CN109823429A - A kind of Bionic inchworm robot - Google Patents
A kind of Bionic inchworm robot Download PDFInfo
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- CN109823429A CN109823429A CN201910279419.8A CN201910279419A CN109823429A CN 109823429 A CN109823429 A CN 109823429A CN 201910279419 A CN201910279419 A CN 201910279419A CN 109823429 A CN109823429 A CN 109823429A
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- robot
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- steel needle
- ruins
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Abstract
The invention discloses a kind of Bionic inchworm robots, robot head includes ultrasonic distance measurement probe, infrared human body inductive probe and condition prompting lamp, several joints are connected to form trunk, contain a steering engine in each joint, needle cluster foot is by spring, steel needle, connecting rod, steering engine is constituted, uneven ground can be caught after steel needle combination spring, the front and back foot steel needle direction of robot is identical, when robot moves forward or back, steel needle in the same direction makes thrust direction consistent, it avoids sliding to reduce the loss of power, the bionical needle cluster foot of robot, being unable to run environment still in crawler belt can enter ruins effectively attachment surface adaptation to the ground.The beneficial effects of the invention are as follows robots to have high pass rate in the environment of ruins, can efficiently pass through the specific location that trapped person is goed deep into inside ruins determining in ruins.
Description
Technical field
The invention belongs to robotic technology fields, are related to a kind of Bionic inchworm robot.
Background technique
At present in earthquake rescue, robot negligible amounts, the function for putting into application are simple.Rely primarily on life-detection instrument and
Rescue dogs, it is often unable to do what one wishes in face of disaster-stricken serious area.With reference to domestic and international rescue aid to integrate existing advantage.Analysis is rescued
It helps status and bionical object looper develops design principle.Looper structure is simple, compact and flexible convenient for bionical, accordingly planing machine
People has the function of search positioning trapped person, searches the oppressive member of wound for disaster relief personnel and provides help.
Summary of the invention
The purpose of the present invention is to provide a kind of Bionic inchworm robots, and the beneficial effects of the invention are as follows robots in ruins
There is high pass rate in environment, can efficiently pass through the specific location that trapped person is goed deep into inside ruins determining in ruins.
The technical scheme adopted by the invention is that including head, joint, needle cluster foot；Robot head includes ultrasonic distance measurement
Probe, infrared human body inductive probe and condition prompting lamp, robot head perceives local environment situation by ultrasonic distance measurement, comprehensive
Closing task object calculating optimal path and feeding back to host computer assists rescue personnel's search oppressive；Ultrasonic distance measurement is with sound wave
Media on target carries out contactless detection, and infrared human body sensor is the core perception device of robot probe trapped person,
Infrared ray perception by detection human body release carries out omnidirectional detection with the movement of robot with the presence or absence of oppressive member is hurt；
Several joints are connected to form trunk, and a steering engine is contained in each joint, and needle cluster is made of spring, steel needle, connecting rod, steering engine enough,
Uneven ground can be caught after steel needle combination spring, the front and back foot steel needle direction of robot is identical, when robot advance or
Steel needle in the same direction makes thrust direction consistent when retrogressing, avoids sliding to reduce the loss of power, the bionical needle cluster foot of robot is being carried out
Band is unable to run environment still and can enter ruins effectively attachment surface adaptation to the ground.
Detailed description of the invention
Fig. 1 is Bionic inchworm robot architecture's schematic diagram；
Fig. 2 is needle cluster foot schematic diagram；
Fig. 3 is head schematic diagram.
In figure, 1. heads, 2. joints, 3. needle cluster foots, 101. ultrasonic distance measurements probe, 102. infrared human body inductive probes,
103. condition prompting lamp, 301. springs, 302. steel needles, 303. connecting rods, 304. steering engines.
Specific embodiment
The present invention is described in detail With reference to embodiment.
