CN201537922U - High-simulation robot snake for investigation and exploration - Google Patents
High-simulation robot snake for investigation and exploration Download PDFInfo
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- CN201537922U CN201537922U CN2009200347740U CN200920034774U CN201537922U CN 201537922 U CN201537922 U CN 201537922U CN 2009200347740 U CN2009200347740 U CN 2009200347740U CN 200920034774 U CN200920034774 U CN 200920034774U CN 201537922 U CN201537922 U CN 201537922U
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Abstract
The utility model discloses a high-simulation robot snake for investigation and exploration, which comprises a high-simulation snake body consisting of a plurality of rotating joints with the functions of universal joints, a plurality of driving motors I which are sequentially mounted in the high-simulation snake body from head to tail and correspondingly drive the high-simulation snake body to realize the flexible movement of the high-simulation snake body, a battery pack which is connected with the driving motors I, a signal collection unit mounted on the high-simulation snake body and a circuit board mounted in the high-simulation snake body, wherein a controller which is connected with the signal collection unit, and a data storage module and a wireless communication module which are respectively connected with the controller are mounted on the circuit board, power output shafts of the driving motors I are connected with the rotating joints through a transmission mechanism, and the driving motors I are connected with the controller. The high-simulation robot snake has the advantages of small volume, reasonable design, simple control and operation, good concealing effect, perfect functions and a wide range of applications, and can effectively solve a plurality of defects and deficiencies in the existing investigation and exploration equipment.
Description
Technical field
The utility model belongs to the investigation and exploration technical field, especially relates to a kind of high-emulation snake robot for investigation and exploration.
Background technology
At present, employed investigation and exploration equipment mostly is complex structure such as wheeled robot greatly in military, investigation and field, the speed of travel is fast, volume is big, the automatic or semiautomatic control equipment of Heavy Weight and signal transmission capabilities difference.Thereby in the practical application, all have control inconvenience, defective and deficiencies such as the speed of travel is slow, target easily exposes, function singleness usually, thereby existing investigation and exploration equipment more and more can not satisfy modern military operation, anti-terrorism, actual demand such as investigate the case.
Not long ago, the Israel military succeeds in developing a kind of investigation robot that is similar to snake i.e. " snake robot " and successfully tested and equipment in batches in army.But, nowadays domestic and international defective and the deficiency that also has the following aspects at the research and the use present situation of snake robot: 1, research direction mainly concentrates on the science and technology research of future robot, target is too leading, therefore search time and funds demand are huge and make slow progress, and real industry is not played too big influence; 2, research energy mainly concentrates on above automatic control system and complete machine people's the exploitation; 3, part Study work also rests on paper and thinking stage, does not carry out substantial performance study; 4, industrialization value is little, is not applied to market.
The utility model content
Technical problem to be solved in the utility model is at above-mentioned deficiency of the prior art, a kind of high-emulation snake robot for investigation and exploration is provided, its volume is little, reasonable in design, control and easy and simple to handle and hidden effective, perfect in shape and function, applied widely, can effectively solve existing existing number of drawbacks of investigation and exploration equipment and deficiency.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of high-emulation snake robot for investigation and exploration, it is characterized in that: comprise the high emulation snake body of forming by a plurality of cradle heads with universal joint function, a plurality of from first to last be installed in successively described high emulation snake body inner and tackle mutually high emulation snake body drive with realize that high emulation snake body moves flexibly drive motors one, the battery pack of joining with drive motors one, be installed in signal gathering unit and the circuit board that is installed in described high emulation snake body inside on the described high emulation snake body, the data memory module and the wireless communication module that the controller that joins with signal gathering unit are housed on the described circuit board and join with controller respectively, the power output shaft of described drive motors one joins by transmission mechanism and cradle head, and described drive motors one joins with controller.
Also comprise the GPS navigation system or the Big Dipper navigation system that are installed in described high emulation snake body inside and join with controller.
The audio collecting device that described signal gathering unit comprises the infrared distance measurement detector, is used to absorb the camera of picture and/or video information and is used for the capturing audio signal, described infrared distance measurement detector, camera and audio collecting device all join with controller.
