CN110450191A - It is a kind of to carry camera system from growth soft robot top - Google Patents
It is a kind of to carry camera system from growth soft robot top Download PDFInfo
- Publication number
- CN110450191A CN110450191A CN201910780079.7A CN201910780079A CN110450191A CN 110450191 A CN110450191 A CN 110450191A CN 201910780079 A CN201910780079 A CN 201910780079A CN 110450191 A CN110450191 A CN 110450191A
- Authority
- CN
- China
- Prior art keywords
- soft robot
- magnetic force
- main body
- outer cover
- circular ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
Abstract
The present invention relates to soft robots to carry camera system, it in particular is a kind of from growth soft robot top carrying camera system, including box body, soft robot extends main body, the storage reels of soft robot main body, magnetic force interior roof, magnetic force outer cover, constrain sidesway cylinder and wireless camera, two circular ring magnets I are respectively line contact with two circular ring magnets II, the soft robot elongation main body turned up is by the inside notch of magnetic force interior roof and across the line contact position for two circular ring magnet I and two circular ring magnets II attracted each other, since magnetic field is field force there are magnetic force, main body is separated by a distance can still keep sucking action by soft robot elongation for two circular ring magnet I and two circular ring magnets II attracted, therefore it turns up driving in soft robot elongation main body When magnetic force outer cover travels forward, magnetic force interior roof can follow magnetic force outer cover to travel forward.
Description
Technical field
The present invention relates to soft robots to carry camera system, is in particular a kind of from growth soft robot top
End carries camera system.
Background technique
In the epoch of scientific and technical high speed development, robot technology is the required skill of preferably development society, the service mankind
Art.Due to the development and support of artificial intelligence technology, big data technology, machine vision technique and haptic technology, robot technology
It can obtain more deeply being widely applied in future.Rigid machine people is still the backbone power of robot era development at present
Amount, is related to field and industry is numerous, play the part of in terms of education, service, industry, defense military, rescue and relief work more and more important
Safety is more coordinated in role, man-machine coordination.Soft robot is a kind of novel robot, and in the quick-fried of new material and structure
Under hairdo development, comes in every shape and proposed in succession with feature-rich soft robot.It, can basis due to its flexible high feature
Site environment is relatively easy to transformation pose form, good environmental adaptability, in some unknown narrow environment and rescue and relief work
Hazardous environment in can by its advantage realize prospecting detection purpose.But at present for growth soft robot certainly at it
Top carries the problem of video camera follows movement to realize the detection of ambient enviroment real-time without cable and does not well solve scheme,
Therefore trouble is brought to the detection mission in circumstances not known.
Summary of the invention
Camera system is carried from growth soft robot top the object of the present invention is to provide a kind of, may be implemented spontaneous
Long soft robot carries video camera without cable on its top and movement is followed to carry out the detection of ambient enviroment real-time.
The purpose of the present invention is achieved through the following technical solutions:
It is a kind of to carry camera system from growth soft robot top including box body, soft robot elongation main body, soft
Storage reels, magnetic force interior roof, magnetic force outer cover, constraint sidesway cylinder and the wireless camera of body robot body, institute
It states and is provided with the soft robot elongation main body that ventilation expands forward on box body, the inside spiral that soft robot extends main body is received
It is contained in the storage reels of soft robot main body, the front end of magnetic force interior roof is soft by magnetic attraction magnetic force outer cover
The front end of body robot elongation main body is connected between magnetic force interior roof and magnetic force outer cover, the rear end of magnetic force outer cover
It is connected with constraint sidesway cylinder, constraint sidesway cylinder is wrapped in the front end of soft robot elongation main body, before magnetic force outer cover
End is fixedly connected with wireless camera.
As advanced optimizing for the technical program, the present invention is a kind of to carry video camera dress from growth soft robot top
It sets, the inflator pump for controlling air inflow according to feedback information, inflator pump and box body is provided on the box body in inflation direction side
It realizes and is tightly connected.
As advanced optimizing for the technical program, the present invention is a kind of to carry video camera dress from growth soft robot top
It sets, the soft robot elongation main body is made of PE material cylindrical material.
As advanced optimizing for the technical program, the present invention is a kind of to carry video camera dress from growth soft robot top
It sets, the magnetic force interior roof includes interior roof ring and circular ring magnet I, and there are two annulus for rotation connection on interior roof ring
Shape magnet I.
As advanced optimizing for the technical program, the present invention is a kind of to carry video camera dress from growth soft robot top
It sets, the magnetic force outer cover includes outer cover ring and circular ring magnet II, and there are two circles for rotation connection on outer cover ring
Annular magnet II, two circular ring magnets II pass through magnetic attraction, soft robot elongation master with two circular ring magnets I respectively
The front end of body is each passed through between two circular ring magnet II and two circular ring magnets I, is fixedly connected on outer cover ring
Wireless camera.