Bionic inchworm robot of the present invention is as shown in Figure 1 to Figure 3, including head 1, joint 2, needle cluster foot 3；Robot head
1 includes that ultrasonic distance measurement probe 101, infrared human body inductive probe 102 and condition prompting lamp 103, robot head 1 pass through ultrasound
Wave ranging perceives local environment situation, and comprehensive task target calculates optimal path and feeds back to host computer auxiliary rescue personnel and searches
It is oppressive.Ultrasonic distance measurement carries out contactless detection by media on target of sound wave.The color of target, form, material and
Apparent influence will not be generated on measurement result in flue dust or rainfall environment.Infrared human body sensor is that robot probe is stranded
The core perception device of personnel.By the infrared ray perception of detection human body release with the presence or absence of the oppressive member of wound.7 meters of investigation depth,
It is enough to detect general ruins environment.Omnidirectional detection is carried out with the movement of robot.Several joints 2 are connected to form trunk,
Contain a steering engine 304 in each joint 2.Needle cluster foot 3 is made of spring 301, steel needle 302, connecting rod 303, steering engine 304.Steel needle knot
Uneven ground can be easily caught after closing spring.The front and back foot steel needle direction of robot is identical, when robot advance or after
Steel needle in the same direction makes thrust direction consistent when moving back, and avoids sliding to reduce the loss of power.Observation discovery animal looper only into not moving back,
Namely looper effect is regulated and controled using direction of the steering engine to needle cluster foot thus.So that robot can not turn
It can directly be retreated in Road narrows.The bionical needle cluster foot 3 of robot, is unable to run environment still and can enter ruins and is effectively attached in crawler belt
Face adaptation to the ground.
The above is only not to make limit in any form to the present invention to better embodiment of the invention
System, any simple modification that embodiment of above is made according to the technical essence of the invention, equivalent variations and modification,
Belong in the range of technical solution of the present invention.
Claims (1)
1. a kind of Bionic inchworm robot, it is characterised in that: including head, joint, needle cluster foot；Robot head includes ultrasonic wave
Range finding probe, infrared human body inductive probe and condition prompting lamp, robot head perceive local environment feelings by ultrasonic distance measurement
Condition, comprehensive task target, which calculates optimal path and feeds back to host computer, assists rescue personnel's search oppressive；Ultrasonic distance measurement with
Sound wave is that media on target carries out contactless detection, and infrared human body sensor is the core perception of robot probe trapped person
Device, the infrared ray perception by detection human body release carry out comprehensive with the presence or absence of oppressive member is hurt with the movement of robot
Detection；Several joints are connected to form trunk, and a steering engine is contained in each joint, and needle cluster foot is by spring, steel needle, connecting rod, steering engine
It constitutes, uneven ground can be caught after steel needle combination spring, the front and back foot steel needle direction of robot is identical, before robot
Into or steel needle in the same direction makes thrust direction consistent when retreating, avoid sliding to reduce the loss of power, the bionical needle cluster foot of robot,
Being unable to run environment still in crawler belt can enter ruins effectively attachment surface adaptation to the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910279419.8A CN109823429A (en) | 2019-04-09 | 2019-04-09 | A kind of Bionic inchworm robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910279419.8A CN109823429A (en) | 2019-04-09 | 2019-04-09 | A kind of Bionic inchworm robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109823429A true CN109823429A (en) | 2019-05-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910279419.8A Pending CN109823429A (en) | 2019-04-09 | 2019-04-09 | A kind of Bionic inchworm robot |
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| CN (1) | CN109823429A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202987325U (en) * | 2012-07-24 | 2013-06-12 | 华南理工大学 | Bionic climbing robot |
| WO2015003221A1 (en) * | 2013-07-12 | 2015-01-15 | University Of Technology, Sydney | Adhesion system for a climbing vehicle |
| CN106828655A (en) * | 2017-02-22 | 2017-06-13 | 武汉科技大学 | With multivariant climbing robot |
| CN206811938U (en) * | 2017-05-05 | 2017-12-29 | 广东石油化工学院 | A kind of wheel type mobile Multifunctional emergency rescue robot |
| CN109176501A (en) * | 2018-09-12 | 2019-01-11 | 江苏科技大学 | Imitative looper soft robot |
| CN208484758U (en) * | 2018-07-12 | 2019-02-12 | 中国科学院合肥物质科学研究院 | A kind of active pawl thorn foot for climbing robot |
-
2019
- 2019-04-09 CN CN201910279419.8A patent/CN109823429A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202987325U (en) * | 2012-07-24 | 2013-06-12 | 华南理工大学 | Bionic climbing robot |
| WO2015003221A1 (en) * | 2013-07-12 | 2015-01-15 | University Of Technology, Sydney | Adhesion system for a climbing vehicle |
| CN106828655A (en) * | 2017-02-22 | 2017-06-13 | 武汉科技大学 | With multivariant climbing robot |
| CN206811938U (en) * | 2017-05-05 | 2017-12-29 | 广东石油化工学院 | A kind of wheel type mobile Multifunctional emergency rescue robot |
| CN208484758U (en) * | 2018-07-12 | 2019-02-12 | 中国科学院合肥物质科学研究院 | A kind of active pawl thorn foot for climbing robot |
| CN109176501A (en) * | 2018-09-12 | 2019-01-11 | 江苏科技大学 | Imitative looper soft robot |
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Application publication date: 20190531 |