CN103273979B - Splittable snake-like robot with multiple motion modes - Google Patents
Splittable snake-like robot with multiple motion modes Download PDFInfo
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- CN103273979B CN103273979B CN201310244950.4A CN201310244950A CN103273979B CN 103273979 B CN103273979 B CN 103273979B CN 201310244950 A CN201310244950 A CN 201310244950A CN 103273979 B CN103273979 B CN 103273979B
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Abstract
The invention discloses a splittable snake-like robot with multiple motion modes. The snake-like robot comprises a head portion, body portions, a split portion, joint portions and a tail portion. The head portion and the tail portion are in the same cone shape; every body portion is provided with folding independent retractable wheel foot composite structures which are evenly distributed in six directions in an embedded mode, and the top of every body portion is provided with a driving wheel or a driven wheel; the split portion utilizes rod grooves to achieve dual use in one body or self-salvation when broken; and every joint portion utilizes double mutually-perpendicular steering engine housing structures to mount steering engines, thereby achieving the free horizontal and vertical steering of neighboring modules through double degrees of freedom. By adjusting the retraction angle and the retraction length of every wheel foot, the splittable snake-like robot can moves in multiple motion modes such as sliding, crawling and two-dimensional transformation besides snake-like motion modes of creeping, rolling and wiggling, thereby effectively improving the adaptability and the speed of the snake-like robot under various complex land hard terrain conditions.
Description
Technical field
The present invention relates to a kind of snake-shaped robot mechanism, particularly relating to a kind of embedded multi-locomotion mode of taking turns leg composite structure and split mechanism can split snake-shaped robot.
Background technology
Snake-shaped robot has the following advantages: rational in infrastructure, control flexibly, dependable performance, extensibility are strong, strong adaptability etc.Snake-shaped robot is due to its born multi-joint, multiple degree of freedom, and many redundant degree of freedom, can have multi-motion modes, thereby has catered to the demand in some markets.Current existing snake-shaped robot mechanism, mostly being directed to snakelike conventional motion form designs, along with the progress of bionics techniques and the height refinement of structure design, some advanced snake-shaped robots can meet or exceed some locomitivities of realm of nature snake in the world, but compared with four-footed gallop or wheeled motion, tradition serpentine locomotion has limited the kinematic velocity of snake body to a certain extent, compared with the mode of creeping, the service requirement under serpentine locomotion complex-terrain environment is also inferior a lot.Especially be directed to the wider disaster of present stage snake-shaped robot application and search and rescue and military investigation field, because reasons such as material, structure, size and designs, the locomitivity of snake-shaped robot is very limited, and has had a strong impact on search and rescue and investigation ability.In the prior art, the design of snake-shaped robot is all fixed on wheel the external edge of snake and assists the conventional motion such as wriggling of snake-shaped robot, also have auxiliary snakelike the wriggling of form with special-shaped wheel, the ACM-R5 amphibious robot of picture Tokyo Institute of Technology, the Amphibious snake-like robot that the designed patent No. of Chinese Academy of Sciences's Shenyang automation research is 200820231889.4, a kind of Multifunctional snake-shaped robot that the patent No. of the student of Central South University design is 200920313939.8 is all tight pulley design, the patent No. designing as the student of Chongqing Jiaotong University is the landform adaptive capacitys such as the obstacle detouring of 200910191180.5 enhancing of the forms with blade wheel snake-shaped robots.Before this related invention people of the present invention once applied for a kind of scalable wheel type snake-like robot with and electromagnetic type eight to the patent of invention of independent telescope wheel mechanism, number of patent application is respectively 201210564904.8 and 201210552679.6, and described two patent applications are mainly from the flexible angle of electromagnetism, snakelike the wriggling of tradition to be broken through with vermicular movement form.The present invention bends and stretches from joint with the angle of servo driving the mode of motion of snake-shaped robot is expanded and extended.
Summary of the invention
The present invention is directed to the deficiency of current snake-shaped robot mode of motion, do not affecting under its sinuous prerequisite that waits general type motion, utilize embedded independent telescope wheel leg structure to keep snake body smooth, increased the mode of motion of snake, can realize the mode of motion such as sliding, creep outside traditional serpentine locomotion forms such as sinuous, wriggling, and can realize the dual-purpose or split of one in particular cases and save oneself.Further improve and strengthened the adaptive capacity of snake-shaped robot under complex-terrain environment, having reduced the unnecessary wearing and tearing to robot shells or skin, extending its service life, having promoted the running velocity under complex-terrain.