As advanced optimizing for the technical program, the present invention is a kind of to carry video camera dress from growth soft robot top
It sets, the constraint sidesway cylinder includes connection ring and constraint arc plate, and connection ring is connected on outer cover ring, after connection ring
Side is fixedly connected there are two arc plate is constrained, and two constraint arc plates are wrapped in up and down the two of soft robot elongation main body respectively
Side.
The present invention is a kind of to carry having the beneficial effect that for camera system from growth soft robot top
It is of the invention a kind of from growth soft robot top carrying camera system, two circular ring magnets I can be passed through
It attracts each other respectively with two circular ring magnets II, two circular ring magnets I are respectively line contact with two circular ring magnets II,
The soft robot elongation main body turned up is by the inside notch of magnetic force interior roof and across two circular ring shapes attracted each other
The line contact position of magnet I and two circular ring magnet II, since magnetic field is field force, two annular magnetics of attraction there are magnetic force
Main body is separated by a distance can still keep sucking action by soft robot elongation for iron I and two circular ring magnet II,
Therefore when soft robot elongation main body turns up and magnetic force outer cover is driven to travel forward, magnetic force interior roof can follow magnetic
Power outer cover travels forward, and then wireless camera can be driven to follow movement.
Detailed description of the invention
The present invention will be further described in detail with specific implementation method with reference to the accompanying drawing.
Fig. 1 is that the soft robot top of growth certainly of the invention carries camera system overall structure diagram；
Fig. 2 is that the soft robot top of growth certainly of the invention carries camera system partial structural diagram；
Fig. 3 is that the soft robot top of growth certainly of the invention carries camera system partial structural diagram；
Fig. 4 is magnetic force interior roof structure schematic diagram of the invention；
Fig. 5 is magnetic force outer cover structural schematic diagram of the invention；
Fig. 6 is constraint sidesway cylindrical structure schematic diagram of the invention.
In figure: box body 1；Soft robot extends main body 2；The storage reels 3 of soft robot main body；Magnetic force interior roof
4；Interior roof ring 4-1；I 4-2 of circular ring magnet；Magnetic force outer cover 5；Outer cover ring 5-1；II 5-2 of circular ring magnet；About
Beam sidesway cylinder 6；Connection ring 6-1；Constrain arc plate 6-2；Wireless camera 7.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Specific embodiment 1:
Illustrate present embodiment below with reference to Fig. 1-6, it is a kind of to carry camera system, packet from growth soft robot top
Include box body 1, soft robot extends main body 2, outside the storage reels 3 of soft robot main body, magnetic force interior roof 4, magnetic force
Top cover 5 constrains sidesway cylinder 6 and wireless camera 7, and the soft robot that ventilation expands forward is provided on the box body 1 and is stretched
The inside spiral of long main body 2, soft robot elongation main body 2 is accommodated in the storage reels 3 of soft robot main body, in magnetic force
The front end of portion's top cover 4 is connected in magnetic force by magnetic attraction magnetic force outer cover 5, the front end of soft robot elongation main body 2
Between portion's top cover 4 and magnetic force outer cover 5, the rear end of magnetic force outer cover 5 is connected with constraint sidesway cylinder 6, constraint sidesway circle
Cylinder 6 is wrapped in the front end of soft robot elongation main body 2, and 5 front end of magnetic force outer cover is fixedly connected with wireless camera 7；It can
To be attracted each other respectively with two II 5-2 of circular ring magnet by two I 4-2 of circular ring magnet, two I 4-2 of circular ring magnet
It is respectively line contact with two II 5-2 of circular ring magnet, the soft robot elongation main body 2 turned up passes through magnetic force interior roof 4
Inside notch and pass through attract each other two circular ring magnets, I 4-2 and two II 5-2 of circular ring magnet line contact position
It sets, since magnetic field is field force there are magnetic force, two circular ring magnets, I 4-2 and two II 5-2 of circular ring magnet of attraction is by software
Robot elongation main body 2 is separated by a distance can still to keep sucking action, therefore outside soft robot elongation main body 2
Driving magnetic force outer cover 5 is turned over when travelling forward, magnetic force interior roof 4 can follow magnetic force outer cover 5 to travel forward, in turn
Wireless camera 7 can be driven to follow movement.
