CN109732582B - Soft robot camera carrying device and method based on outer side stay wire - Google Patents
Soft robot camera carrying device and method based on outer side stay wire Download PDFInfo
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- CN109732582B CN109732582B CN201910108453.9A CN201910108453A CN109732582B CN 109732582 B CN109732582 B CN 109732582B CN 201910108453 A CN201910108453 A CN 201910108453A CN 109732582 B CN109732582 B CN 109732582B
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Abstract
The invention relates to a camera carrying device and a method, in particular to a soft robot camera carrying device and a method based on an external pull wire, which comprises a robot growth extension main body, a pull wire, a front end following movement camera and a fixing plate, wherein the robot growth extension main body is inflated to expand towards the front end, the pull wire penetrates through the robot growth extension main body to pull the fixing plate backwards to be connected with the front end contact front end following movement camera of the robot growth extension main body, and the fixing plate is connected with the front end contact front end following movement camera; the problem of the installation follow motion of the camera of the software robot detection environment in weightless environment can be solved, the work of carrying and accomplishing the front end follow motion camera of front end follow motion camera is realized through simple structure, the change of extending the main part length through the robot growth realizes the motion distance of front end follow motion camera and carries out feedback control through controlling the pump, satisfies more user demands.
Description
Technical Field
The invention relates to a camera carrying device and method, in particular to a soft robot camera carrying device and method based on an outer side stay wire.
Background
The 21 st century is an era of high-speed development of information science and technology, and robots are a great inevitable trend of the era, including industrial robots, educational robots, housekeeping service robots, cooperative robots, military robots and the like, which are optimized and designed on the basis of original rigid robots, and break through bottlenecks.
With the development of robotics, soft robots gradually come into the field of vision of people. The soft robot is made of flexible materials, can change the shape of the robot in a large range, and is a novel flexible robot. There are many ways to drive a soft robot, one of which can be driven with only gas. However, many conventional mechanical structures cannot be used because their structures are different from those of conventional robots. The software robot utilizes the outstanding characteristics of flexibility and the like to create a seat for application in a changeable and complex environment. In an intricate and complex unknown and narrow environment, the traditional robot has a plurality of limitations due to structural size and power, particularly, the operation is not easy to be carried out in a weightless environment, the required instruction is not easy to be completed at a specified destination in a limited space environment, and the soft robot has natural advantages and can change the pose according to a field environment to realize a preset target. However, there is currently no very efficient design for the installation of "eye" following cameras for soft robotic detection of field environments.
Disclosure of Invention
The invention aims to provide a soft robot camera carrying device and method based on an outer side pull wire, which can solve the problem of the following movement of a camera in a soft robot detection environment in a weightless environment.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a software robot camera carrying device based on outside is acted as go-between, includes robot growth extension main part, acts as go-between, front end follow motion camera and fixed plate, robot growth extension main part is aerifyd the expansion of front end, and the acting as go-between passes robot growth extension main part and draws the fixed plate and contact with the front end of robot growth extension main part backward, and the front end is followed the motion camera and is connected on the fixed plate.
As a further optimization of the technical scheme, the invention provides the soft robot camera carrying device based on the outer side stay wire, the robot growth elongated main body comprises a PE material cylindrical main body and a control inflator pump, and the control inflator pump and the PE material cylindrical main body are in sealed connection at one side of the inflation direction.
As a further optimization of the technical scheme, the invention discloses a soft robot camera based on an outer side stay wireA head carrying device, the PE cylindrical main body forms two
Two fixing plates are arranged at the front end of the PE cylindrical main body
Between the shapes.
As a further optimization of the technical solution, the invention provides a soft robot camera carrying device based on external stay, which further comprises a retraction reel, and a cylindrical main body made of PE material forms two parts
The inner sides of the shapes are all shrunk onto the shrink reel.
As a further optimization of the technical scheme, the invention provides the soft robot camera carrying device based on the outer pull wires, the pull wires are divided into four strands, and one ends of the four pull wires penetrate through the cylindrical main body made of the PE material to form two pull wires
Between the two brackets, the other ends of the four pull wires respectively penetrate through the periphery of the fixed plate, and the pull wires pull the fixed plate to move backwards and prop against the two brackets
In shape.
A soft robot camera carrying method based on outside stay wires comprises the following steps:
the method comprises the following steps: starting a control inflator pump, and inflating the PE material cylindrical main body by controlling the inflator pump;
step two: the PE material tubular main body is formed into two
The shape is inflated to expand, and the machine is driven by the air pressureThe robot growth extension body overturns forwards and expands to push a fixing plate fixedly connected with a stay wire to spit out due to the eversion of the film, and the fixing plate drives a camera with the front end moving along with the movement to be overturned forwards and expanded by the robot growth extension body to spit out due to the eversion of the film;
step three: the fixing plate is provided with a small hole, the stay wire penetrates through the small hole of the fixing plate, and the wire which is spitted out is pulled back laterally and backwards, so that the camera with the front end moving along is always positioned at the front end of the robot growth extension main body.