The present invention is achieved through the following technical solutions:
A kind of multi-locomotion mode can split snake-shaped robot, adopt modular design mode, it comprises head (1), trunk (2), point body (3), joint portion (4) and afterbody (5), wherein, head (1) and afterbody (5) adopt identical pyramidal structure design, be designed with respectively camera mounting hole (6) and illuminating lamp mounting hole (7), by connecting screw hole (8), be connected with trunk (2), trunk (2) entirety is the embedded type structure of wheel leg, comprise interior pot shell (9), pedestal (10) and independent telescope wheel leg composite structure (11), wherein interior pot shell (9) is nested pot shell, there are respectively six base steering wheel grooves and six passive races, on it, there is pedestal to connect fastener hole and joint connecting screw hole simultaneously, be connected with pedestal (10) and joint portion (4) respectively, on pedestal (10) excircle, be uniform-distribution with the mounting groove of six independent telescope wheel leg composite structures (11), there are respectively joint connecting screw hole and connecting panel fixed orifice in pedestal (10) both sides, one side is connected with interior pot shell (9), opposite side can connect joint portion terminal pad (33) or point body (3), on pedestal (10) one side internal chamber walls on the trunk (2) corresponding with point body (3), be uniform-distribution with three split connecting bores (13-1), independent telescope wheel leg composite structure (11) comprises again base steering wheel, joint steering wheel, swing arm, wheel bar and follower, between them, rely on corresponding attaching parts to be fixed to one another, can realize and stretch and shrink, point body (3) is mainly by split operating part be fixedly connected with tin (16) and form, wherein split operating part comprises again basal disc (12), expansion link (13), three leaf arc guide wheels (14), split steering wheel (15) and corresponding rotating shaft set pin (18), tightening screw (19), split steering wheel fix screw (21), the inner connecting bore of split (20), joint connecting bore (22), rely on the three leaf arc guide wheels (14) that rotarily drive of split steering wheel (15) to rotate, by the arc-shaped guide rail on guide wheel blade, circular movement is passed to expansion link (13), rely on the spacing square tube on basal disc (12) to make expansion link (13) do linear telescopic motion, thereby realize split, joint portion (4) is by reversing steering wheel mounting shell (23), be rotationally connected plate (24), reverse steering wheel (25), steering wheel (26), reverse steering wheel fix screw (27), stop screw (28) and joint connecting bore (29) and other fasteners composition, reversing steering wheel (25) is fixedly mounted in torsion steering wheel mounting shell (23) by reversing steering wheel fix screw (27), the installation that is perpendicular to one another of two steering wheels, obtain the degree of freedom of orthogonal both direction, steering wheel output shaft one end is driven and is rotationally connected plate (24) by tooth coordination mode and steering wheel (26), the other end by adapter shaft be rotationally connected that plate (24) is smooth to be free to rotately connected and to pass through stop screw (28) and carry out spacing to being rotationally connected plate (24), being rotationally connected plate (24) can be connected with trunk (2) by joint connecting bore (29) again, by the rotation of steering wheel, drive trunk (2) to swing so that snake body wriggles or wriggles.
Further, snake-shaped robot head (1) and afterbody (5) are conical porous structure, and trunk (2) is tubular pot shell structure, and a point body (3) is barrel shell rotary extension structure, and joint portion (4) is vertical shell structure.
Further, six pot shells of snake-shaped robot trunk (2) surface uniform distribution, be separately installed with six independent telescope wheel leg composite structures (11), independent telescope wheel leg composite structure (11) is Shuan Gan folding retractable mechanism, and single-wheel leg collapsing length is 1.5 times of pedestal (10) diameter.
Further, three arc shaped blade structures that snake-shaped robot divides the main actuating unit three leaf arc guide wheels (14) of body (3) to distribute for even circumferential, by the arc guide rail on guide wheel blade, circular movement is passed to expansion link (13) and relies on position-limiting drum hole on basal disc (12) to make expansion link (13) do linear telescopic motion, with pedestal (10) in trunk (2) thus the split connecting bore corresponding matching on inwall screws in to screw out and realizes split.