Specific embodiment 2:
Illustrate that present embodiment, present embodiment are described further embodiment one below with reference to Fig. 1-6, the box
It is provided with the inflator pump for controlling air inflow according to feedback information, inflator pump and box body 1 on body 1 and realizes sealing in inflation direction side
Connection.The two is tightly connected, and is prevented gas leakage, is caused control deviation；When inflator pump increases air pressure, soft robot extends main body
2 internal pressures increase, and grow forward so that the main body being stored in inside the storage reels 3 of soft robot main body is turned up, and realize
Self-growing effect.
Specific embodiment 3:
Illustrate that present embodiment, present embodiment are described further embodiment one below with reference to Fig. 1-6, it is described soft
Body robot elongation main body 2 is made of PE material cylindrical material.
Specific embodiment 4:
Illustrate that present embodiment, present embodiment make any one of embodiment one to three further below with reference to Fig. 1-6
Illustrate, the magnetic force interior roof 4 includes I 4-2 of interior roof ring 4-1 and circular ring magnet, the company of rotation on interior roof ring 4-1
I 4-2 of circular ring magnet there are two connecing.
Specific embodiment 5:
Illustrate that present embodiment, present embodiment are described further embodiment four below with reference to Fig. 1-6, the magnetic
Power outer cover 5 includes II 5-2 of outer cover ring 5-1 and circular ring magnet, and there are two circles for rotation connection on outer cover ring 5-1
Annular magnet II 5-2, two II 5-2 of circular ring magnet pass through magnetic attraction, software machine with two I 4-2 of circular ring magnet respectively
The front end that device people extends main body 2 is each passed through between two circular ring magnets, II 5-2 and two I 4-2 of circular ring magnet, outside top
Wireless camera 7 is fixedly connected on bezel ring, 5-1；The wireless camera 7 is can to realize real-time image information by WIFI
The video camera of transmission, wherein side is connected in 5 outer surface of magnetic force outer cover, remains at from growth soft robot
Top.
Specific embodiment 6:
Illustrate that present embodiment, present embodiment are described further embodiment five below with reference to Fig. 1-6, it is described about
Beam sidesway cylinder 6 includes connection ring 6-1 and constrains arc plate 6-2, and connection ring 6-1 is connected on outer cover ring 5-1, connection ring
It is fixedly connected on rear side of 6-1 there are two arc plate 6-2 is constrained, two constraint arc plate 6-2 are wrapped in soft robot respectively and stretch
The two sides up and down of long main body 2；Two constraint arc plate 6-2, two rectangular notches of symmetrical formation are mainly used in installation magnetic
Facilitate connection magnetic force interior roof 4 and magnetic force outer cover 5 after iron；The structure of two constraint arc plate 6-2 or more distributions is main
Purpose is to prevent magnetic force interior roof 4 and magnetic force outer cover 5 in mounting circular ring shape magnet I 4-2 and II 5-2 of circular ring magnet,
Afterwards due to sidesway above and below the effect in magnetic field.
Of the invention is a kind of from growth soft robot top carrying camera system, its working principle is that:
Inflator pump and box body 1 are realized in inflation direction side to be tightly connected.The two is tightly connected, and is prevented gas leakage, is caused to control
Deviation processed；When inflator pump increases air pressure, soft robot extends 2 internal pressure of main body and increases, so that being stored in software machine
Main body inside the storage reels 3 of human agent, which is turned up, to be grown forward, realizes self-growing effect；Two annular magnetics can be passed through
I 4-2 of iron attracts each other with two II 5-2 of circular ring magnet respectively, two I 4-2 of circular ring magnet respectively with two annular magnetics
II 5-2 of iron is line contact, and the soft robot elongation main body 2 turned up is by the inside notch of magnetic force interior roof 4 and across mutual
The line contact position of two circular ring magnets, I 4-2 and two II 5-2 of circular ring magnet mutually attracted, since there are magnetic force in magnetic field
Two circular ring magnets, I 4-2 and two II 5-2 of circular ring magnet for field force, attraction is separated by soft robot elongation main body 2
A certain distance can still keep sucking action, therefore turn up in soft robot elongation main body 2 and drive magnetic force outer cover 5
When travelling forward, magnetic force interior roof 4 can follow magnetic force outer cover 5 to travel forward；Two constraint arc plate 6-2 symmetrically divide
Cloth forms two rectangular notches, is mainly used for facilitating connection magnetic force interior roof 4 and magnetic force outer cover 5 after installing magnet；
The structure main purpose of two constraint arc plate 6-2 or more distributions is to prevent magnetic force interior roof 4 and magnetic force outer cover 5 from pacifying
Fill I 4-2 of circular ring magnet and II 5-2 of circular ring magnet, after due to sidesway above and below the effect in magnetic field.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (6)
1. a kind of carry camera system from growth soft robot top, including box body (1), soft robot extend main body
(2), the storage reels (3) of soft robot main body, magnetic force interior roof (4), magnetic force outer cover (5), constraint sidesway cylinder
(6) and wireless camera (7) soft robot elongation main body (2) that ventilation expands forward, is provided on the box body (1), it is soft
The inside spiral of body robot elongation main body (2) is accommodated in the storage reels (3) of soft robot main body, it is characterised in that:
The front end of magnetic force interior roof (4) extends the front end of main body (2) by magnetic attraction magnetic force outer cover (5), soft robot
It is connected between magnetic force interior roof (4) and magnetic force outer cover (5), the rear end of magnetic force outer cover (5) is connected with constraint side
It moves cylinder (6), constraint sidesway cylinder (6) is wrapped in the front end of soft robot elongation main body (2), before magnetic force outer cover (5)
End is fixedly connected with wireless camera (7).
2. according to claim 1 a kind of from growth soft robot top carrying camera system, it is characterised in that: institute
The inflator pump for being provided on box body (1) and controlling air inflow according to feedback information, inflator pump and box body (1) are stated in inflation direction side
It realizes and is tightly connected.
3. according to claim 1 a kind of from growth soft robot top carrying camera system, it is characterised in that: institute
Soft robot elongation main body (2) is stated to be made of PE material cylindrical material.
4. it is according to any one of claims 1 to 3 a kind of from growth soft robot top carrying camera system, it is special
Sign is: the magnetic force interior roof (4) includes interior roof ring (4-1) and circular ring magnet I (4-2), interior roof ring (4-
1) there are two circular ring magnet I (4-2) for rotation connection on.
5. according to claim 4 a kind of from growth soft robot top carrying camera system, it is characterised in that: institute
Stating magnetic force outer cover (5) includes outer cover ring (5-1) and circular ring magnet II (5-2), is rotated on outer cover ring (5-1)
There are two circular ring magnet II (5-2), two circular ring magnets II (5-2) are logical with two circular ring magnets I (4-2) respectively for connection
Magnetic attraction is crossed, the front end of soft robot elongation main body (2) is each passed through two circular ring magnets II (5-2) and two annulus
Between shape magnet I (4-2), wireless camera (7) are fixedly connected on outer cover ring (5-1).
6. according to claim 5 a kind of from growth soft robot top carrying camera system, it is characterised in that: institute
Stating constraint sidesway cylinder (6) includes connection ring (6-1) and constraint arc plate (6-2), and connection ring (6-1) is connected to outer cover ring
On (5-1), it is fixedly connected on rear side of connection ring (6-1) there are two arc plate (6-2) is constrained, two constraint arc plates (6-2) are divided
It is not wrapped in the two sides up and down of soft robot elongation main body (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910780079.7A CN110450191B (en) | 2019-08-22 | 2019-08-22 | Device for carrying camera on top end of self-growing soft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910780079.7A CN110450191B (en) | 2019-08-22 | 2019-08-22 | Device for carrying camera on top end of self-growing soft robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110450191A true CN110450191A (en) | 2019-11-15 |
| CN110450191B CN110450191B (en) | 2020-10-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910780079.7A Active CN110450191B (en) | 2019-08-22 | 2019-08-22 | Device for carrying camera on top end of self-growing soft robot |
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| CN (1) | CN110450191B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2598560A (en) * | 2020-08-28 | 2022-03-09 | Q Bot Ltd | A robotic device and method of operating the same and an attachment mechanism for the same |
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| US9445711B2 (en) * | 2012-05-09 | 2016-09-20 | Carnegie Mellon University | System and method to magnetically actuate a capsule endoscopic robot for diagnosis and treatment |
| JP6153678B2 (en) * | 2015-02-26 | 2017-06-28 | オリンパス株式会社 | Manipulator and manipulator system |
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| CN110053033A (en) * | 2019-05-24 | 2019-07-26 | 北京深醒科技有限公司 | A kind of modularization snake-shaped robot and its working method for security protection patrol |
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2019
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| JPS62134374A (en) * | 1985-12-09 | 1987-06-17 | Toshiba Corp | Internal force balanced type magnetic adsorption unit |
| US20090069821A1 (en) * | 2003-07-08 | 2009-03-12 | Board Of Regents Of The University Of Nebraska | Robotic devices with agent delivery components and related methods |
| US9445711B2 (en) * | 2012-05-09 | 2016-09-20 | Carnegie Mellon University | System and method to magnetically actuate a capsule endoscopic robot for diagnosis and treatment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2598560A (en) * | 2020-08-28 | 2022-03-09 | Q Bot Ltd | A robotic device and method of operating the same and an attachment mechanism for the same |
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| Publication number | Publication date |
|---|---|
| CN110450191B (en) | 2020-10-09 |
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