CN209453570U - A kind of soft robot that depth detection can be carried out to mine hole - Google Patents
A kind of soft robot that depth detection can be carried out to mine hole Download PDFInfo
- Publication number
- CN209453570U CN209453570U CN201821914596.6U CN201821914596U CN209453570U CN 209453570 U CN209453570 U CN 209453570U CN 201821914596 U CN201821914596 U CN 201821914596U CN 209453570 U CN209453570 U CN 209453570U
- Authority
- CN
- China
- Prior art keywords
- main body
- mine hole
- depth detection
- soft robot
- carry out
- 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.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of soft robots that depth detection can be carried out to mine hole, it is related to robotic technology field, specially a kind of soft robot that depth detection can be carried out to mine hole, including main body, servo motor and fixing seat, the front end of main body is equipped with air pump, and the front end of air pump is equipped with weak signal testing sorter controller, the weak signal testing sorter controller is equipped with Electromagnetic Control valve far from the side of main body, and Electromagnetic Control valve is equipped with limiting slot far from one end of weak signal testing sorter controller, and limiting slot is internally provided with gas-guide tube, this can carry out the soft robot of depth detection to mine hole, the direction of infrared camera can effectively be changed by the cooperation between rotary electric machine and micromotor, the space that infrared camera can be recorded can effectively be increased, mine can clearly be recorded Situation inside hole, can either improve the safety coefficient of mine hole rescue, and can reduce injury of the dangerous obstacles to rescue personnel.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of soft robot that depth detection can be carried out to mine hole.
Background technique
Robot has been widely used in the numerous areas such as military affairs, industry, scientific exploration, and traditional robot is generally by rigid
Property module connected and composed by kinematic pair, each kinematic pair provides a translational degree of freedom or rotational freedom, all kinematic pairs
Movement combination formed end effector of robot working space, this robot have the advantages that movement it is accurate, but its knot
The rigidity of structure keeps the adaptability of its environment poor, its movement is restricted in narrow space, can not be less than machine by scale
Device people scale or complex-shaped channel, these disadvantages constrain utilization of the rigid machine people in specific area, present market
On there is a kind of robot of software, be fabricated from a flexible material, can arbitrarily change its own shape and ruler in a wide range of
It is very little, the hydrostatic bone and muscular hydrostat structure of structure mimic biology, using marmem, but this software
Robot modeling is difficult, and manufacturing cost is high, and the method for operation is complicated.
A kind of silica gel soft robot disclosed in Chinese invention patent application prospectus CN108527326A, should
Silica gel soft robot, although solving soft robot modeling difficulty, manufacturing cost is high, the problem of method of operation complexity, should
Silica gel soft robot, the detection that cannot provide mine hole well for constructor improve reliable location structure, cannot be good
Situation inside mine hole is recorded, so as to effectively improve rescue personnel to the rescue efficiency for the constructor that meets with misfortune, no
Different move modes can be provided well for robot, the moving direction of robot cannot be changed well.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of soft robot that can carry out depth detection to mine hole,
It solves the detection mentioned above in the background art that cannot provide mine hole well for constructor and improves reliable location structure,
The situation inside mine hole cannot be recorded well, be rescued so as to effectively improve rescue personnel to the constructor that meets with misfortune
Efficiency is helped, different move modes cannot be provided well for robot, the moving direction of robot cannot be changed well
Problem.
In order to achieve the above object, the present invention is achieved by the following technical programs: one kind can carry out depth inspection to mine hole
The soft robot of survey, including main body, servo motor and fixing seat, the front end of main body are equipped with air pump, and the front end peace of air pump
Equipped with weak signal testing sorter controller, the weak signal testing sorter controller is equipped with Electromagnetic Control valve far from the side of main body,
And Electromagnetic Control valve is equipped with limiting slot far from one end of weak signal testing sorter controller, and being internally provided with for limiting slot is led
Tracheae, the limiting slot are equipped with supporting leg far from one end of weak signal testing sorter controller, and the front end of the supporting leg is equipped with protection
Cover, and shield is internally provided with adjusting motor, is equipped with GPS locator, and servo motor above the servo motor
Positioned at the inside of main body, the rear end of the servo motor is equipped with turntable, and the rear end of the main body is equipped with protecting crust, and protects
Shell is equipped with range sensor far from the side of main center, and the protecting crust is internally provided with hydraulic column, and hydraulic column
Rear end is equipped with rotary electric machine, guide rod is mounted at left and right sides of the fixing seat, and fixed seating is in rotary electric machine
Rear end is equipped with infrared camera above the fixing seat, and is equipped with backplate above infrared camera, described solid
Reservation is internally provided with micromotor.