Further, the medium position that snake-shaped robot divides body (3) to be positioned at snake body, split one side connects trunk (2), and opposite side connects joint portion (4), is convenient to the body equity of two parts snake body after split.
Further, snake-shaped robot joint portion (4) adopts two degrees of freedom design, utilizes simple orthogonal housing to fix two and reverses steering wheel (25).
Head-tail of the present invention designs according to identical 26S Proteasome Structure and Function, is mainly used in the installation of sensing communicator and the collection of environmental information; Trunk and joint portion carry out modular design, can freely select the number of modules needing according to actual conditions, trunk evenly configuration six is taken turns leg mechanism to embedded independent telescope, can stretch separately, also can take turns leg flexible more, and can at close position end to end, driving wheel be set as required, rely on the embedded expanding pulley leg of trunk, the mode of motion of snake becomes more various and can select, and can realize the motion of independent pattern or auxiliary motion each other; Joint portion relies on torsion steering wheel that two axis are perpendicular to one another and U-shaped driving connecting rod can realize the motion of two degree of freedom.Special revolving bar divides body theory being connected between trunk and joint portion arbitrarily, also can place by number on demand, considers length factor and the practical application needs of snake body herein, only at snake body middle part, a point of body has been installed.
On the whole the motor function of expanding pulley leg is designed as expansion and the additional function of snake-shaped robot conventional motion mode, utilize two bar servo driving structures to realize the fore and aft motion of wheel leg, and the induction that can adopt autonomous induction control and PC control to realize the wheel leg contacting with ground is stretched, regardless of robot location, can guarantee normally to advance under the prerequisite that does not need to reverse health like this.In Protean search and rescue environment, can also search for better the visual field by the flexible realization of wheel leg.In the conventional motion of snake-shaped robot, the complete holosystolic structural wheel of leg of taking turns can be used as the accessory that adapts to different terrain; During with the motion of wheel leg, snake body can keep sliding fast or the state of creeping, and so just can between rubble rubble, advance freely.In addition, except snake body can configure skin, wheel can also be changed different materials according to topographic features, improves the landform adaptive capacity of robot.
The present invention has carried out probing boldly and innovating on mode of motion to traditional snake-shaped robot, has the following advantages:
1, the present invention had both kept the smooth shape of snake surface, had realized again the variation of motion, and the motion of wheel leg can independently be controlled, and can assist again traditional serpentine locomotion modes such as sinuous, wriggling, changed flexibly, and landform adaptive capacity strengthens greatly;
2, the present invention has the embedded leg structure of taking turns cleverly, has taken into full account the segmentation of snake body whole body angle, can realize six to flexible;
3, the split of uniqueness of the present invention design, has realized the multiplex or split of the one of robot and has saved oneself;
4, the present invention has powerful two-dimentional deformability;
5, the present invention has easy steering rudder engine housing design, can realize flexibly double freedom, simple in structure, easy for installation.
Accompanying drawing explanation
Fig. 1 is robot body integral structure schematic diagram;
Fig. 2 is robot body's part-structure schematic diagram;
Fig. 3 is robot head structure forward direction schematic diagram;
Fig. 4 is the backward schematic diagram of robot head structure;
Fig. 5 is trunk structure forward direction schematic diagram;
Fig. 6 is that the backward single-wheel leg of trunk structure launches and the exposed schematic diagram of single groove;
Fig. 7 is a point body structural representation one;
Fig. 8 is a point body structural representation two;
Fig. 9 is joint portion structural representation;
Figure 10 is the terminal pad schematic diagram of trunk and joint portion.