The external side of described high emulation snake is laid with one deck disguise, and described disguise is made up of puigging, anti-infrared irradiation layer, anti-electromagnetic radiation layer and anti-reflection layer four layer materials from the inside to the outside.
Described signal gathering unit is installed on the high emulation snake body head.
Also comprise executing agency that is laid in described high emulation snake body inside and the drive motors two that described executing agency is driven, described drive motors two joins with controller and it is controlled by controller, and drive motors two joins with battery pack.
Described executing agency is for igniting mechanism and/or throwing mechanism and/or extraction mechanism.
Described battery pack is installed on the circuit board.
The utility model compared with prior art has the following advantages:
1, simple, the processing and fabricating of snake body structure and easy for installation and be similar to snake outward, limb action is vivid, and because this high emulation snake body is connected to form by a plurality of steering connections with universal joint function, thereby action is very flexible.
2, use operation and control easyly, can long-rangely control, by remote controller to the rotating speed of respective drive motor one with turn to and control adjustment and can realize purpose that the gait of march and the direct of travel of high emulation snake body are accurately controlled.
3, perfect in shape and function and realization are convenient, when adopting camera that video datas such as the landform in the place ahead barrier, direct of travel, monitored place and deployment are caught, adopt infrared infrared distance measurement detector to carry out the distance detecting, measure moving target, adopt audio collecting device to obtain corresponding audio signal simultaneously, can record and sonic detection, and have the accurate localization function.In addition, also be provided with the executing agency that can carry out corresponding specific tasks, only need in the practical operation correspondingly to get final product in the inner executing agency of installing of snake body according to specifically executing the task, after measuring the utility model by navigation system and walking to the monitoring place, only need drive motors two to be controlled and to realize that snake robot carries out the purpose of corresponding specific tasks by remote controller.
4, data transmission bauds is fast and data-handling capacity is strong, automation and intelligent degree height, signal gathering unit is uploaded to controller synchronously with the real-time Monitoring Data of obtaining, controller is sent to upper location supervisory by wireless communication module after the Monitoring Data that receives is carried out corresponding preliminary treatment.
5, hidden and camouflage effectiveness good, the set disguise of snake external body has the multiple-protection function, is difficult for very much exposing, thereby can completes successfully secret shooting, measuring distance, obtains multiple executing the task such as sample.
6, applied widely, can suit in the mountain region, complex environments such as forest, marsh, Gobi desert, pipeline, local-style dwelling houses, mansion move, and should be able to promote being suitable for to military affairs, criminal investigation, anti-terrorism, solving criminal cases, ground observation and geological prospecting, biological study, dangerous biological observation, emergency relief, construction blasting and detecting, nuclear work radiation area task dispatching correlative technology field mutually.
In sum, the utility model volume is little, reasonable in design, control and easy and simple to handle and hidden effective, perfect in shape and function, applied widely, can effectively solve existing existing number of drawbacks of investigation and exploration equipment and deficiency.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Description of drawings
Fig. 1 is an external structure schematic diagram of the present utility model.
Fig. 2 is a circuit block diagram of the present utility model.
Description of reference numerals:
The 1-cradle head; 2-drive motors one; The 3-signal gathering unit;
3-1-infrared distance measurement detector; The 3-2-camera; The 3-3-audio collecting device;
The 4-controller; The 5-data memory module; The 6-wireless communication module;
The 7-GPS navigation system; 8-ignites mechanism; 9-drive motors two;
The 10-throwing mechanism; The high emulation snake of 11-body head; The 12-battery pack.
The specific embodiment
As Fig. 1, shown in Figure 2, the utility model comprises the high emulation snake body of being made up of a plurality of cradle heads 1 with universal joint function, a plurality of from first to last be installed in successively described high emulation snake body inner and tackle mutually high emulation snake body drive with realize that high emulation snake body moves flexibly drive motors 1, the battery pack 12 of joining with drive motors 1, be installed in signal gathering unit 3 and the circuit board that is installed in described high emulation snake body inside on the described high emulation snake body, the data memory module 5 and the wireless communication module 6 that the controller 4 that joins with signal gathering unit 3 are housed on the described circuit board and join with controller 4 respectively, the power output shaft of described drive motors 1 joins by transmission mechanism and cradle head 1, and described drive motors 1 joins with controller 4.Described wireless communication module 6 is specially the 3G wireless communication module.
