lifting device 5. More specifically, the rope driving mechanism 6 is clamped by the two rotary joint connecting rods 5.5 of the rotary lifting device 5 and supported and lifted by two second electric push rods 5.6. Inside the rope driving mechanism, a wire groove base 6.5 is provided on one of the outer shell base plates 6.4, and the rope driving device is provided on the wire groove base 6.5.

[0047] The rope drive device includes a rope groove 6.6, a groove drive motor 6.7, and ropes. Fifteen grooves are provided on the groove base 6.5, and each groove contains a rope groove 6.6. A groove drive motor 6.7 is provided on the upper part of each rope groove 6.6, and a rope is wound inside each rope groove 6.6. One end of the rope is connected to the groove drive motor 6.7 and driven by the groove drive motor 6.7. The fifteen ropes pass through the snake-shaped robotic arm connector 6.2 and are connected to the snake-shaped robotic arm 7, pulling and driving the snake-shaped robotic arm 7.

[0048] A schematic diagram of the structure of the snake-shaped robotic arm 7 is shown below. Figure 6 As shown, the serpentine robotic arm 7 includes serpentine robotic arm joints 7.1 and universal joints 7.2, forming a 10-DOF super-redundant serpentine arm. A universal joint 7.2 is provided between every two serpentine robotic arm joints 7.1 and is hinged. Each universal joint 7.2 provides two degrees of freedom. The universal joint 7.2 near the opening of the main housing 6.1 is hinged to the end of the serpentine robotic arm connector 6.2 of the rope drive mechanism 6. Each serpentine robotic arm joint 7.1 is connected to three ropes, and each serpentine robotic arm joint 7.1 is connected to three cable groove drive motors 6.7 through the three ropes, and is thus pulled and driven by the three cable groove drive motors 6.7.

[0049] In practical implementation, when the present invention is in its initial state, the bottom support 1 is supported by the Mecanum wheel 2, and the snake-shaped robotic arm 7 is coiled on the rope drive mechanism 6; when the present invention is in its working state, the Mecanum wheel 2 is driven to move the robot to the working position, and then the leg external drive device 4 is driven to unfold the leg device 3. The optimal rotation angle is 120°, and then the first electric push rod 3.9 is driven to drive the slider 3.7 to slide along the linear slide rail 3.6, thereby extending the leg device 3. Due to the effect of gravity, the support... The leg base 3.14 is perpendicular to the ground, thus fixing and supporting the robot. Then, the second electric push rod 5.6 is driven to lift the rope drive mechanism 6 upward, with a maximum lifting angle of 60°. After being lifted to the appropriate angle, the drive groove drive motor 6.7 is driven. Under the pull of the rope, the snake-shaped robotic arm 7 slowly detaches from the outer groove of the rope drive mechanism 6 and slowly extends outward from the initial coiled state. Through the cooperation of the snake-shaped robotic arm joint 7.1 and universal joint 7.2, it achieves flexible movement of 10 degrees of freedom.

[0050] In practical applications, if necessary, the rotating pair structure of the rotating lifting device 5 can be added according to actual needs to achieve the purpose of lifting to a higher distance. The number of snake-shaped robotic arm joints 7.1 and universal joints 7.2 can also be increased or decreased according to actual needs to improve the robot's flexibility or reduce the robot's cost.

[0051] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of this utility model.

Claims

1. A rope-driven snake robot with omnidirectional mobile lifting platform, characterized in that: it comprises a bottom support (1), a Mecanum wheel (2), a leg assembly, a rotating lifting device (5), a rope driving mechanism (6) and a snake mechanical arm (7); a Mecanum wheel (2) is arranged at the lower part of each corner of the bottom support (1), a leg assembly is arranged near each Mecanum wheel (2), a rotating lifting device (5) is arranged at the upper part of the bottom support (1), the rope driving mechanism (6) is fixed in the rotating lifting device (5), and the snake mechanical arm (7) is connected with the rope driving mechanism (6) and curled in the rope driving mechanism (6).

