CN114113540B - Multi-degree-of-freedom steering peristaltic traveling soil detection robot - Google Patents
Multi-degree-of-freedom steering peristaltic traveling soil detection robot Download PDFInfo
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- CN114113540B CN114113540B CN202111348741.5A CN202111348741A CN114113540B CN 114113540 B CN114113540 B CN 114113540B CN 202111348741 A CN202111348741 A CN 202111348741A CN 114113540 B CN114113540 B CN 114113540B
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- 239000002689 soil Substances 0.000 title claims abstract description 120
- 238000001514 detection method Methods 0.000 title claims abstract description 48
- 230000002572 peristaltic effect Effects 0.000 title claims abstract description 43
- 238000005553 drilling Methods 0.000 claims abstract description 20
- 238000003825 pressing Methods 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000008602 contraction Effects 0.000 claims description 5
- 238000011084 recovery Methods 0.000 claims 1
- 241001233061 earthworms Species 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 241000361919 Metaphire sieboldi Species 0.000 description 3
- 238000012271 agricultural production Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
- G01N33/246—Earth materials for water content
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Remote Sensing (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Food Science & Technology (AREA)
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- Earth Drilling (AREA)
Abstract
The invention relates to a multi-degree-of-freedom steering peristaltic traveling soil detection robot, which belongs to the technical field of soil detection and structurally comprises four parts: soil drilling structure, steering structure, soil detection structure, peristaltic advancing structure, the robot can creep into deep soil, gathers soil temperature and humidity to be convenient for know the state change of soil in real time through the algorithm according to gathering detection data, and adjust soil temperature and humidity to the soil change condition, the robot can be safe return ground. The robot can drill deep soil to detect soil, turns up and down and left and right in the deep soil, enables the peristaltic travelling structure to alternately change the extending state and the contracting state through forward and reverse rotation of the motor, realizes the travelling of earthworms in the soil, facilitates the understanding of the moisture content in the deep soil and the surrounding soil, grasps the first hand information of soil humidity, and analyzes the influence degree of soil conditions on the growth and development of crops.
Description
Technical Field
The invention relates to a device for testing soil, in particular to a multi-degree-of-freedom steering peristaltic traveling soil detection robot, and belongs to the technical field of soil detection.
Background
In recent years, with the rapid development of economy and society, the technology demand is increased in agricultural development, the soil degradation speed of farmland in China is increased, soil drought and waterlogging are affected, the relative temperature and humidity of soil are measured, and the drought and waterlogging degree is used for measuring the soil drought and waterlogging degree of farmland, and crop growth and development conditions are caused by agricultural production, so that not only surface soil detection but also deep soil needs to be detected, thus being convenient for carrying out effective restoration management on soil in a positive area, the existing soil detection equipment cannot well enter the soil to carry out sampling detection on the deep soil when detecting the soil, only small-surface soil can be detected, the soil in a certain area is not easy to carry out restoration management, the multi-degree-of-freedom steering peristaltic travel soil detection robot is a convenient and rapid detection instrument for detecting the temperature and humidity of the deep soil, and the relative humidity of the soil reflects the soil waterlogging condition through calculation, thereby providing decision data support for a production department, enabling agricultural production to provide a rapid, timely and scientific scheme and preparation, and being convenient for restoring the soil.
And the development of the intelligent farm at present requires higher degree of automation, and the growth environment of plants can be effectively monitored by detecting the temperature and the humidity of soil, and the robot for collecting the temperature and the humidity information of the soil based on the bionic earthworms is disclosed. The robot is used for entering deep soil, returned data are detected, the change of the soil state is predicted, and the soil moisture is controlled manually in time.
In the field of soil detection, a variety of solutions are provided by many inventors. Such as the patent: soil detection improvement equipment, patent number: CN104685990B, a first drill bit is installed at the lower end of the machine body for drilling of soil detection and improvement equipment, and a handle is installed at the upper end of the machine body for holding the soil detection and improvement equipment, which measures the ground surface or relatively shallow soil. Soil detection device, patent No.: CN110823287B, the equipment structure includes the tripod body, be equipped with joint assembly on the tripod body, it is equipped with the drill bit to rotate the inner shell bottom, the equipment structure is big, portable gathers single vertical regional soil.