Optionally, the shield and the surrounding adjusted between motor along main body are uniformly distributed, and are adjusted motor and passed through master
Cooperation and friction plate between helical gear and secondary helical gear constitute engaged transmission.
Optionally, the limiting slot is by constituting foldable structure between pin shaft and block, and the central axes of limiting slot with lead
It overlaps between the central axes of tracheae, and the central axes between gas-guide tube are in " ten " word structure.
Optionally, the vertical centerline between the range sensor and supporting leg about main body is symmetrical, and supporting leg
Central axes are perpendicular to main body.
Optionally, the gas-guide tube is connected to by the cooperation between air pump, main air drain and secondary air drain three with supporting leg composition
Structure, and locally fitted closely between the outer surface of supporting leg and the interior surface of magnetisable coating.
Optionally, the servo motor constitutes engaged transmission with turntable by the cooperation between driving gear and internal gear,
And the outside of turntable is in circular ring structure.
Optionally, the main body is by constituting lifting structure, and the vertical center of fixing seat between hydraulic column and fixing seat
It overlaps between the vertical center of protecting crust.
Optionally, the guide rod is by constituting elastic construction between spring and mandril, and the inner width of guide rod is big
In the external width of mandril.
Optionally, the protecting crust is by constituting foldable structure, and the vertical centerline of protecting crust between lock pin and backplate
Perpendicular to main body.
The present invention provides a kind of soft robot that can carry out depth detection to mine hole, have it is following the utility model has the advantages that
1, this can carry out the soft robot of depth detection to mine hole, and gas-guide tube can be put into limiting slot by user
Gas-guide tube can be fixed on convenient for user by the cooperation between block and pin shaft by portion, block along the external rotation of pin shaft
The inside of limiting slot, limiting slot provide reliable comb track for user, and gas-guide tube is made to carry out winding displacement according to the track of regulation,
It prevents from mutually winding between gas-guide tube, while can effectively reduce length consumed by gas-guide tube, mitigate occupied by gas-guide tube
Area, effectively can provide the distance between barrier and robot information by range sensor for robot, can
The effective hard hit reduced between robot and barrier, so as to which the building block of robot interior is effectively protected
It works normally.
2, this can carry out the soft robot of depth detection to mine hole, when robot encounters bumpy mine hole road surface, gas
Pump introduces gas into the inside of main air drain and secondary air drain by the cooperation between gas-guide tube and supporting leg, at this time the outer shape of supporting leg
In standing state, the characteristics of magnetisable coating is attracted each other using anisotropic magnetite, supporting leg can effectively be made by magnetisable coating
In bending state, and the periodical of air pump deflates and inflates, and so that supporting leg is bent and is stood, pass through simultaneously
Friction between friction plate and mine hole road surface, effectively can be such that robot is moved, and pass through weak signal testing sorter controller control
Electromagnetic Control valve processed can effectively control different supporting legs and be moved, robot stabilized so as to effectively control
It is mobile.
3. this can carry out the soft robot of depth detection to mine hole, can effectively will be inside mine hole by shield
It is isolated between ore and adjusting motor, can effectively ensure that the normal work for adjusting motor, pass through main helical gear and pair
The effective mechanical wear mitigated between adjusting motor workpiece of cooperation between helical gear, enables friction plate to stablize and continues
Rotation, reduce friction plate rotation when road surface and friction plate between generation impact force, can effectively improve adjusting motor
Power transmission efficiency, improve and adjust motor to the bearing capacity of robot, when robot drives to road more smooth in mine hole
When face, it is capable of the position of effective mobile robot, can be effectively improved by the cooperation between driving gear and internal gear
The power transmission efficiency of servo motor reduces the mechanical wear driven between component when servo motor work, guarantees servo motor
By the steady and sustained drive turntable rotation of the cooperation between driving gear and internal gear, and then it can effectively change friction plate
Moving direction, so as to effectively according to the case where the road surface of mine hole change robot moving direction.