The wherein title of each numbering: 1 head, 2 trunks, 3 points of bodies, 4 joint portions, 5 afterbodys, 6 camera mounting holes, 7 illuminating lamp mounting holes, 8 connecting screw holes, 9 interior pot shells, 10 pedestals, 11 independent telescope wheel leg composite structures, 12 basal discs, 13 expansion links, 13-1 split connecting bore, 14 3 leaf arc guide wheels, 15 split steering wheels, 16 are fixedly connected with cylinder, 17 split steering wheel hold down grooves, 18 rotating shaft set pins, 19 tightening screws, the inner connecting bore of 20 splits, 21 split steering wheel fix screws, 22 joint connecting bores, 23 reverse steering wheel mounting shell, 24 are rotationally connected plate, 25 reverse steering wheel, 26 steering wheels, 27 reverse steering wheel fix screw, 28 stop screws, 29 joint connecting bores, 30 terminal pads, 31 trunk connecting bores, 32 joint connecting bores.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1, the present invention is comprised of head 1, trunk 2, point body 3, joint portion 4 and afterbody 5, and wherein head 1 is mainly used to install the sensing device of being responsible for environment information acquisition, such as camera, illuminating lamp etc.; Main independent telescope wheel leg composite structure 11 and corresponding controller, the batteries etc. installed of trunk 2, realize substantially wriggling, wriggle, slide, creep and power supply control of snake body; Dividing body 3 to rely on three leaf arc guide wheels 14 by rotatablely moving, to be converted into straight-line mode realizes the spinning in and out between expansion link 13 and split connecting bore 13-1, realizes split; Joint portion 4 relies on torsion steering wheel 25 that two axis are perpendicular to one another and U-shaped and is rotationally connected plate the motion of two degree of freedom is transmitted to each trunk.
As shown in Figure 2, connection mode and the dependency structure details of trunk 2 and point body 3, joint portion 4 have wherein been shown.
As shown in Figures 3 and 4, wherein show the architectural feature of head 1, related generally to camera mounting hole 6 and illuminating lamp mounting hole 7.
As illustrated in Figures 5 and 6, the trunk module that a kind of multi-locomotion mode can split snake-shaped robot, entirety is the compound embedded type structure of wheel leg, comprises interior pot shell 9, pedestal 10 and independent telescope wheel leg composite structure 11.Interior pot shell 9 and pedestal 10 are cylindrical cavity structure, interior pot shell 9 is mainly to rely on the pot shell on it to play the spacing of telescoping mechanism steering wheel and wheel and storage effect, on pedestal 10 excircles, be uniform-distribution with the mounting groove of six independent telescope wheel leg composite structures 11, each independent telescope wheel leg composite structure 11 comprises two execution steering wheels, swing arm, wheel bar and moving wheels and corresponding fixed is determined fitting, form each other doublejointed structure, can realize respectively the rotation of 90 degree and 180 degree, spread length is 1.5 times of pedestal 10 diameters.Trunk 2 schematic diagrams when wherein Fig. 5 has shown shrinking completely of forward direction sight, Fig. 6 has shown structural representation when backward sight single-wheel leg stretches out and the single pot shell of pedestal 10 is exposed, can see the split connecting bore 13-1 for split in Fig. 6.
As shown in FIG. 7 and 8, point body 3 is mainly by split operating part be fixedly connected with tins 16 and form, wherein split operating part comprises again basal disc 12, expansion link 13, three leaf arc guide wheels 14, split steering wheel 15 and corresponding rotating shaft set pin 18, tightening screw 19, the inner connecting bore 20 of split steering wheel fix screw 21 and split, joint connecting bore 22 forms, basal disc 12 is mainly fixing steering wheel and split execution unit, being fixedly connected with responsible spacing steering wheel is connected with fixing split operating part and with joint portion 4, split actuating unit relies on rotating shaft set pin 18 that the three leaf arc guide wheels 14 that rotarily drive of split steering wheel 15 are rotated, by the arc-shaped guide rail on guide wheel blade, circular movement is passed to expansion link 13 and rely on the spacing square tube on basal disc 12 to make expansion link 13 do linear telescopic motion, with well-distributed split connecting bore 13-1 on trunk 20, thereby corresponding cooperation realized split one by one.