The equipment of the invention is used for vertically downwards drilling soil on the ground surface to collect soil, so that the soil performance is detected, the structure is huge, the collected soil area is single, the soil data around the deep soil can not be collected, and the peripheral soil data can not be detected on the premise of the deep soil.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art, and provides a multi-degree-of-freedom steering peristaltic travel soil detection robot which has the effects of drilling deep soil to detect soil, turning up and down and left and right in the deep soil, enabling the peristaltic travel structure to alternately change in expansion and contraction states through forward and reverse rotation of a motor, and realizing the travel of earthworms in the soil.
The invention aims at realizing the following technical scheme, and discloses a multi-degree-of-freedom steering peristaltic traveling soil detection robot which is characterized by comprising four parts connected in sequence: the device comprises a soil drilling structure for drilling deep soil, a steering structure for realizing multi-degree-of-freedom steering of the soil drilling structure, a soil detection structure for measuring the temperature and the humidity of the soil and a peristaltic advancing structure for forming alternating expansion and contraction states.
Preferably, the soil drilling structure comprises a drill bit, a spline, a motor A and a motor housing, wherein the motor A is arranged in the motor housing, the spline is arranged on a motor shaft of the motor A through interference fit, the drill bit is screwed from the outside and connected with the spline to form a detachable drill bit, and the motor A rotates to enable the spline to rotate so as to drive the drill bit to rotate.
Preferably, the steering structure comprises a flexible skin, a pressing plate, a fixed ring, a steering unit and a shell, wherein the steering unit and the shell are used for realizing the conversion of circumferential rotation into axial movement, the steering unit is respectively arranged around and can realize the up-down, left-right steering, and is placed in the fixed ring, one end of the steering unit is fixed in the shell, the other end of the steering unit is connected onto the pressing plate by a screw and is placed in the flexible skin, and the pressing plate is connected onto the soil drilling structure by a screw.
Preferably, the steering unit comprises a limit column, a spring, a movable rod, a chute block, a rotary rod and a motor B, wherein the limit column is connected on a pressing plate through a screw, the limit column is connected with the movable rod through an outer wall nested spring, the movable rod is arranged in a fixed ring, the rotary rod is provided with a chute, the chute block enables the movable rod and the rotary rod to be clamped in the chute of reciprocating motion, the motor B rotates to drive the rotary rod to rotate, the chute block slides in the chute to enable circumferential rotation to be axially rotated, the rotary rod is arranged on a motor shaft of the motor B through interference fit, the motor B is fixed in a shell, the motor B positively rotates to enable the rotary rod to rotate, the chute block is clamped in the chute to be axially moved, the movable rod is in contact with the limit column to transfer force, the drill bit is enabled to rotate to one side due to partial stress of the pressing plate, the rotary rod is respectively arranged around to realize up-down and-left-right steering, after steering is finished, the motor B reversely returns to the original position, and the motor B is reset through the spring to realize steering and can recover the function of the original forward position.
Preferably, the soil detection structure comprises a power supply control shell, a detector, a control panel and a power panel, wherein the power panel is fixed at the bottom in the power supply control shell through screws, the detector is arranged on the outer side surface of the power supply control shell, the control panel is fixed on the inner side surface of the power supply control shell through blind rivets, and the power supply control shell adopts a threaded connection steering structure.