4. this can carry out the soft robot of depth detection to mine hole, fixing seat edge can effectively be controlled by hydraulic column
The mobile distance of the vertical center position of protecting crust controls infrared camera along the vertical center side of protecting crust convenient for user
To mobile distance, by protecting crust can effective being spaced apart ore and the infrared camera inside mine hole, can
Infrared camera is effectively protected, prevents from being collided between ore and infrared camera, to damage infrared pick-up
Machine.
5. this can carry out the soft robot of depth detection to mine hole, when fixing seat is moved along the vertical center position of protecting crust
When dynamic, guide rod pushes mandril to move by spring along the central axes direction of guide rod, and mandril is made to push backplate along the outer of lock pin
Portion's rotation, makes to be separated from each other between backplate, to make infrared camera be higher than the top of protecting crust, by rotary electric machine and micro-
Cooperation between type motor can effectively change the direction of infrared camera, can effectively increase infrared camera institute
The space that can be recorded, can clearly record the situation inside mine hole, can either improve the safety coefficient of mine hole rescue, and can
Reduce injury of the dangerous obstacles to rescue personnel.
Detailed description of the invention
Fig. 1 is schematic view of the front view of the present invention；
Fig. 2 is the rear end structure schematic diagram of main body of the present invention；
Fig. 3 is the schematic diagram of internal structure of main body of the present invention；
Fig. 4 is the schematic diagram of internal structure of protecting crust of the present invention；
Fig. 5 is the schematic diagram of internal structure of supporting leg of the present invention；
Fig. 6 is the schematic diagram of internal structure of guide rod of the present invention；
Fig. 7 is the schematic diagram of internal structure of internal gear of the present invention；
Fig. 8 is the attachment structure schematic diagram between present invention adjusting motor and friction plate.
In figure: 1, main body；2, shield；3, friction plate；4, block；5, turntable；6, gas-guide tube；7, motor is adjusted；8, gas
Pump；9, pin shaft；10, weak signal testing sorter controller；11, limiting slot；12, range sensor；13, protecting crust；14, GPS positioning
Device；15, servo motor；16, hydraulic column；17, rotary electric machine；18, guide rod；19, mandril；20, lock pin；21, backplate；22, micro-
Type motor；23, infrared camera；24, main air drain；25, magnetisable coating；26, Electromagnetic Control valve；27, secondary air drain；28, it props up
Leg；29, spring；30, internal gear；31, driving gear；32, main helical gear；33, secondary helical gear；34, fixing seat.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ",
The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Fig. 1 to Fig. 8 is please referred to, the present invention provides a kind of technical solution: a kind of software that depth detection can be carried out to mine hole
Robot, including main body 1, servo motor 15 and fixing seat 34, the front end of main body 1 are equipped with air pump 8, and the front end peace of air pump 8
Equipped with weak signal testing sorter controller 10, the weak signal testing sorter controller 10 is equipped with Electromagnetic Control far from the side of main body 1
Valve 26, and Electromagnetic Control valve 26 is equipped with limiting slot 11 far from one end of weak signal testing sorter controller 10, limiting slot 11 is logical
It crosses between pin shaft 9 and block 4 and constitutes foldable structure, and phase mutual respect between the central axes of limiting slot 11 and the central axes of gas-guide tube 6
It closes, and the central axes between gas-guide tube 6 are in " ten " word structure, this can carry out the soft robot of depth detection to mine hole, make
Gas-guide tube 6 can be put into the inside of limiting slot 11 by user, and block 4 can pass through along the external rotation of pin shaft 9 convenient for user
Gas-guide tube 6 is fixed on the inside of limiting slot 11 by the cooperation between block 4 and pin shaft 9, and limiting slot 11 provides reliably for user
Comb track, make gas-guide tube 6 according to regulation track carry out winding displacement, prevent from mutually winding between gas-guide tube 6, while can have
Length consumed by the reduction gas-guide tube 6 of effect mitigates the occupied area of gas-guide tube 6, can be effective by range sensor 12
It is that robot provides the distance between barrier and robot information, can effectively reduces between robot and barrier
Hard hit works normally so as to which the building block of robot interior is effectively protected；
The front end of limiting slot 11 is equipped with block 4, and block 4 is internally provided with pin shaft 9, and limiting slot 11 is far from miniature