The soft robot camera carrying device and method based on the outer side stay wire have the beneficial effects that:
the invention relates to a soft robot camera carrying device and method based on an outer side pull wire, which can solve the problem of installation and following movement of a camera of a soft robot detection environment in a weightless environment, realize the carrying of a front end following movement camera and complete the work of the front end following movement camera through a simple structure, realize the movement distance of the front end following movement camera through the change of the length of a long extension main body of a robot and perform feedback control through controlling an inflator pump, and meet more use requirements.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a first schematic diagram of the motion of the present apparatus of the present invention;
FIG. 2 is a second schematic diagram of the motion of the apparatus of the present invention;
fig. 3 is a third schematic diagram of the movement principle of the device of the present invention.
In the figure: the robot grows the elongated body 1; a stay wire 2; a front-end follow-up motion camera 3; a fixed plate 4; the reel 5 is retracted.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
the embodiment is described below with reference to fig. 1 to 3, and a soft robot camera carrying device based on an outer pull wire comprises a robot growth extension main body 1, a pull wire 2, a front end following motion camera 3 and a fixing plate 4, which can solve the problem of the installation following motion of the camera of the soft robot detection environment in the weightless environment, realize the carrying of the front end following motion camera 3 and the completion of the work of the front end following motion camera 3 through a simple structure, realize the motion distance of the front end following motion camera 3 through the change of the length of the robot growth extension main body 1 and perform feedback control through controlling an inflator pump, thereby meeting more use requirements; the robot growth extension body 1 is inflated to expand towards the front end, the pull wire 2 penetrates through the robot growth extension body 1 to pull the fixing plate 4 backwards to be in contact with the front end of the robot growth extension body 1, and the front end following motion camera 3 is connected to the fixing plate 4; the front-end following motion camera 3 is a camera capable of realizing real-time image information transmission.
The second embodiment is as follows:
the following describes the present embodiment with reference to fig. 1 to 3, and the present embodiment further describes the first embodiment, the robot growth elongated body 1 includes a PE tubular main body and a control inflator, and the control inflator and the PE tubular main body are hermetically connected at one side of the inflation direction; the inflator pump is controlled according to feedback information, the inflator pump and the top growth main body are controlled to realize sealing connection at one side of the inflation direction, air leakage is prevented, and control deviation is avoided; the cylindrical main body PE plastic has strong pressure resistance, and can limit expansion in other directions, so that the robot main body can only move forwards.
The third concrete implementation mode:
the present embodiment will be described with reference to FIGS. 1 to 3, and the present embodiment will further describe a second embodiment in which the PE tubular body is formed in two
Two fixing plates 4 are arranged at the front end of the PE cylindrical main body
Between the shapes.
The fourth concrete implementation mode:
the third embodiment is further described with reference to fig. 1-3, and the soft robot camera carrying device based on the external pull wire further comprises a retraction reel 5, and the PE cylindrical body forms two
The inner sides of the shapes are all contracted on the contraction reel 5; the PE tubular body is formed into two before inflation
The robot is uniformly rolled on a shrinkage reel 5, and the main material of the robot is PE plastic; after inflation, the air pressure can drive the inner film to turn outwards at the head to move forwards, and the PE cylindrical body wound on the contraction reel 5 forms two cylindrical bodies
The shape can provide material support; in addition, the cylindrical main body PE plastic has strong pressure resistance, and can limit expansion in other directions, so that the robot main body can only move forwards.
The fifth concrete implementation mode:
in the following, the present embodiment will be described with reference to fig. 1 to 3, and the fourth embodiment will be further described, in which the drawing wires 2 are divided into four strands, and one end of each of the four drawing wires 2 passes through the PE cylindrical body to form two drawing wires
Between the two drawing lines, the other ends of the four drawing lines 2 respectively penetrate through the periphery of the fixed plate 4, and the drawing lines 2 pull the fixed plate 4 to move backwards and prop against the two drawing lines
In shape; so that the forces of the fixing plate 4 are equalized.
A soft robot camera carrying method based on outside stay wires comprises the following steps:
the method comprises the following steps: starting a control inflator pump, and inflating the PE material cylindrical main body by controlling the inflator pump;
step two: the PE material tubular main body is formed into two
The shape is inflated to expand, due to the effect of air pressure, the robot growth extension body 1 overturns forwards to expand and pushes the fixing plate 4 fixedly connected with the stay wire 2 to be ejected due to the eversion of the film, and the fixing plate 4 drives the front end following motion camera 3 to be overturned forwards and expanded together by the robot growth extension body 1 to be ejected due to the eversion of the film.
Step three: the fixing plate 4 is provided with a small hole, the stay wire 2 passes through the small hole of the fixing plate 4, and the wire which is 'spit out' is pulled back laterally and backwards, so that the camera 3 which moves along with the front end is always positioned at the front end of the robot growth extension main body 1.