Preferably, the peristaltic advancing structure comprises a driving shell, a front push plate, a co-rotating driven gear, a counter-rotating driven gear, a driving gear, an upper fixing plate, a front push rod, a motor C, a front push nut, a front push screw rod, a rear push screw rod, a supporting bar, a rear push nut, a rear push rod, a lower fixing plate and a rear push plate, wherein the motor C is arranged in the driving shell, the upper fixing plate is arranged on a motor shaft of the motor C, the driving gear is arranged on the motor shaft of the motor C, the front push nut is screwed into the front push screw rod, the front push rod is fixedly connected with the front push nut, the rear push nut is screwed into the rear push screw rod, the rear push rod is fixedly connected with the rear push nut and is arranged in the driving shell, the front push rod passes through the upper fixing plate to be connected with the front push plate in an interference fit manner, the rear push rod passes through the lower fixing plate to be connected with the rear push plate in an interference fit manner, the utility model discloses a earthworm peristaltic feeding device, including driving shell, motor C, back push nut, back push rod, back push nut, front push rod, back push nut, back push rod, back push nut and front push rod are connected through screw and soil detection structure to the back rotation from the gear is placed in the back push rod, the front push rod passes drive shell interference fit and connects upper fixed plate and lower fixed plate through the screw, motor C corotation makes the driving gear rotate, driving gear and back rotation from the gear meshing drive back push rod rotate, back push nut and back push rod back move, make back push rod and back push rod rotate from the gear and the same direction rotation is driven from the gear meshing, and front push nut and front push rod move forward, makes the front push rod promote forward to form the extension state, and when motor C reverses, the same reason forms the shrinkage state, extension and shrinkage state alternate, forms imitative earthworm peristaltic travel function.
The motor A rotates to enable the spline to rotate so as to drive the drill bit to rotate, the motor B rotates positively so as to enable the rotary rod to rotate, the chute block is clamped in the chute to realize circumferential rotation and to be axially moved, the movable rod is in contact with the limiting column to transmit force, the drill bit is enabled to rotate to one side by local stress of the pressing sheet, the upper, lower, left and right directions can be respectively realized by arranging the four sides, after the rotation is finished, the motor B reversely rotates to restore to the original position and is reset by a spring, the function of steering and restoring the original positive position is realized, the motor C rotates positively so as to enable the driving gear to rotate, the driving gear is meshed with the reverse rotation driven gear to drive the reverse push screw to rotate, the reverse push nut and the reverse push rod move backwards, the reverse push plate is enabled to push forwards, the forward push nut and the forward push rod are enabled to push forwards, and therefore an extending state is formed, the extending state and the shrinking state are alternately changed, and the earthworm-like peristaltic function is formed.
The invention has the following beneficial effects: 1. the invention relates to a multi-degree-of-freedom steering peristaltic travel soil detection robot, which forms an earthworm-like peristaltic travel under deep soil through rotation of a drill bit and telescopic movement of a push rod, drills into the deep soil and measures soil temperature and humidity.
2. According to the multi-degree-of-freedom steering peristaltic traveling soil detection robot steering structure, the motor rotates to drive the rotary rod to rotate, the rotary motion is converted into reciprocating translational motion by the aid of the sliding chute and the movable rod, and the reciprocating translational motion is achieved by placing the reciprocating translational motion in symmetrical places around the steering structure.
3. According to the multi-degree-of-freedom steering peristaltic travel soil detection robot, when the robot touches harder soil under the soil, the front part of the steering structure spring is partially pressed to enable the robot to move to one side, and the robot can be effectively prevented from being clamped in deep soil.
Drawings
FIG. 1 is a diagram showing the overall structure of a multi-degree-of-freedom steering peristaltic travel soil detection robot.
FIG. 2 is an exploded view of the robot in the multi-degree-of-freedom steering peristaltic travel soil detection robot of the present invention.
Fig. 3 is a diagram of a soil drilling structure of the robot in the multi-degree-of-freedom steering peristaltic traveling soil detection robot according to the present invention.
Fig. 4 is a steering structure diagram of the robot in the multi-degree-of-freedom steering peristaltic traveling soil detection robot according to the present invention.
Fig. 5 is a view showing a construction of a soil detection structure of the robot in the multi-degree-of-freedom steering peristaltic traveling soil detection robot according to the present invention.
FIG. 6 is a diagram of the peristaltic travel structure of the robot in the multi-degree-of-freedom steering peristaltic travel soil detection robot according to the present invention.
Fig. 7 is a diagram showing a rotating rod structure of the robot in the multi-degree-of-freedom steering peristaltic traveling soil detecting robot according to the present invention.
Fig. 8 is a view showing a construction of a moving rod of the robot in the multi-degree-of-freedom steering peristaltic traveling soil detecting robot according to the present invention.