One end of PLC sorter controller 10 is equipped with supporting leg 28, and supporting leg 28 is internally provided with main air drain 24,12 He of range sensor
Vertical centerline between supporting leg 28 about main body 1 is symmetrical, and the central axes of supporting leg 28, perpendicular to main body 1, this can be to mine
Hole carries out the soft robot of depth detection, and when robot encounters bumpy mine hole road surface, air pump 8 passes through gas-guide tube 6 and branch
Cooperation between leg 28 introduces gas into the inside of main air drain 24 and secondary air drain 27, and the outer shape of supporting leg 28, which is in, at this time stands
The characteristics of state, magnetisable coating 25 is attracted each other using anisotropic magnetite, can effectively be made at supporting leg 28 by magnetisable coating 25
In bending state, and the periodical of air pump 8 deflates and inflates, and supporting leg 28 can effectively be made to be bent and be stood, and leads to simultaneously
The friction between friction plate 3 and mine hole road surface is crossed, effectively robot can be made to be moved, passes through weak signal testing grading control
The control Electromagnetic Control valve 26 of device 10 can effectively control different supporting legs 28 and be moved, so as to effectively control machine
The stable movement of device people, the side at 28 center of separate supporting leg of main air drain 24 are equipped with secondary air drain 27, gas-guide tube 6 by air pump 8,
Cooperation and supporting leg 28 between main air drain 24 and 27 three of secondary air drain constitute connectivity structure, and the outer surface of supporting leg 28 and magnetism
It is locally fitted closely between the interior surface of coating 25, the front end of supporting leg 28 is equipped with shield 2, and the inside of shield 2 is set
It being equipped with and adjusts motor 7, the middle part of supporting leg 28 is equipped with magnetisable coating 25, and the front end for adjusting motor 7 is equipped with main helical gear 32, and
Main helical gear 32 is equipped with secondary helical gear 33 far from the side of shield 2, along the four of main body 1 between shield 2 and adjusting motor 7
Week is uniformly distributed, and adjusts motor 7 and engage biography with the composition of friction plate 3 by the cooperation between main helical gear 32 and secondary helical gear 33
Dynamic, main body 1 is internally provided with servo motor 15, and the top of servo motor 15 is equipped with GPS locator 14, servo motor 15
Rear end internal gear 30 is installed, and internal gear 30 is internally provided with driving gear 31, and servo motor 15 passes through driving gear
Cooperation and turntable 5 between 31 and internal gear 30 constitute engaged transmission, and the outside of turntable 5 is in circular ring structure, this can be to mine hole
The soft robot for carrying out depth detection can effectively by the ore inside mine hole and be adjusted between motor 7 by shield 2
It is isolated, can effectively ensure that the normal work for adjusting motor 7, passes through matching between main helical gear 32 and secondary helical gear 33
The effective mechanical wear for mitigating and adjusting between 7 workpiece of motor is closed, enables friction plate 3 is steady and sustained to rotate, is reduced
The impact force of generation when friction plate 3 rotates between road surface and friction plate 3 can effectively improve the power biography for adjusting motor 7
Efficiency is passed, improves and adjusts motor 7 to the bearing capacity of robot, when robot drives to road surface more smooth in mine hole, energy
The position of enough effective mobile robots, can effectively improve servo by the cooperation between driving gear 31 and internal gear 30
The power transmission efficiency of motor 15 reduces the mechanical wear driven between component when servo motor 15 works, guarantees servo motor
15 are rotated by the steady and sustained drive turntable 5 of cooperation between driving gear 31 and internal gear 30, and then can effectively be changed
Become the moving direction of friction plate 3, so as to effectively according to the moving direction for changing robot the case where the road surface of mine hole；
The rear end of internal gear 30 is equipped with turntable 5, and the rear end of main body 1 is equipped with protecting crust 13, and protecting crust 13 is far from main
The side at 1 center of body is equipped with range sensor 12, and protecting crust 13 is internally provided with hydraulic column 16, and the rear end of hydraulic column 16
Rotary electric machine 17 is installed, the rear end of rotary electric machine 17 is equipped with fixing seat 34, and the left and right sides of fixing seat 34 is mounted on
Guide rod 18, main body 1 is by constituting lifting structure between hydraulic column 16 and fixing seat 34, and the vertical center of fixing seat 34 and anti-
