Snake-shaped robot snake body joint with three-way steering engine orthogonal connection structure

Abstract

The invention disclose a snake-shaped robot snake body joint with a three-direction steering engine orthogonal connection structure. The snake-shaped robot snake body joint comprises an X-direction steering engine, a Y-direction steering engine and a Z-direction steering engine, wherein the X-direction steering engine and the Y-direction steering engine are arranged on snake body supports, and theZ-direction steering engine is connected with the two snake body supports, the X-direction steering engine and the Y-direction steering engine are fixed on two sections of snake bodies respectively,the X-direction steering engine is fixedly arranged at the front part of the snake body support, output shafts of the X-direction steering engine and the Y-direction steering engine are in the horizontal direction and can rotate along the horizontal X-direction and the horizontal Y-direction, the Z-direction steering engine is fixedly arranged at the rear part of the snake body support, and an output shaft of the Z-direction steering engine is vertical and perpendicular to the direction of the snake body support and can rotate in the vertical direction in a double-face mode. According to the snake-shaped robot snake body joint with the three-way steering engine orthogonal connection structure, each snake body support is provided with two output shafts based on the orthogonal direction, each snake body support is provided with the X branch direction and the Y branch direction in the horizontal direction, motion driving of two degrees of freedom can be completed at the same time, high angle swinging performance and turning performance are achieved, the structure is simple and stable, and expansion and maintenance are easy.

Description

technical field [0001] The invention relates to a snake-like robot, in particular to a snake-like robot snake body joint with a three-way steering gear orthogonal connection structure, and belongs to the technical field of bionic robots. Background technique [0002] Snake-shaped robots can work in unknown environments that are difficult for humans to reach. They are concealed, increase safety factors, reduce manpower, and reduce a series of error factors caused by fatigue. They can replace humans to complete complex tasks that humans subjectively want to complete. It is widely used in military fields, scientific exploration, disaster relief, industrial testing and other fields. However, existing snake-shaped robots still have defects such as unreasonable structural design, inflexible movement, and insufficient spatial freedom. Contents of the invention [0003] The purpose of the present invention is to improve the defects of the prior art and provide a snake body joint ...

AI Technical Summary

Problems solved by technology

However, the existing snake-shaped robots still have defects such as unreasonable structural design, inflexible movement, and insufficient spatial freedom.

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