2. The rope-driven snake robot with omnidirectional mobile lifting platform according to claim 1, characterized in that: the bottom support is a rectangular support, each leg assembly is arranged on the long side of the bottom support (1), and a pair of leg assemblies on the same long side are symmetrically distributed with a pair of leg assemblies on the other long side, and the snake mechanical arm (7) is driven by the rope driving mechanism (6).

3. The rope-driven snake robot with omnidirectional mobile lifting platform according to claim 1, characterized in that: the leg assembly comprises a leg device (3) and a leg external driving device (4); the leg device (3) is arranged on the outside of the long side of the bottom support (1), the leg external driving device (4) is arranged on the inside of the long side of the bottom support (1) at a position corresponding to the leg device (3), and the leg external driving device (4) is in transmission cooperation with the leg device (3).

4. The rope-driven snake robot with omnidirectional mobile lifting platform according to claim 3, characterized in that: the leg device (3) comprises a hinged seat (3.1), a hinged column (3.2), a bearing (3.3), a lower leg seat (3.4), an upper leg seat (3.5), a linear slide rail (3.6), a sliding block (3.7) and a support leg seat auxiliary mechanism; the hinged seat (3.1) is installed on the outside of the long side of the bottom support (1), the hinged column (3.2) is inserted into the hinged seat (3.1), the bearing (3.3) is installed on the upper part of the hinged column (3.2), the lower leg seat (3.4) is fixedly connected with the hinged column (3.2), the upper leg seat (3.5) is arranged on the upper part of the lower leg seat (3.4), the lower end surface of one end of the upper leg seat (3.5) is fixedly connected with the upper end surface of the lower leg seat (3.4), the lower end surface of the other end of the upper leg seat (3.5) is provided with the linear slide rail (3.6), the sliding block (3.7) is in cooperation with the linear slide rail (3.6), the sliding block (3.7) is in sliding connection with the linear slide rail (3.6), and the lower part of the lower leg seat (3.4) is provided with the support leg seat auxiliary mechanism.

5. The rope-driven snake robot with omnidirectional mobile lifting platform according to claim 4, characterized in that: ​ ​ ​ ​ ​ ​ ​ The support leg seat auxiliary mechanism comprises a first push rod clamp (3.8), a first electric push rod (3.9), a sliding clamp (3.10), a stop block (3.11), an inner side connecting rod (3.12), a reinforcing connecting rod (3.13) and a support leg seat (3.14); The lower part of the lower support leg seat (3.4) is provided with the first push rod clamp (3.8), the lower end surface of the sliding block (3.7) is fixed with the sliding clamp (3.10) through bolts, the first push rod clamp (3.8) and the sliding clamp (3.10) jointly clamp and fix the first electric push rod (3.9), a stop block (3.11) for preventing the sliding block (3.7) from sliding out of the linear slide rail (3.6) is fixed at the end of the linear slide rail (3.6) sliding to the outer side, the sliding clamp (3.10) is hinged to one end (3.12) of the inner side connecting rod, the other end of the inner side connecting rod (3.12) is hinged to one end of the reinforcing connecting rod (3.13), the other end of the reinforcing connecting rod (3.13) is hinged to the stop block (3.11), and the top end of the support leg seat (3.14) is hinged to the inner side connecting rod (3.12) and the reinforcing connecting rod (3.13) at the hinge joint of the inner side connecting rod (3.12) and the reinforcing connecting rod (3.13).

6. The rope-driven snake-like robot with omni-directional moving lifting platform according to claim 4, characterized in that: The support leg outer driving device (4) comprises a belt (4.1), a gear (4.2) and a stepping motor (4.3); The stepping motor (4.3) is arranged on the inner side of the long side of the bottom support (1) corresponding to the distribution of the support leg device (3), the hinge column (3.2) of the support leg device (3) and the stepping motor (4.3) are respectively nested with the gear (4.2), the gear (4.2) is driven by the belt (4.1) to drive the stepping motor (4.3) to the hinge column (3.2), and then the support leg outer driving device (4) drives the support leg device (3).