The invention relates to a soft robot camera carrying scheme based on an outer side stay wire, which has the working principle that:
starting a control inflator pump, and inflating the PE material cylindrical main body by controlling the inflator pump; the PE material tubular main body is formed into two
The shape is inflated to expand, due to the effect of air pressure, the robot growth extension body 1 overturns forwards to expand and pushes the fixing plate 4 fixedly connected with the stay wire 2 to be ejected due to the eversion of the film, and the fixing plate 4 drives the front end following motion camera 3 to be overturned forwards and expanded together by the robot growth extension body 1 to be ejected due to the eversion of the film; the problem of the installation following movement of a camera of a soft robot detection environment in a weightless environment is solved, the carrying of the front end following movement camera 3 and the work of the front end following movement camera 3 are realized through a simple structure, the movement distance of the front end following movement camera 3 is realized through the change of the length of a robot growth extension main body 1, the feedback control is carried out through controlling an inflator pump, and more use requirements are met; the robot growth extension body 1 is inflated to expand towards the front end, and the pull wire 2 passes through the robot growthThe extending main body 1 pulls the fixing plate 4 backwards to contact with the front end of the robot growing extending main body 1, and the front end following motion camera 3 is connected to the fixing plate 4; the fixing plate 4 is provided with a small hole, the stay wire 2 penetrates through the small hole of the fixing plate 4, and the wire which is 'spit out' is pulled back laterally and backwards, so that the stress of the fixing plate 4 is balanced, and the front-end following motion camera 3 is always positioned at the front end of the robot growth extension main body 1.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (2)
1. The utility model provides a software robot camera carrying device based on outside acting as go-between, includes that the robot grows extension main part (1), acts as go-between (2), front end follow motion camera (3) and fixed plate (4), its characterized in that: the robot growth extension main body (1) is inflated to expand towards the front end, the pull wire (2) penetrates through the robot growth extension main body (1) to pull the fixing plate (4) backwards to be contacted with the front end of the robot growth extension main body (1), and the front end following motion camera (3) is connected to the fixing plate (4);
the robot growth extension main body (1) comprises a PE material cylindrical main body and a control inflator pump, and the control inflator pump and the PE material cylindrical main body are in sealed connection at one side of an inflation direction;
the PE cylindrical main body is formed into two
Two fixing plates (4) are positioned at the front end of the PE cylindrical main body
Between the shapes;
the soft robot camera carrying device based on the external stay wire further comprises a contraction winding drum (5), and two PE cylindrical main bodies are formed
The inner sides of the shapes are all contracted on a contraction reel (5);
the stay wires (2) are divided into four strands, and one ends of the four stay wires (2) penetrate through the PE cylindrical main body to form two stay wires
Between the two pull wires (2), the other ends of the four pull wires (2) respectively penetrate through the periphery of the fixed plate (4), and the pull wires (2) pull the fixed plate (4) to move backwards and prop against the two pull wires
In shape.
2. A method of using the lateral pull wire based soft robotic camera carrying device of claim 1; the carrying method of the soft robot camera based on the outer side stay wire comprises the following steps:
the method comprises the following steps: starting a control inflator pump, and inflating the PE material cylindrical main body by controlling the inflator pump;
step two: the PE material tubular main body is formed into two
The robot growth extension body (1) is forwards overturned and expanded to push a fixing plate (4) fixedly connected with a pull wire (2) to be spit out due to the eversion of the film due to the effect of air pressure, and the fixing plate (4) drives a front end following motion camera (3) to be forwards overturned and expanded by the robot growth extension body (1) and to be spit out due to the eversion of the film;
step three: the fixing plate (4) is provided with a small hole, the pull wire (2) penetrates through the small hole of the fixing plate (4) and is pulled back by the spitted wire in the lateral rear direction, and therefore the camera (3) with the front end moving along is always located at the front end of the robot growth extension main body (1).
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| CN109732582B true CN109732582B (en) | 2022-01-28 |
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| CN110294041A (en) * | 2019-07-15 | 2019-10-01 | 哈尔滨工业大学 | A kind of soft robot and adherency climbing method based on flexible bristle configurations |
| CN110509267B (en) * | 2019-08-21 | 2022-10-25 | 燕山大学 | Soft manipulator based on swallowing effect |
| CN110450138A (en) * | 2019-08-22 | 2019-11-15 | 哈尔滨工业大学 | It is a kind of that soft robot storage device is grown based on roll shaft-roller motion mode certainly |
| CN112692810B (en) * | 2020-12-09 | 2022-03-01 | 杭州电子科技大学 | Soft mechanical arm and driving method thereof |
| CN113103212B (en) * | 2021-04-30 | 2022-05-17 | 哈尔滨工业大学 | Self-growing flexible arm gripper device |
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