In the present embodiment, the utility model also comprises GPS navigation system 7 or the Big Dipper navigation system that is installed in described high emulation snake body inside and joins with controller 4.Described signal gathering unit 3 is installed on the high emulation snake body head 11, and described battery pack 12 is installed on the circuit board.The audio collecting device 3-3 that described signal gathering unit 3 comprises infrared distance measurement detector 3-1, is used to absorb the camera 3-2 of picture and/or video information and is used for the capturing audio signal, described infrared distance measurement detector 3-1, camera 3-2 and audio collecting device 3-3 all join with controller 4.
The external side of described high emulation snake is laid with one deck disguise, and described disguise is made up of puigging, anti-infrared irradiation layer, anti-electromagnetic radiation layer and anti-reflection layer four layer materials from the inside to the outside.
Simultaneously, the utility model also comprises executing agency that is laid in described high emulation snake body inside and the drive motors 29 that described executing agency is driven, and described drive motors 29 joins with controller 4 and it is controlled by controller 4.Described executing agency is for igniting mechanism 8 and/or throwing mechanism 10 and/or extraction mechanism, and drive motors 29 joins with battery pack 12.In the actual mechanical process, can determine in the corresponding executing agency of the inner installation of described high emulation snake body according to the task difference of concrete needs execution.In the present embodiment, when going to a certain monitoring place to throw in explosive before needs control the utility model, then need to ignite mechanism 8 and/or throwing mechanism 10 inner installation of described high emulation snake body, when by remote controller control and after utilizing GPS navigation system 7 or the Big Dipper navigation system to position to determine that the utility model walks to the monitoring place, then start by controller 4 control drive motors 29 and respective drive throwing mechanism 10 is thrown in explosive behind demolition point earlier, control drives and ignites mechanism 8 and ignite again.And when going to a certain monitoring place to extract corresponding object before needs the utility model, then need be in the inner extraction mechanism of installing of described high emulation snake body.
Correspondingly, if do not need to go to carry out corresponding task before the utility model in the practice, and when going to monitor information such as peripheral terrain environment that the place obtains monitored ground, orientation, distance before only needing, then need be in the inner executing agency of installing of described high emulation snake body, to alleviate the loading capacity of high emulation snake body.
The above; it only is preferred embodiment of the present utility model; be not that the utility model is imposed any restrictions; everyly any simple modification that above embodiment did, change and equivalent structure are changed, all still belong in the protection domain of technical solutions of the utility model according to the utility model technical spirit.
Claims (8)
1. high-emulation snake robot for investigation and exploration, it is characterized in that: comprise the high emulation snake body of forming by a plurality of cradle heads (1) with universal joint function, a plurality of from first to last be installed in successively described high emulation snake body inner and tackle mutually high emulation snake body drive with realize that high emulation snake body moves flexibly drive motors one (2), the battery pack (12) of joining with drive motors one (2), be installed in the signal gathering unit (3) on the described high emulation snake body and be installed in the circuit board of described high emulation snake body inside, the data memory module (5) and the wireless communication module (6) that the controller (4) that joins with signal gathering unit (3) are housed on the described circuit board and join with controller (4) respectively, the power output shaft of described drive motors one (2) joins by transmission mechanism and cradle head (1), and described drive motors one (2) joins with controller (4).
2. according to the described high-emulation snake robot for investigation and exploration of claim 1, it is characterized in that: also comprise the GPS navigation system (7) or the Big Dipper navigation system that are installed in described high emulation snake body inside and join with controller (4).
3. according to claim 1 or 2 described high-emulation snake robot for investigation and exploration, it is characterized in that: described signal gathering unit (3) comprises infrared distance measurement detector (3-1), be used to absorb the camera (3-2) of picture and/or video information and be used for the audio collecting device (3-3) of capturing audio signal, and described infrared distance measurement detector (3-1), camera (3-2) and audio collecting device (3-3) all join with controller (4).