As shown in Figure 9, joint portion 4 is by reversing steering wheel mounting shell 23, be rotationally connected plate 24, reverse steering wheel 25, steering wheel 26, reverse steering wheel fix screw 27, stop screw 28 and joint connecting bore 29 and other fasteners composition, reversing steering wheel 25 is fixedly mounted in torsion steering wheel mounting shell 23 by reversing steering wheel fix screw 27, the installation that is perpendicular to one another of two steering wheels, obtain the degree of freedom of orthogonal both direction, steering wheel output shaft one end is driven and is rotationally connected plate 24 by tooth coordination mode and steering wheel 26, the other end by adapter shaft be rotationally connected that plate 24 is smooth to be free to rotately connected and to being rotationally connected plate 24, to carry out spacing by stop screw 28, being rotationally connected plate 24 can be connected with trunk 2 by joint connecting bore 29 again, by the rotation of steering wheel, drive trunk 2 to swing so that snake body wriggles or wriggles.During the steering wheel independent role of both direction, realize respectively horizontal deflection and pitching and reverse, two steering wheels are done the used time simultaneously, control the torsion that the anglec of rotation of both direction can implementation space different angles.
As shown in figure 10, on terminal pad 30, along corresponding even circumferential distributing trunk connecting bore 31 and joint connecting bore 32, rely on corresponding screw to couple together trunk 2 and joint portion 4.
Head-tail project organization of the present invention is consistent, and a point body designs separately, and the structure of other trunk and joint portion is all corresponding identical.
The present invention has realized the combination of multi-motion form on snake-shaped robot, snakelike the wriggling of tradition under wheel is auxiliary can independently be controlled separately with vermicular movement form and wheeled slip, the motion of creeping, simultaneously multiple flexible two dimension distortion that can realize snake body of taking turns leg.Its principle of work is separately:
The first mode of motion: the tradition under wheel is auxiliary is wriggled or wriggled.Wheel leg mechanism all shrinks, moving wheel can exceed a trunk circumference part, when steering wheel is reversed in the parallel joint of all horizontal axis according to corresponding angle twisting, can drive corresponding trunk motion, make the snake body joint of same degree of freedom horizontal direction produce torsion, according to the relative set of positive negative angle, can realize the wheeled auxiliary wriggling movement of snake body; When the torsion steering wheel of all axially vertical relevant positions of robot is during according to corresponding angular turn, can drive corresponding trunk motion, make the snake body joint of same degree of freedom vertical direction produce torsion, according to the relative set of positive negative angle, can realize the wheeled auxiliary wriggling of snake body.
The second mode of motion: wheeled slip.Joint position restores and joint motions function disconnects, and keeps thus snake body linearly, enables wheeled motor function, and corresponding expanding pulley leg can stretch out, and relies on the motion of trunk driving wheel to drive flower wheel motion, finally realizes the wheeled motion of straight line of snake body.
The third mode of motion: creep.Adjacent two wheel legs near ground on each trunk are stretched out, rely on the rotation of joint steering wheel and coordinate the gait of each trunk telescoping mechanism, mass motion is advanced just as reptile.
The 4th kind of mode of motion: two dimension distortion.Multiple legs of swinging of each trunk are trailed, can realize snake body change in size radially, realize two-dimentional distortion, in distortion, can realize rolling on basis, support fix, several functions and the state such as italic.
The present invention is when structure design, mainly designed head-tail profile, trunk structure, joint portion structure, snake-shaped robot in integral structure figure is by two equal modules of head-tail, six trunk modules, a point of body module, five joint portion module compositions, if adopt ABS material, the about 2.3kg of oeverall quality, overall length is approximately 1360mm, maximum outside diameter Ф 90mm, wherein minister is 80mm end to end, trunk minister is 100mm, joint minister is 120mm, the steering wheel of joint portion is with reference to Futaba3050 size, torque is 6.5kg/cm (6V), split steering wheel dimension reference Futaba3170G, torque is 8.5kg/cm, wheel leg steering wheel dimension reference Futaba3153MG, torque is 1.7kg/cm (6V).