7. The rope-driven snake-like robot with omni-directional moving lifting platform according to claim 1, characterized in that: The rotating lifting device (5) comprises a left support vertical rod (5.1), a right support vertical rod (5.2), a right support inclined rod (5.3), a lower rotating pair connecting rod (5.4), an upper rotating pair connecting rod (5.5) and a second electric push rod (5.6); The two left support vertical rods (5.1) and the two right support vertical rods (5.2) are arranged on the upper part of the bottom support in parallel to each other, the top end side of each right support vertical rod (5.2) is provided with the right support inclined rod (5.3), the other end of the right support inclined rod (5.3) is fixed on the short side of the bottom support (1), and one lower rotary pair connecting rod (5.4) is arranged between the right support vertical rod (5.2) and the left support vertical rod (5.1) on the same side of the bottom support (1), one end of the lower rotary pair connecting rod (5.4) is fixed on the upper part of the right support vertical rod (5.2), the other end of the lower rotary pair connecting rod (5.4) is fixed on the top end of the left support vertical rod (5.1), and the end of the lower rotary pair connecting rod (5.4) close to the left support vertical rod (5.1) is hinged with one end of the upper rotary pair connecting rod (5.5), the other end of the upper rotary pair connecting rod (5.5) and the middle part of the lower rotary pair connecting rod (5.4) on the same side of the bottom support (1) are provided with the second electric push rod (5.6) for supporting and lifting, the other end of the upper rotary pair connecting rod (5.5) is fixedly connected with one end of the second electric push rod (5.6), and the other end of the second electric push rod (5.6) is fixed to the middle part of the lower rotary pair connecting rod (5.4).

8. The rope-driven snake robot with an omnidirectional mobile lifting platform according to claim 7, characterized in that: The rope driving mechanism (6) comprises a shell main box (6.1), a snake mechanical arm connector (6.2), a shell side clamp (6.3), a shell bottom plate (6.4), a wire slot base (6.5) and a rope driving device; The shell main box (6.1) is arranged between the two shell bottom plates (6.4), and the two shell bottom plates (6.4) and the shell main box (6.1) are fixedly connected to form a closed box body as the shell of the rope driving mechanism, an opening is arranged on the shell main box (6.1), the snake mechanical arm connector (6.2) is arranged in the opening, the snake mechanical arm connector (6.2) extends out of the shell of the rope driving mechanism and is connected with the snake mechanical arm (7), the snake mechanical arm (7) is curled between the two shell bottom plates (6.4), a shell side clamp (6.3) is arranged at the center of each shell bottom plate (6.4) and faces the outside of the rope driving mechanism, the shell side clamp (6.3) is connected with the upper rotary pair connecting rod (5.5) of the rotary lifting device (5), and the wire slot base (6.5) is arranged on one of the shell bottom plates (6.4) in the interior of the rope driving mechanism, and the rope driving device is arranged on the wire slot base (6.5).

9. The rope-driven snake robot with an omnidirectional mobile lifting platform according to claim 8, characterized in that: The rope driving device comprises a pull rope wire slot (6.6), a wire slot driving motor (6.7) and a rope. The line groove base (6.5) is provided with fifteen grooves, and each groove is provided with a pull rope line groove (6.6). The upper part of each pull rope line groove (6.6) is provided with a line groove driving motor (6.7), and a rope is wound in each pull rope line groove (6.6). One end of the rope is connected with the line groove driving motor (6.7) and is driven by the line groove driving motor (6.7). The fifteen ropes are connected with the snake-shaped mechanical arm (7) through the snake-shaped mechanical arm connector (6.2) and pull the snake-shaped mechanical arm (7).

10. The rope-driven snake robot with an omnidirectional mobile lifting platform according to claim 9, characterized in that: The snake-shaped mechanical arm (7) comprises snake-shaped mechanical arm joints (7.1) and universal joints (7.2), Each two snake-shaped mechanical arm joints (7.1) are provided with a universal joint (7.2) and are hinged. The universal joint (7.2) near the opening of the shell main box (6.1) is hinged with the end of the snake-shaped mechanical arm connector (6.2) of the rope driving mechanism (6). Each snake-shaped mechanical arm joint (7.1) is connected with three ropes. Each snake-shaped mechanical arm joint (7.1) is connected with three line groove driving motors (6.7) through three ropes and is pulled and driven by the three line groove driving motors (6.7).

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