It overlaps between the vertical center of protective case 13, this can carry out the soft robot of depth detection to mine hole, pass through hydraulic column 16
The distance that fixing seat 34 is moved along the vertical center position of protecting crust 13 can be effectively controlled, controls infrared ray convenient for user
The distance that video camera 23 is moved along the vertical center position of protecting crust 13, can effectively will be inside mine hole by protecting crust 13
Ore is spaced apart with infrared camera 23, and infrared camera 23 can be effectively protected, prevent ore from taking the photograph with infrared ray
It is collided between camera 23, to damage infrared camera 23, guide rod 18 is internally provided with spring 29, and spring 29
Rear end mandril 19 is installed, guide rod 18 is by constituting elastic construction between spring 29 and mandril 19, and guide rod 18 is interior
Portion's width is greater than the external width of mandril 19, this can carry out the soft robot of depth detection to mine hole, when fixing seat 34 is along anti-
When the vertical center position of protective case 13 is mobile, guide rod 18 pushes mandril 19 along the central axes direction of guide rod 18 by spring 29
External rotation that is mobile, making mandril 19 push backplate 21 along lock pin 20, makes to be separated from each other between backplate 21, so that infrared ray be made to take the photograph
Camera 23 is higher than the top of protecting crust 13, can effectively be changed by the cooperation between rotary electric machine 17 and micromotor 22 red
The direction of outside line video camera 23 can effectively increase the space that infrared camera 23 can be recorded, can clearly record
Situation inside mine hole, can either improve the safety coefficient of mine hole rescue, and can reduce dangerous obstacles to the wound of rescue personnel
Evil, the top of fixing seat 34 is equipped with infrared camera 23, and the top of infrared camera 23 is equipped with backplate 21, protection
Shell 13 is by constituting foldable structure between lock pin 20 and backplate 21, and the vertical centerline of protecting crust 13 is perpendicular to main body 1, backplate
21 are internally provided with lock pin 20, and fixing seat 34 is internally provided with micromotor 22.
To sum up, this can carry out the soft robot of depth detection to mine hole, in use, firstly, gas-guide tube 6 is put into limit
Gas-guide tube 6 is fixed on limit by the cooperation between block 4 and pin shaft 9 along the external rotation of pin shaft 9 by the inside of slot 11, block 4
The inside of position slot 11, limiting slot 11 provide reliable comb track for user, arrange gas-guide tube 6 according to the track of regulation
Line prevents from mutually winding between gas-guide tube 6, while can effectively reduce length consumed by gas-guide tube 6, mitigates gas-guide tube 6
Occupied area；
Secondly, booster air pump 8, there is explaining in detail for air pump 8 in number of patent application CN108527326A, air pump 8 passes through
Cooperation between gas-guide tube 6 and supporting leg 28 introduces gas into the inside of main air drain 24 and secondary air drain 27, at this time the outside of supporting leg 28
The characteristics of shape is in standing state, and magnetisable coating 25 is attracted each other using anisotropic magnetite, can be effective by magnetisable coating 25
The supporting leg 28 that makes be in bending state, and the periodical of air pump 8 deflates and inflation, can effectively make supporting leg 28 carry out bending and
It stands, while by the friction between friction plate 3 and mine hole road surface, effectively robot can be made to be moved, in patent Shen
There please be explaining in detail for weak signal testing sorter controller 10 in number CN108527326A, be controlled by weak signal testing sorter controller 10
Electromagnetic Control valve 26(N4V210-08) it can effectively control different supporting legs 28 and moved, so as to effectively control
Make robot stabilized movement, thirdly, by shield 2 can effectively by inside mine hole ore and adjust motor 7 it
Between be isolated, can effectively ensure that adjust motor 7 normal work, enable friction plate 3 is steady and sustained to rotate, reduce
The impact force of generation when friction plate 3 rotates between road surface and friction plate 3 can be improved effectively and adjust motor 7(JS-3420)
Power transmission efficiency, improve and adjust motor 7 to the bearing capacity of robot, when robot drives to road more smooth in mine hole
When face, it is capable of the position of effective mobile robot, starts servo motor 15(PLX), servo motor 15 passes through driving gear 31
The steady and sustained drive turntable 5 of cooperation between internal gear 30 rotates, and then can effectively change the mobile side of friction plate 3
To so as to effectively then pass through range sensor 12 according to the moving direction for changing robot the case where the road surface of mine hole