Finally it should be noted that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not departing from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (6)
1. a multi-locomotion mode can split snake-shaped robot, it is characterized in that: this robot adopts modular design mode, comprise head (1), trunk (2), point body (3), joint portion (4) and afterbody (5), wherein, head (1) and afterbody (5) are designed with respectively camera mounting hole (6) and illuminating lamp mounting hole (7), by connecting screw hole (8), are connected with trunk (2), trunk (2) entirety is the embedded type structure of wheel leg, comprise interior pot shell (9), pedestal (10) and independent telescope wheel leg composite structure (11), wherein interior pot shell (9) is nested pot shell, there are respectively six base steering wheel grooves and six passive races, on it, there is pedestal to connect fastener hole and joint connecting screw hole simultaneously, be connected with pedestal (10) and joint portion (4) respectively, on pedestal (10) excircle, be uniform-distribution with the mounting groove of six independent telescope wheel leg composite structures (11), there are respectively joint connecting screw hole and connecting panel fixed orifice in pedestal (10) both sides, one side is connected with interior pot shell (9), opposite side can connect joint portion terminal pad (33) or point body (3), on pedestal (10) one side internal chamber walls on the trunk (2) corresponding with point body (3), be uniform-distribution with three split connecting bores (13-1), independent telescope wheel leg composite structure (11) comprises again base steering wheel, joint steering wheel, swing arm, wheel bar and follower, between them, rely on corresponding attaching parts to be fixed to one another, can realize and stretch and shrink, divide body (3) to comprise split operating part and be fixedly connected with cylinder (16), wherein split operating part comprises again basal disc (12), expansion link (13), three leaf arc guide wheels (14), split steering wheel (15) and corresponding rotating shaft set pin (18), tightening screw (19), split steering wheel fix screw (21), the inner connecting bore of split (20), joint connecting bore (22), be fixedly connected with in cylinder (16) and have split steering wheel hold down groove (17), rely on the three leaf arc guide wheels (14) that rotarily drive of split steering wheel (15) to rotate, by the arc-shaped guide rail on guide wheel blade, circular movement is passed to expansion link (13), and rely on the spacing square tube on basal disc (12) to make expansion link (13) do linear telescopic motion, thereby realize split, joint portion (4) is by reversing steering wheel mounting shell (23), be rotationally connected plate (24), reverse steering wheel (25), steering wheel (26), reverse steering wheel fix screw (27), stop screw (28) and joint connecting bore (29) composition, reversing steering wheel (25) is fixedly mounted in torsion steering wheel mounting shell (23) by reversing steering wheel fix screw (27), the installation that is perpendicular to one another of two steering wheels, obtain the degree of freedom of orthogonal both direction, steering wheel output shaft one end is driven and is rotationally connected plate (24) by tooth coordination mode and steering wheel (26), the other end by adapter shaft be rotationally connected that plate (24) is smooth to be free to rotately connected and to pass through stop screw (28) and carry out spacing to being rotationally connected plate (24), being rotationally connected plate (24) can be connected with trunk (2) by joint connecting bore (29) again, by the rotation of steering wheel, drive trunk (2) to swing so that snake body wriggles or wriggles, in addition trunk (2) relies on the trunk connecting bore (31) on terminal pad (30) to be connected with joint connecting bore (32) with joint portion (4).
2. a kind of multi-locomotion mode according to claim 1 can split snake-shaped robot, it is characterized in that: described head (1) and afterbody (5) are conical porous structure, trunk (2) is tubular pot shell structure, dividing body (3) is barrel shell rotary extension structure, and joint portion (4) is vertical shell structure.
3. a kind of multi-locomotion mode according to claim 1 can split snake-shaped robot, it is characterized in that: six pot shells of described trunk (2) surface uniform distribution, be separately installed with six independent telescope wheel leg composite structures (11), independent telescope wheel leg composite structure (11) is Shuan Gan folding retractable mechanism, and single-wheel leg collapsing length is 1.5 times of pedestal (10) diameter.
4. a kind of multi-locomotion mode according to claim 1 can split snake-shaped robot, it is characterized in that: three arc shaped blade structures that described three leaf arc guide wheels (14) distribute for even circumferential, by the arc guide rail on three leaf arc guide wheel (14) blades, circular movement is passed to expansion link (13) and relies on position-limiting drum hole on basal disc (12) to make expansion link (13) do linear telescopic motion, with pedestal (10) in trunk (2) thus the split connecting bore corresponding matching on inwall screws in to screw out and realizes split.
5. a kind of multi-locomotion mode according to claim 1 can split snake-shaped robot, it is characterized in that: described point of body (3) is positioned at the medium position of snake body, split one side connects trunk (2), and opposite side connects joint portion (4), is convenient to the body equity of two parts snake body after split.
6. a kind of multi-locomotion mode according to claim 1 can split snake-shaped robot, it is characterized in that: described joint portion (4) adopts two degrees of freedom design, utilizes simple orthogonal housing to fix two and reverses steering wheels (25).
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