Fig. 9 is a schematic diagram of the structure of a rotating rod, a sliding chute block and a moving rod of the robot in the multi-degree-of-freedom steering peristaltic travel soil detection robot.
Fig. 10 is a schematic diagram of the internal structure of the steering structure of the robot in the multi-degree-of-freedom steering peristaltic traveling soil detection robot.
Fig. 11 is a schematic diagram of a shell structure in a steering structure of the robot in the multi-degree-of-freedom steering peristaltic traveling soil detection robot.
In the figure: 1 drill bit, 11 spline, 12 motor a, 13 motor housing, 2 flexible skin, 21 platen, 22 spacing post, 23 spring, 24 fixed ring, 25 moving rod, 26 chute block, 27 rotary rod, 271 chute, 28 motor B, 29 housing, 3 power control housing, 31 detector, 32 control board, 33 power panel, 4 drive housing, 41 front push plate, 42 counter-rotating slave gear, 43 counter-rotating slave gear, 44 drive gear, 45 upper fixed plate, 46 front push rod, 47 motor C, 48 front push nut, 49 front push lead screw, 491 rear push lead screw, 492 support bar, 493 rear push nut, 494 rear push rod, 495 lower fixed plate, 496 rear push plate.
Detailed Description
Exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the attached drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The invention provides a multi-degree-of-freedom steering peristaltic travel soil detection robot, which is shown in fig. 1 and comprises four parts connected in sequence: the device comprises a soil drilling structure for drilling deep soil, a steering structure for realizing multi-degree-of-freedom steering of the soil drilling structure, a soil detection structure for measuring the temperature and the humidity of the soil and a peristaltic advancing structure for forming alternating expansion and contraction states.
The explosion diagram of the multi-degree-of-freedom steering peristaltic travel soil detection robot is shown in fig. 2.
The earth-boring structure is as shown in fig. 3: the drilling structure comprises a drill bit 1, a spline 11, a motor A12 and a motor housing 13, wherein the motor A12 is arranged in the motor housing 13, the spline 11 is arranged on a motor shaft of the motor A12 in an interference fit manner, the drill bit 1 is connected with the spline 11 through a screw from the outside to form a detachable drill bit, and the motor A12 rotates to enable the spline 11 to rotate so as to drive the drill bit 1 to rotate.
The steering structure comprises a flexible skin 2, a pressing plate 21, a limit post 22, a spring 23, a fixed ring 24, a moving rod 25, a chute block 26, a rotating rod 27 and a motor B28, wherein the limit post 22 is connected to the pressing plate 21 through screws, the limit post 22 and the pressing plate 21 are placed in the flexible skin 2, the pressing plate 21 is connected to a soil drilling structure through screws, the limit post 22 and the moving rod 25 are connected through an outer wall nested spring 23, the moving rod 25 is placed in the fixed ring 24, the rotating rod 27 is provided with a chute 271, the chute block 26 enables the moving rod 25 and the rotating rod 27 to be clamped in the chute 271 in a reciprocating mode, the rotating rod 27 is driven to rotate by rotation of the motor B28, the chute block 26 slides in the chute 271 to enable circumferential rotation to be converted into axial rotation, the rotating rod 27 is arranged on a motor shaft of the motor B28 through interference fit, the motor B28 is fixed in the housing 29, the rotating rod 27 is enabled to rotate in a forward mode, the chute block 26 is clamped in the chute 271 to enable the circumferential rotation to be converted into the axial rotation, the rotating rod 25 is enabled to be in a reverse rotation mode, the position of the rotating rod 22 is enabled to be in a reverse rotation mode to be in a direction, the position of the position is reset to be in a position of the left side of the original position and the original position is achieved, and the position of the steering structure can be reset to the position is reset by the position of the rotating rod is reset, and the position of the steering structure is reset to the position of the steering structure, and the position is respectively, and the position is rotated to the position is in the position and the position is used to be in the original position is in the position and can and is rotated.
The soil test structure is as shown in fig. 5: the soil detection structure comprises a power supply control shell 3, a detector 31, a control panel 32 and a power panel 33, wherein the power panel 33 is fixed at the inner bottom of the power supply control shell 3 through screws, the detector 31 is arranged on the outer side face of the power supply control shell 3, the control panel 32 is fixed on the inner side face of the power supply control shell 3 through blind rivets, and the power supply control shell 3 adopts a threaded connection steering structure.