4. according to claim 1 or 2 described high-emulation snake robot for investigation and exploration, it is characterized in that: the external side of described high emulation snake is laid with one deck disguise, and described disguise is made up of puigging, anti-infrared irradiation layer, anti-electromagnetic radiation layer and anti-reflection layer four layer materials from the inside to the outside.
5. according to claim 1 or 2 described high-emulation snake robot for investigation and exploration, it is characterized in that: described signal gathering unit (3) is installed on the high emulation snake body head (11).
6. according to claim 1 or 2 described high-emulation snake robot for investigation and exploration, it is characterized in that: also comprise executing agency that is laid in described high emulation snake body inside and the drive motors two (9) that described executing agency is driven, described drive motors two (9) joins with controller (4) and it is controlled by controller (4), and drive motors two (9) joins with battery pack (12).
7. according to the described high-emulation snake robot for investigation and exploration of claim 6, it is characterized in that: described executing agency is for igniting mechanism (8) and/or throwing mechanism (10) and/or extraction mechanism.
8. according to claim 1 or 2 described high-emulation snake robot for investigation and exploration, it is characterized in that: described battery pack (12) is installed on the circuit board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200347740U CN201537922U (en) | 2009-09-27 | 2009-09-27 | High-simulation robot snake for investigation and exploration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200347740U CN201537922U (en) | 2009-09-27 | 2009-09-27 | High-simulation robot snake for investigation and exploration |
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| Publication Number | Publication Date |
|---|---|
| CN201537922U true CN201537922U (en) | 2010-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009200347740U Expired - Fee Related CN201537922U (en) | 2009-09-27 | 2009-09-27 | High-simulation robot snake for investigation and exploration |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102580269A (en) * | 2011-01-14 | 2012-07-18 | 富泰华工业（深圳）有限公司 | Electronic device with function of calling for help and method for calling for help of electronic device |
| CN103358305A (en) * | 2013-06-17 | 2013-10-23 | 西安电子科技大学 | Closed-loop control available multifunctional in-water snake-shaped robot |
| CN104589336A (en) * | 2014-11-18 | 2015-05-06 | 天津工业大学 | Novel snakelike bionic robot |
| CN105690408A (en) * | 2016-04-27 | 2016-06-22 | 深圳前海勇艺达机器人有限公司 | Emotion recognition robot based on data dictionary |
| CN109909987A (en) * | 2019-03-29 | 2019-06-21 | 长安大学 | A kind of rescue machine snake and its working method based on positioning with imaging technique |
-
2009
- 2009-09-27 CN CN2009200347740U patent/CN201537922U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102580269A (en) * | 2011-01-14 | 2012-07-18 | 富泰华工业（深圳）有限公司 | Electronic device with function of calling for help and method for calling for help of electronic device |
| CN102580269B (en) * | 2011-01-14 | 2016-05-18 | 富泰华工业（深圳）有限公司 | There is electronic installation and the method for seeking help thereof of emergency function |
| CN103358305A (en) * | 2013-06-17 | 2013-10-23 | 西安电子科技大学 | Closed-loop control available multifunctional in-water snake-shaped robot |
| CN103358305B (en) * | 2013-06-17 | 2015-05-20 | 西安电子科技大学 | Closed-loop control available multifunctional in-water snake-shaped robot |
| CN104589336A (en) * | 2014-11-18 | 2015-05-06 | 天津工业大学 | Novel snakelike bionic robot |
| CN105690408A (en) * | 2016-04-27 | 2016-06-22 | 深圳前海勇艺达机器人有限公司 | Emotion recognition robot based on data dictionary |
| CN109909987A (en) * | 2019-03-29 | 2019-06-21 | 长安大学 | A kind of rescue machine snake and its working method based on positioning with imaging technique |
| CN109909987B (en) * | 2019-03-29 | 2020-10-30 | 长安大学 | Rescue mechanical snake based on positioning and imaging technology and working method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100804 Termination date: 20100927 |