The distance between barrier and robot information effectively can be provided for robot, can effectively reduce robot and obstacle
Hard hit between object works normally so as to which the building block of robot interior is effectively protected；
Finally, passing through hydraulic column 16(580X750N) fixing seat 34 can be effectively controlled along the vertical center of protecting crust 13
The mobile distance in direction, controls infrared camera 23(MINI-6) along the distance that moves of vertical center position of protecting crust 13,
Guide rod 18 pushes mandril 19 to move by spring 29 along the central axes direction of guide rod 18, and mandril 19 is made to push backplate 21 along lock
The external rotation of pin 20, makes to be separated from each other between backplate 21, so that infrared camera 23 be made to be higher than the top of protecting crust 13, leads to
The cooperation crossed between rotary electric machine 17 and micromotor 22 can effectively change the direction of infrared camera 23, can be effective
Ground increases the space that infrared camera 23 can be recorded, and can clearly record the situation inside mine hole, can either improve mine
The safety coefficient of hole rescue, and injury of the dangerous obstacles to rescue personnel can be reduced, meanwhile, pass through GPS locator 14(007)
The position where robot can be effectively detected, and then can effectively detect the depth in mine hole.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (9)
1. one kind can carry out the soft robot of depth detection, including main body (1), servo motor (15) and fixing seat to mine hole
(34), it is characterised in that: the front end of main body (1) is equipped with air pump (8), and the front end of air pump (8) is equipped with weak signal testing classification control
Device (10) processed, the weak signal testing sorter controller (10) are equipped with Electromagnetic Control valve (26) far from the side of main body (1), and
Electromagnetic Control valve (26) is equipped with limiting slot (11) far from the one end of weak signal testing sorter controller (10), and limiting slot (11)
Be internally provided with gas-guide tube (6), the limiting slot (11) is equipped with supporting leg far from the one end of weak signal testing sorter controller (10)
(28), the front end of the supporting leg (28) is equipped with shield (2), and being internally provided with for shield (2) adjusts motor (7), institute
It states and is equipped with above servo motor (15) GPS locator (14), and servo motor (15) is located at the inside of main body (1), it is described
The rear end of servo motor (15) is equipped with turntable (5), and the rear end of the main body (1) is equipped with protecting crust (13), and protecting crust
(13) side far from main body (1) center is equipped with range sensor (12), and being internally provided with for the protecting crust (13) is hydraulic
Column (16), and the rear end of hydraulic column (16) is equipped with rotary electric machine (17), is mounted at left and right sides of the fixing seat (34)
Guide rod (18), and fixing seat (34) is located at the rear end of rotary electric machine (17), is equipped with above the fixing seat (34) infrared
Line video camera (23), and backplate (21) are installed above infrared camera (23), the inside setting of the fixing seat (34)
There are micromotor (22).
2. one kind according to claim 1 can carry out the soft robot of depth detection to mine hole, it is characterised in that: described
Shield (2) and the surrounding adjusted between motor (7) along main body (1) are uniformly distributed, and are adjusted motor (7) and passed through main helical gear
(32) cooperation between secondary helical gear (33) and friction plate (3) constitute engaged transmission.
3. the soft robot that one kind according to claim 1 can carry out depth detection to mine hole, it is characterised in that: described
Limiting slot (11) is by constituting foldable structure, and the central axes of limiting slot (11) and gas-guide tube between pin shaft (9) and block (4)
(6) it overlaps between central axes, and the central axes between gas-guide tube (6) are in " ten " word structure.
4. the soft robot that one kind according to claim 1 can carry out depth detection to mine hole, it is characterised in that: described
Vertical centerline between range sensor (12) and supporting leg (28) about main body (1) is symmetrical, and the axis of supporting leg (28)
Line is perpendicular to main body (1).
5. the soft robot that one kind according to claim 1 can carry out depth detection to mine hole, it is characterised in that: described
Gas-guide tube (6) is made up of with supporting leg (28) the cooperation between air pump (8), main air drain (24) and secondary air drain (27) three and is connected to knot
Structure, and locally fitted closely between the outer surface of supporting leg (28) and the interior surface of magnetisable coating (25).
