CN110450191B - Device for carrying camera on top end of self-growing soft robot - Google Patents
Device for carrying camera on top end of self-growing soft robot Download PDFInfo
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- CN110450191B CN110450191B CN201910780079.7A CN201910780079A CN110450191B CN 110450191 B CN110450191 B CN 110450191B CN 201910780079 A CN201910780079 A CN 201910780079A CN 110450191 B CN110450191 B CN 110450191B
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- top cover
- soft robot
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- main body
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- 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
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- 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
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- 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 invention relates to a camera device carried by a soft robot, in particular to a camera device carried by the top end of a self-growing soft robot, which comprises a box body, a soft robot extension main body, a storage winding drum of the soft robot main body, a magnetic internal top cover, a magnetic external top cover, a restraint side shifting cylinder and a wireless camera, wherein two circular magnets I are respectively in line contact with two circular magnets II, the soft robot extension main body which is turned outwards passes through an internal gap of the magnetic internal top cover and passes through the line contact positions of the two mutually attracted circular magnets I and the two circular magnets II, and because the magnetic force exists in a magnetic field, the two attracted circular magnets I and the two circular magnets II are separated by the soft robot extension main body by a certain distance and can still keep the attraction effect, therefore, when the soft robot extension main body is turned outwards and drives the external top cover to move forwards, the magnetic inner top cover can move forwards along with the magnetic outer top cover.
Description
Technical Field
The invention relates to a portable camera device of a soft robot, in particular to a portable camera device at the top end of a self-growing soft robot.
Background
In the age of rapid development of science and technology, robotics is a necessary technology for better developing society and serving human beings. Due to the development and support of artificial intelligence technology, big data technology, machine vision technology and touch technology, robotics will be more deeply and widely applied in the future. At present, a rigid robot is still the middle and hard force developed in the robot era, relates to a plurality of fields and industries, plays an increasingly important role in the aspects of education, service, industry, national defense and military, emergency rescue and disaster relief, and is more harmonious and safer in man-machine cooperation. The soft robot is a new type of robot, and under the explosive development of new materials and structures, soft robots with various shapes and rich functions are proposed one after another. Due to the characteristic of high flexibility, the pose form can be easily changed according to the field environment, the environmental adaptability is good, and the aim of exploration and detection can be realized by depending on the advantages of the pose form in some unknown narrow environments and dangerous environments for rescue and relief work. However, at present, no good solution is provided for the problem that the self-growing soft robot carries a camera to follow the motion to realize the real-time detection of the surrounding environment through a wireless cable at the top end of the self-growing soft robot, so that trouble is brought to the detection task in an unknown environment.
Disclosure of Invention
The invention aims to provide a device for carrying a camera at the top end of a self-growing soft robot, which can realize real-time detection of the surrounding environment of the self-growing soft robot by carrying the camera on the top end of the self-growing soft robot through a cable.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a from growing soft robot top and carry camera device, includes that box body, soft robot extend main part, the storage reel of soft robot main part, the inside top cap of magnetic force, the outside top cap of magnetic force, restraint side shift drum and wireless camera, be provided with the soft robot extension main part that expands forward of ventilating on the box body, the inboard spiral of soft robot extension main part is accomodate in the storage reel of soft robot main part, and the front end of the inside top cap of magnetic force passes through the outside top cap of magnetic force actuation magnetic force, and the front end of soft robot extension main part is connected between the inside top cap of magnetic force and the outside top cap of magnetic force, and the rear end of the outside top cap of magnetic force is connected with the restraint side and moves the drum, and restraint side shifts the drum parcel in the front end of soft robot extension main part, and outside top cap front.
As a further optimization of the technical scheme, the camera device carried by the top end of the self-growing soft robot is characterized in that the box body is provided with an inflator pump for controlling air inflow according to feedback information, and the inflator pump and the box body are in sealing connection at one side of the inflation direction.
As a further optimization of the technical solution, the invention provides a camera device carried by the top end of a self-growing soft robot, wherein the extension body of the soft robot is made of a cylindrical material made of PE.
As further optimization of the technical scheme, the camera device carried by the top end of the self-growing soft robot is characterized in that the magnetic internal top cover comprises an internal top cover ring and two annular magnets I, and the two annular magnets I are rotatably connected to the internal top cover ring.
As a further optimization of the technical scheme, the camera device carried by the top end of the self-growing soft robot is characterized in that the magnetic external top cover comprises an external top cover ring and two annular magnets II, the two annular magnets II are rotatably connected to the external top cover ring and are respectively attracted with the two annular magnets I through magnetic force, the front end of the extending body of the soft robot respectively penetrates between the two annular magnets II and the two annular magnets I, and the external top cover ring is fixedly connected with a wireless camera.
As a further optimization of the technical scheme, the camera device carried by the top end of the self-growing soft robot comprises a constraint side shifting cylinder and a constraint circular arc plate, wherein the constraint side shifting cylinder comprises a connecting ring and a constraint circular arc plate, the connecting ring is connected to an external top cover ring, two constraint circular arc plates are fixedly connected to the rear side of the connecting ring, and the two constraint circular arc plates are respectively wrapped on the upper side and the lower side of an extending main body of the soft robot.
The self-growing soft robot provided by the invention has the beneficial effects that the camera device carried at the top end of the self-growing soft robot is as follows:
the invention relates to a camera device carried at the top end of a self-growing soft robot, which can be respectively attracted with two annular magnets II through two annular magnets I, wherein the two annular magnets I are respectively in line contact with the two annular magnets II, an extending body of the outward-turning soft robot passes through an internal gap of a magnetic internal top cover and passes through the line contact positions of the two annular magnets I and the two annular magnets II which are attracted with each other, because the magnetic force of the magnetic field is the field force, the two attracted circular magnets I and two attracted circular magnets II can still keep the attraction function by separating a certain distance from the extension main body of the soft robot, therefore, when the extension body of the soft robot is everted to drive the magnetic external top cover to move forwards, the magnetic internal top cover can move forwards along with the magnetic external top cover, and then the wireless camera can be driven to move along with the magnetic internal top cover.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of the overall structure of the self-growing soft body robot tip carried camera device of the present invention;
FIG. 2 is a schematic view of a partial structure of a self-growing soft body robot tip-carried camera device according to the present invention;
FIG. 3 is a schematic view of a partial structure of a self-growing soft body robot with a camera device carried on the top end thereof;
FIG. 4 is a schematic view of the magnetic internal header structure of the present invention;
FIG. 5 is a schematic view of the magnetic external cap structure of the present invention;
fig. 6 is a schematic view of the structure of the constraining side-shifting cylinder of the present invention.
In the figure: a box body 1; a soft robot extension body 2; a storage drum 3 of the soft robot main body; a magnetic inner top cover 4; an inner cap ring 4-1; a ring magnet I4-2; a magnetic outer top cover 5; an outer cap ring 5-1; 5-2 of a circular magnet; a constrained side-shift cylinder 6; a connecting ring 6-1; 6-2 of constrained arc plate; a wireless camera 7.
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. 1-6, a self-growing soft robot top-end-carried camera device, comprising a box body 1, a soft robot extension body 2, a storage reel 3 of the soft robot body, a magnetic internal top cover 4, a magnetic external top cover 5, a restraint side-moving cylinder 6 and a wireless camera 7, wherein the box body 1 is provided with the soft robot extension body 2 which is ventilated and expands forwards, the inner side of the soft robot extension body 2 is spirally accommodated in the storage reel 3 of the soft robot body, the front end of the magnetic internal top cover 4 attracts the magnetic external top cover 5 through magnetic force, the front end of the soft robot extension body 2 is connected between the magnetic internal top cover 4 and the magnetic external top cover 5, the rear end of the magnetic external top cover 5 is connected with the restraint side-moving cylinder 6, the restraint side-moving cylinder 6 is wrapped at the front end of the soft robot extension body 2, the front end of the magnetic external top cover 5 is fixedly connected with a wireless camera 7; can attract each other with two annular magnets II 5-2 through two annular magnets I4-2 respectively, the two annular magnets I4-2 are in line contact with the two annular magnets II 5-2 respectively, the soft body robot extension main body 2 which turns up passes through the internal gap of the magnetic internal top cover 4 and passes through the line contact positions of the two annular magnets I4-2 and the two annular magnets II 5-2 which attract each other, because the magnetic force exists in the magnetic field as field force, the two annular magnets I4-2 and the two annular magnets II 5-2 which attract each other can still keep attraction by separating a certain distance from the soft body robot extension main body 2, therefore, when the magnetic external top cover 5 is driven to move forwards by turning up the soft body robot extension main body 2, the magnetic internal top cover 4 can move forwards along with the magnetic external top cover 5, and the wireless camera 7 can be driven to follow the movement.
The second embodiment is as follows:
the present embodiment is described below with reference to fig. 1 to 6, and the present embodiment further describes the first embodiment, an inflator pump for controlling an intake amount according to feedback information is disposed on the box body 1, and the inflator pump and the box body 1 are hermetically connected on one side in an inflation direction. The two are hermetically connected, so that air leakage is prevented, and control deviation is caused; when the air pressure of the inflator pump is increased, the internal pressure of the extension main body 2 of the soft robot is increased, so that the main body stored in the storage reel 3 of the main body of the soft robot is everted and grows forwards, and the self-growing effect is realized.
The third concrete implementation mode:
the present embodiment will be described with reference to fig. 1 to 6, and the present embodiment will further describe the first embodiment in which the soft robot elongated body 2 is made of a PE cylindrical material.
The fourth concrete implementation mode:
the present embodiment is described below with reference to fig. 1 to 6, and the present embodiment further describes any one of the first to third embodiments, wherein the magnetic inner top cover 4 includes an inner top cover ring 4-1 and two annular magnets i 4-2, and the two annular magnets i 4-2 are rotatably connected to the inner top cover ring 4-1.
The fifth concrete implementation mode:
the embodiment is described below with reference to fig. 1 to 6, and the fourth embodiment is further described in the present embodiment, where the magnetic external top cover 5 includes an external top cover ring 5-1 and two circular magnets ii 5-2, the external top cover ring 5-1 is rotatably connected with the two circular magnets ii 5-2, the two circular magnets ii 5-2 are respectively attracted to the two circular magnets i 4-2 by magnetic force, the front end of the soft robot extension body 2 respectively passes through between the two circular magnets ii 5-2 and the two circular magnets i 4-2, and the external top cover ring 5-1 is fixedly connected with the wireless camera 7; the wireless camera 7 is a camera capable of realizing real-time image information transmission through WIFI, one side of the wireless camera is fixedly connected to the outer surface of the magnetic external top cover 5 and is always kept at the top end of the self-growing soft robot.
The sixth specific implementation mode:
the present embodiment is described below with reference to fig. 1 to 6, and the fifth embodiment is further described in the present embodiment, where the constraining side moving cylinder 6 includes a connecting ring 6-1 and a constraining arc plate 6-2, the connecting ring 6-1 is connected to an external top cover ring 5-1, two constraining arc plates 6-2 are fixedly connected to the rear side of the connecting ring 6-1, and the two constraining arc plates 6-2 are respectively wrapped on the upper and lower sides of the elongated body 2 of the soft robot; the two constraint arc plates 6-2 are symmetrically distributed to form two rectangular gaps which are mainly used for conveniently connecting the magnetic internal top cover 4 and the magnetic external top cover 5 after the magnets are installed; the two constraint arc plates 6-2 are distributed up and down, and the main purpose is to prevent the magnetic inner top cover 4 and the magnetic outer top cover 5 from moving up and down due to the action of a magnetic field after the circular magnets I4-2 and the circular magnets II 5-2 are installed.
The invention relates to a camera device carried at the top end of a self-growing soft robot, which has the working principle that:
the inflator pump and the box body 1 are in sealing connection at one side of the inflation direction. The two are hermetically connected, so that air leakage is prevented, and control deviation is caused; when the air pressure of the inflator pump is increased, the internal pressure of the extension main body 2 of the soft robot is increased, so that the main body stored in the storage reel 3 of the main body of the soft robot is everted and grows forwards, and the self-growing effect is realized; can be respectively attracted with the two circular ring magnets II 5-2 through the two circular ring magnets I4-2, the two circular ring magnets I4-2 are respectively in line contact with the two circular ring magnets II 5-2, the soft body robot extending body 2 which is turned outwards passes through the internal gap of the magnetic internal top cover 4 and passes through the line contact positions of the two circular ring magnets I4-2 and the two circular ring magnets II 5-2 which are attracted with each other, because the magnetic force of the magnetic field is the field force, the two attracted circular magnets I4-2 and two attracted circular magnets II 5-2 can still keep the attraction function by separating a certain distance from the soft robot extension main body 2, therefore, when the extension body 2 of the soft robot is everted to drive the magnetic external top cover 5 to move forwards, the magnetic internal top cover 4 can move forwards along with the magnetic external top cover 5; the two constraint arc plates 6-2 are symmetrically distributed to form two rectangular gaps which are mainly used for conveniently connecting the magnetic internal top cover 4 and the magnetic external top cover 5 after the magnets are installed; the two constraint arc plates 6-2 are distributed up and down, and the main purpose is to prevent the magnetic inner top cover 4 and the magnetic outer top cover 5 from moving up and down due to the action of a magnetic field after the circular magnets I4-2 and the circular magnets II 5-2 are installed.
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 from growth soft robot top and carry camera device, includes storage reel (3), the inside top cap of magnetic force (4), the outside top cap of magnetic force (5), restraint side shift drum (6) and wireless camera (7) of box body (1), soft robot extension main part (2), soft robot main part, be provided with the soft robot extension main part that expands forward (2) ventilate on box body (1), the inboard spiral of soft robot extension main part (2) is accomodate in storage reel (3) of soft robot main part, its characterized in that: the front end of the magnetic internal top cover (4) is attracted to the magnetic external top cover (5) through magnetic force, the front end of the soft robot extension main body (2) is connected between the magnetic internal top cover (4) and the magnetic external top cover (5), the rear end of the magnetic external top cover (5) is connected with a restraint side shifting cylinder (6), the restraint side shifting cylinder (6) is wrapped at the front end of the soft robot extension main body (2), and the front end of the magnetic external top cover (5) is fixedly connected with a wireless camera (7);
the box body (1) is provided with an inflator pump for controlling air inflow according to feedback information, and the inflator pump and the box body (1) are in sealed connection at one side of the inflation direction;
the soft robot extension main body (2) is made of a PE cylindrical material;
the magnetic internal top cover (4) comprises an internal top cover ring (4-1) and two annular magnets I (4-2), and the internal top cover ring (4-1) is rotatably connected with the two annular magnets I (4-2);
the external top cover (5) of magnetic force comprises an external top cover ring (5-1) and two circular ring magnets II (5-2), the external top cover ring (5-1) is connected with the two circular ring magnets II (5-2) in a rotating mode, the two circular ring magnets II (5-2) are respectively attracted with the two circular ring magnets I (4-2) through magnetic force, the front end of the extension main body (2) of the soft robot respectively penetrates between the two circular ring magnets II (5-2) and the two circular ring magnets I (4-2), and the external top cover ring (5-1) is fixedly connected with a wireless camera (7).
2. The self-growing soft body robotic tip-carrying camera device of claim 1, wherein: the restraint side-shifting cylinder (6) comprises a connecting ring (6-1) and restraint arc plates (6-2), the connecting ring (6-1) is connected to an external top cover ring (5-1), the rear side of the connecting ring (6-1) is fixedly connected with the two restraint arc plates (6-2), and the two restraint arc plates (6-2) are respectively wrapped on the upper side and the lower side of the soft robot extension main body (2).
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| CN201910780079.7A CN110450191B (en) | 2019-08-22 | 2019-08-22 | Device for carrying camera on top end of self-growing soft robot |
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| CN201910780079.7A CN110450191B (en) | 2019-08-22 | 2019-08-22 | Device for carrying camera on top end of self-growing soft robot |
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| CN110450191B true CN110450191B (en) | 2020-10-09 |
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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 |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| JPS62134374A (en) * | 1985-12-09 | 1987-06-17 | Toshiba Corp | Internal force balanced type magnetic adsorption unit |
| EP2034922B1 (en) * | 2006-06-22 | 2017-03-15 | Board of Regents of the University of Nebraska | Magnetically coupleable robotic devices |
| JP6153678B2 (en) * | 2015-02-26 | 2017-06-28 | オリンパス株式会社 | Manipulator and manipulator system |
| CN105857428B (en) * | 2016-03-31 | 2018-06-22 | 华北理工大学 | A kind of Magnetic driving climbs wall device motion and movement technique |
| CN109702729B (en) * | 2019-01-18 | 2020-10-09 | 哈尔滨工业大学 | Camera carrying movement device and method based on preset tension of elastic rope |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
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