Peristaltic travel structure as shown in fig. 6: the peristaltic travel structure includes a drive housing 4, a front push plate 41, a co-rotating slave gear 42, a counter-rotating slave gear 43, a drive gear 44, an upper fixed plate 45, a front push rod 46, a motor C47, a front push nut 48, a front push screw 49, a rear push screw 491, a support rod 492, a rear push nut 493, a rear push rod 494, a lower fixed plate 495, a rear push plate 496,
the motor C47 is arranged in the driving shell 4, the upper fixing plate 45 is arranged on a motor shaft of the motor C47, the driving gear 44 is arranged on the motor shaft of the motor C47, the forward push nut 48 is screwed into the forward push screw 49, the forward push rod 46 is fixedly connected with the forward push nut 48, the backward push nut 493 is screwed into the backward push screw 491, the backward push rod 494 is fixedly connected with the backward push nut 493 and is arranged in the driving shell 4, the forward push rod 46 is connected on the forward push plate 41 through the upper fixing plate 45 in an interference fit manner, the backward push rod 494 is connected on the backward push plate 496 through the lower fixing plate 495 in an interference fit manner, the co-rotating slave gear 42 is arranged on the forward push screw 49, the backward rotating slave gear 43 is arranged on the backward push screw 491, the front push plate 41 is connected with the soil detection structure through screws, the supporting rod 492 penetrates through the driving shell 4 to be in interference fit with the upper fixing plate 45 and the lower fixing plate 495, the motor C47 rotates positively to enable the driving gear 44 to rotate, the driving gear 44 is meshed with the counter-rotating driven gear 43 to drive the rear push screw 491 to rotate, the rear push nut 493 and the rear push rod 494 move backwards to enable the rear push plate 496 to push backwards, the counter-rotating driven gear 43 is meshed with the co-rotating driven gear 42 to drive the front push screw 49 to rotate, the front push nut 48 and the front push rod 46 move forwards to enable the front push plate 41 to push forwards, so that an extending state is formed, when the motor C47 rotates reversely, the motor C47 is similarly formed to be in a contracting state, the extending state and the contracting state are alternately changed, and the earthworm peristaltic movement simulating function is formed.
Rotary lever structure as in fig. 7, 10: the spring 23 is arranged at the left end of the movable rod 25, the right end of the spring is connected with the rotary rod 27, and the chute block 26 is in interference fit in the through hole.
Moving lever structure as shown in fig. 8 and 9: when the rotary rod 27 rotates, the sliding groove block 26 slides in the sliding groove 271, and the sliding groove 271 converts circumferential rotation into axial movement.
Finally, it should be noted that: the embodiments described above are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (4)
1. The multi-degree-of-freedom steering peristaltic traveling soil detection robot is characterized by comprising four parts connected in sequence: the device comprises a soil drilling structure for drilling deep soil, a steering structure for realizing multi-degree-of-freedom steering of the soil drilling structure, a soil detection structure for measuring the temperature and the humidity of the soil and a peristaltic advancing structure for forming alternating expansion and contraction states;
the steering structure comprises a flexible skin (2), a pressing plate (21), a fixing ring (24), a steering unit for converting circumferential rotation into axial movement and a shell (29);
the four groups of steering units are arranged in total, can realize up-down, left-right steering and are placed in the fixed ring (24), one end of each steering unit is fixed in the shell (29), the other end of each steering unit is connected to the pressing plate (21) by screws and placed in the flexible skin (2), and the pressing plate (21) is connected to the earth drilling structure by screws;
the steering unit comprises a limit column (22), a spring (23), a moving rod (25), a chute block (26), a rotating rod (27) and a motor B (28);
the utility model discloses a motor vehicle steering device, including fixed ring (24), fixed plate (271), motor B (28), fixed plate (271), limit post (22) are connected on clamp plate (21) with the screw connection, be connected through outer wall nested spring (23) between limit post (22) and movable rod (25), movable rod (25) are placed in fixed ring (24), rotary rod (27) are equipped with spout (271), spout piece (26) make movable rod (25) and rotary rod (27) card in reciprocating motion's spout (271), and motor B (28) rotate and drive rotary rod (27) rotate, and spout piece (26) slide in spout (271), make circumferential rotation change into axial rotation, rotary rod (27) set up on motor shaft of motor B (28) through interference fit, motor B (28) are fixed in shell (29), motor B (28) forward rotation makes rotary rod (27) rotate, spout piece (26) card realize circumferential rotation change into axial movement in spout (271), motor B (28) reverse the recovery home position to with spring (23) reset, realize and can restore to the forward steering position.
2. The multi-degree-of-freedom steering peristaltic travel soil detection robot of claim 1 wherein the soil drilling structure comprises a drill bit (1), a spline (11), a motor a (12) and a motor housing (13);
the motor A (12) is placed in the motor housing (13), the spline (11) is arranged on a motor shaft of the motor A (12) through interference fit, the drill bit (1) is screwed with the spline (11) from the outside to form a detachable drill bit, and the motor A (12) rotates to enable the spline (11) to rotate so as to drive the drill bit (1) to rotate.
3. The multi-degree-of-freedom steering peristaltic travel soil detection robot of claim 1 wherein the soil detection structure comprises a power control housing (3), a detector (31), a control board (32), a power panel (33);
the power panel (33) is fixed at the bottom in the power control shell (3) through the screw, the detector (31) is arranged at the outer side face of the power control shell (3), the control panel (32) is fixed at the inner side face of the power control shell (3) through the blind rivet, and the power control shell (3) adopts a threaded connection steering structure.
4. The multi-degree-of-freedom steering peristaltic travel soil detection robot of claim 1 wherein the peristaltic travel structure includes a drive housing (4), a front push plate (41), a co-rotating slave gear (42), a counter-rotating slave gear (43), a drive gear (44), an upper fixed plate (45), a front push rod (46), a motor C (47), a front push nut (48), a front push screw (49), a rear push screw (491), a support bar (492), a rear push nut (493), a rear push rod (494), a lower fixed plate (495), a rear push plate (496);
the motor C (47) is arranged in the driving shell (4), the upper fixing plate (45) is arranged on a motor shaft of the motor C (47), the driving gear (44) is arranged on the motor shaft of the motor C (47), the forward push nut (48) is screwed on the forward push screw (49), the forward push rod (46) is fixedly connected with the forward push nut (48), the backward push nut (493) is screwed on the backward push screw (491), the backward push rod (494) is fixedly connected with the backward push nut (493) and is arranged in the driving shell (4), the forward push rod (46) passes through the upper fixing plate (45) to be connected on the forward push plate (41) in an interference fit manner, the backward push rod (494) passes through the lower fixing plate (495) to be connected on the backward push plate (496) in an interference fit manner, the co-rotating slave gear (42) is arranged on the forward push screw (49), the backward rotating slave gear (43) is arranged on the backward push screw (491), the forward push plate (41) is connected with the soil detection structure through the screw, the supporting motor (494) passes through the lower fixing plate (495) to be connected with the forward push plate (45) in an interference fit manner, the forward push plate (45) is rotated with the forward push plate (45) to be meshed with the driving screw (45), the back push nut (493) and the back push rod (494) move backwards to push the back push plate (496) backwards, the counter-rotating driven gear (43) is meshed with the counter-rotating driven gear (42) to drive the front push screw (49) to rotate, the front push nut (48) and the front push rod (46) move forwards to push the front push plate (41) forwards, so that an extension state is formed, and when the motor C (47) rotates reversely, a contraction state is formed in the same way.
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| CN202111348741.5A CN114113540B (en) | 2021-11-15 | 2021-11-15 | Multi-degree-of-freedom steering peristaltic traveling soil detection robot |
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| CN202111348741.5A CN114113540B (en) | 2021-11-15 | 2021-11-15 | Multi-degree-of-freedom steering peristaltic traveling soil detection robot |
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| CN114113540B true CN114113540B (en) | 2023-11-10 |
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