6. the soft robot that one kind according to claim 1 can carry out depth detection to mine hole, it is characterised in that: described
Servo motor (15) is turned by the cooperation and turntable (5) composition engaged transmission between driving gear (31) and internal gear (30)
The outside of disk (5) is in circular ring structure.
7. the soft robot that one kind according to claim 1 can carry out depth detection to mine hole, it is characterised in that: described
Main body (1) by constituting lifting structure between hydraulic column (16) and fixing seat (34), and the vertical center of fixing seat (34) with prevent
It overlaps between the vertical center of protective case (13).
8. the soft robot that one kind according to claim 1 can carry out depth detection to mine hole, it is characterised in that: described
Guide rod (18) is by constituting elastic construction between spring (29) and mandril (19), and the inner width of guide rod (18) is greater than top
The external width of bar (19).
9. the soft robot that one kind according to claim 1 can carry out depth detection to mine hole, it is characterised in that: described
Protecting crust (13) is by constituting foldable structure between lock pin (20) and backplate (21), and the vertical centerline of protecting crust (13) is vertical
In main body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821914596.6U CN209453570U (en) | 2018-11-21 | 2018-11-21 | A kind of soft robot that depth detection can be carried out to mine hole |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821914596.6U CN209453570U (en) | 2018-11-21 | 2018-11-21 | A kind of soft robot that depth detection can be carried out to mine hole |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209453570U true CN209453570U (en) | 2019-10-01 |
Family
ID=68038521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821914596.6U Expired - Fee Related CN209453570U (en) | 2018-11-21 | 2018-11-21 | A kind of soft robot that depth detection can be carried out to mine hole |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209453570U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111693001A (en) * | 2020-05-20 | 2020-09-22 | 合肥京亿盛精密科技有限公司 | Three-coordinate detection tool |
-
2018
- 2018-11-21 CN CN201821914596.6U patent/CN209453570U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111693001A (en) * | 2020-05-20 | 2020-09-22 | 合肥京亿盛精密科技有限公司 | Three-coordinate detection tool |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9004201B2 (en) | Jumping robot | |
| US8740880B2 (en) | Device for positioning a patient with respect to a radiation | |
| US10434322B2 (en) | Robot for controlling position of motion platform and bio-stimulation system having the same | |
| CN106363612A (en) | Visual guidance type omnidirectional mobile double-arm robot and omnidirectional moving method thereof | |
| US10576622B2 (en) | Robotic manipulator | |
| CN209453570U (en) | A kind of soft robot that depth detection can be carried out to mine hole | |
| JP6158334B2 (en) | Hadron therapy device with movable floor | |
| CN106393128A (en) | Deformable and reconfigurable spherical rescue robot | |
| Kang et al. | ROBHAZ-DT2: Design and integration of passive double tracked mobile manipulator system for explosive ordnance disposal | |
| CN113894822B (en) | Eight-foot robot with bionic rigid-flexible coupling legs and control method | |
| WO2021113726A1 (en) | Mobile manipulation system | |
| KR101309652B1 (en) | Industrial direct teaching robot mounted hollow actuator and 1-axis torque sensor at each axis | |
| CN106044407B (en) | A kind of multi-functional cable take-up and pay-off device | |
| CN109828563A (en) | A kind of robot system for inspection | |
| CN109442138A (en) | Soft robot is used in a kind of maintenance of magnetic absorption traveling type offshore oilfield pipeline | |
| CN109397309A (en) | A kind of soft robot that depth detection can be carried out to mine hole | |
| WO2022053078A1 (en) | Robot accompaniment device and four-legged robot using same | |
| US20210196983A1 (en) | Anti-collision simulation device and radiotherapy system | |
| CN205129831U (en) | Robot for space | |
| KR101670735B1 (en) | Robot for controlling position of moving platform and System for stimulating living body having the same | |
| CN209495071U (en) | Soft robot is used in a kind of maintenance of magnetic absorption traveling type offshore oilfield pipeline | |
| CN208444021U (en) | Back scattering robot system | |
| KR101490822B1 (en) | Transformable ball-like robot for rough terrain | |
| CN207273234U (en) | A kind of guidance robot | |
| CN212471476U (en) | Crawler-type robot for exploring environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191001 Termination date: 20201121 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |