CN209478202U

CN209478202U - A kind of investigation soft robot for having stronger leakproofness

Info

Publication number: CN209478202U
Application number: CN201821913169.6U
Authority: CN
Inventors: 王曼; 邱广文
Original assignee: Dongguan University of Technology
Current assignee: Dongguan University of Technology
Priority date: 2018-11-20
Filing date: 2018-11-20
Publication date: 2019-10-11
Anticipated expiration: 2028-11-20

Abstract

The utility model relates to a kind of investigation soft robots for having stronger leakproofness, including body and connecting plate, the body is internally provided with inner casing, movable leg is installed on the left of the body, the movable leg is internally connected with motion bar, and the upper end middle-end of motion bar is provided with first rotating shaft, the top of the motion bar is connected with the second shaft, and the connecting plate (7) is located at the upper end of the second shaft (6).The beneficial effects of the utility model are: the investigation soft robot for having stronger leakproofness; it is provided with the first expelling parasite chamber, the second expelling parasite chamber and web plate; due to the small volume of body; some narrow space work can be entered; in the first expelling parasite chamber and the second expelling parasite chamber that the left and right ends of body are arranged; since the inside of the first expelling parasite chamber and the second expelling parasite chamber is equipped with expelling parasite medicament; and its odor dispersion is come out by web plate; carry out expelling parasite; the biggish insect breaking plant of volume is prevented, the function of protection is played.

Description

A kind of investigation soft robot for having stronger leakproofness

Technical field

The present invention relates to robotic technology field, specially a kind of investigation soft robot for having stronger leakproofness.

Background technique

Robot is the automatic installations for executing work, and its task is to assist or replace the work of human work, example Such as production industry, construction industry, or dangerous work, and its body of soft robot therein is very soft, it can be very narrow It is movable in narrow space, it is convenient for work.

And papery is usually used in traditional soft robot and silicon rubber is made, and drives by air, needs to connect Wiring is attached, and is unfavorable for entering some special narrow spaces and is worked.

A kind of soft robot disclosed in 105346619 B of Chinese invention patent application prospectus CN, this is soft Body robot can be set although having structure simple by controlling the different elongation of elongation type pneumatic muscle or homing It realizes the advantages that moving forward and backward of robot, still, there is the function of being not provided with monitoring collection information, Bu Nenggen According to needs, the problem of carrying out investigations to some places, and the robot does not have certain protection structure, in the process used In there is also, device can not be protected well, prevented by damaged problem.

Summary of the invention

The purpose of the present invention is to provide a kind of investigation soft robots for having stronger leakproofness, to solve above-mentioned background A kind of soft robot disclosed in 105346619 B of Chinese invention patent application prospectus CN proposed in technology, The soft robot can be extended by controlling different elongation type pneumatic muscle or be replied former although having structure simple The advantages that moving forward and backward of robot is realized in position, but there is the function of being not provided with monitoring collection information, no Can be as needed, the problem of carrying out investigations to some places, and the robot does not have certain protection structure, what is used In the process there is also, device can not be protected well, prevented by damaged problem.

To achieve the above object, the invention provides the following technical scheme: a kind of investigation software machine for having stronger leakproofness Device people, including body and connecting plate, the body are internally provided with inner casing, movable leg, institute are equipped on the left of the body The motion bar that is internally connected with of movable leg is stated, and the upper end middle-end of motion bar is provided with first rotating shaft, the top of the motion bar It is connected with the second shaft, the connecting plate is located at the upper end of the second shaft, and the right of connecting plate is provided with resilient sleeve, the bullet Property set outer wall installation it is fluted, the upper and lower ends of the inner casing are provided with restoring board.

Preferably, the motion bar constitutes rotational structure by first rotating shaft and body, and motion bar passes through the second shaft Rotational structure is constituted with connecting plate, there are six the motion bar settings.

Preferably, the groove is evenly distributed about the horizontal center line of resilient sleeve, the inner wall connection of the connecting plate There is piston rod, is fixedly connected between the piston rod and resilient sleeve, the horizontal center line of the resilient sleeve and the water of piston rod Flat center line coincides, and the rear end of the piston rod is fixed with metal block.

Preferably, fixed plate is installed, the upper end of the fixed plate is connected with electromagnet, described on the inside of the restoring board To be fixedly connected between electromagnet and fixed plate, the inside of the restoring board is equipped with spring, and the spring is about restoring board Horizontal center line is evenly distributed.

Preferably, the right side lower end of the body is equipped with runner, and there are two the runner settings, the right end of the body Middle part is provided with the first expelling parasite chamber, and the outer wall of the first expelling parasite chamber is equipped with web plate, and the first expelling parasite chamber is arc-shaped structure, The second expelling parasite chamber, and the vertical centre of the second expelling parasite chamber and the first expelling parasite chamber about body are provided in the middle part of the left end of the body Line is symmetric.

Preferably, the right side upper end of the body is equipped with the first miniature webcam, and the left end of the body is provided with The shape and structure of two miniature webcams, second miniature webcam matches with the shape and structure of the first miniature webcam, institute It states and isolation board is installed at left and right sides of the upper end of electromagnet.

Preferably, the upper and lower ends outer wall of the body is provided with cushion course, and horizontal centre of the cushion course about body Line is symmetric, and the isolation board is equipped with battery, and to be fixedly connected between battery and body, and battery Front end is provided with processor, is equipped with WIFI module above the inside left of the inner casing.

Preferably, the rear end of second miniature webcam is equipped with link block, and the left and right sides outer wall of link block is set It is equipped with screw, is fixedly connected between second miniature webcam and link block, the link block passes through screw and body structure At helicitic texture.

Preferably, the right end of the processor is provided with connecting wire, and the lower end of connecting wire is connected with miniature control Device is fixedly connected between the microcontroller and connecting wire.

Compared with prior art, beneficial effects of the present invention are as follows:

1, the present invention by motion bar, first rotating shaft, the second shaft, resilient sleeve, electromagnet, piston rod, microcontroller, The setting of connecting wire and metal block connect motion bar with body and is rotated by the effect of first rotating shaft, and And also rotate the upper end by the effect of the second shaft, in this way, motion bar can be allowed fixed same When there is rotation function, by the effect of electromagnet, the metal block for the piston rod right end installation that motion bar can be connected is carried out Connecting wire so that motion bar is pulled to the right rotation, then is carried out intermittent blocking by the effect of microcontroller by absorption, So that electromagnet loses electric power, and then do not have adsorption capacity, it, can be by work since resilient sleeve material is springy rubber Stopper rod resets to the left, drive motion bar rotate to the left, overall process in this way so that motion bar or so repeatedly revolve Transfer is dynamic, can push by body together with runner, so that device has mobile ability, be convenient for investigating.

2, the present invention passes through the setting of spring, restoring board, inner casing and cushion course, the cushion course being arranged outside body, Its material is the materials such as silica gel, and high resilience and more softness are conducive to compressive deformation recovery, can go in this way in robot narrow It when narrow space, prevents its extruding from damaging to device, plays a protective role, while the inner casing of the inside setting of body Can carry out installation elements, airtightness is preferable, play isolation protective effect, and the restoring board of its upper and lower ends installation by When to pressure, by the effect absorption pressure of spring, play the role of resetting it is measuring body, convenient for expanding the use scope of robot.

3, the present invention is by the setting of the first expelling parasite chamber, the second expelling parasite chamber and web plate, can be with due to the small volume of body Some narrow space work are entered, in the first expelling parasite chamber and the second expelling parasite chamber that the left and right ends of body are arranged, due to first The inside of expelling parasite chamber and the second expelling parasite chamber is equipped with expelling parasite medicament, and is come out its odor dispersion by web plate, carries out expelling parasite, prevents The only biggish insect breaking plant of volume, plays the function of protection.

4, the present invention plays offer to element since device conducts connecting wire by battery by the setting of isolation board The effect of the energy, so protected, two pieces of isolation boards of its both ends setting can since its material is isolation material To play the role of insulation protection, prevents battery and connecting wire from leaking electricity, carry out the operation for influencing the other elements of device.

5, the present invention passes through the first miniature webcam, the second miniature webcam, WIFI module, processor, screw and connection The setting of block, by model linkcard be the first miniature webcam and the second miniature webcam effect, by external information into Row acquisition, then passes data to WIFI module by processor, then pass information to network by WIFI module, is convenient for User carries out investigations at any time, while the fixed link block in camera rear end is attached by screw and body, convenient for taking the photograph As head is installed or is dismantled, and then it is conveniently replaceable element.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of the investigation soft robot for having stronger leakproofness of the present invention；

Fig. 2 is a kind of side structure schematic view of the investigation soft robot for having stronger leakproofness of the present invention；

Fig. 3 is that the motion bar and connecting board structure of a kind of investigation of present invention soft robot for having stronger leakproofness are illustrated Figure；

Fig. 4 is the present invention a kind of piston rod and electromagnet connection structure of the investigation soft robot for having stronger leakproofness Schematic diagram；

Fig. 5 is enlarged structure signal at A in a kind of Fig. 1 of investigation of present invention soft robot for having stronger leakproofness Figure.

In figure: 1, body；2, inner casing；3, movable leg；4, motion bar；5, first rotating shaft；6, the second shaft；7, connecting plate； 8, resilient sleeve；9, groove；10, restoring board；11, fixed plate；12, electromagnet；13, spring；14, runner；15, the first expelling parasite chamber； 16, web plate；17, the first miniature webcam；18, isolation board；19, cushion course；20, battery；21, processor；22, WIFI mould Block；23, the second miniature webcam；24, the second expelling parasite chamber；25, screw；26, link block；27, piston rod；28, metal block；29, Connecting wire；30, microcontroller.

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 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. 1-5 is please referred to, the present invention provides a kind of technical solution: a kind of investigation software machine for having stronger leakproofness People, including body 1, inner casing 2, movable leg 3, motion bar 4, first rotating shaft 5, the second shaft 6, connecting plate 7, resilient sleeve 8, groove 9, Restoring board 10, fixed plate 11, electromagnet 12, spring 13, runner 14, the first expelling parasite chamber 15, web plate 16, the first miniature webcam 17, isolation board 18, cushion course 19, battery 20, processor 21, WIFI module 22, the second miniature webcam 23, the second expelling parasite chamber 24, screw 25, link block 26, piston rod 27, metal block 28, connecting wire 29 and microcontroller 30, the inside setting of body 1 There is inner casing 2, the left side of body 1 is equipped with movable leg 3, and movable leg 3 is internally connected with motion bar 4, and in the upper end of motion bar 4 End is provided with first rotating shaft 5, and the top of motion bar 4 is connected with the second shaft 6, and connecting plate 7 is located at the upper end of the second shaft 6, and The right of connecting plate 7 is provided with resilient sleeve 8, and the outer wall installation fluted 9 of resilient sleeve 8, the upper and lower ends of inner casing 2 are provided with reset Plate 10, motion bar 4 constitutes rotational structure by first rotating shaft 5 and body 1, and motion bar 4 passes through the second shaft 6 and connecting plate 7 Rotational structure is constituted, there are six the settings of motion bar 4, and groove 9 is evenly distributed about the horizontal center line of resilient sleeve 8, connecting plate 7 Inner wall be connected with piston rod 27, to be fixedly connected between piston rod 27 and resilient sleeve 8, the horizontal center line of resilient sleeve 8 and work The horizontal center line of stopper rod 27 coincides, and the rear end of piston rod 27 is fixed with metal block 28, and the inside of restoring board 10 is equipped with solid Fixed board 11, the upper end of fixed plate 11 are connected with electromagnet 12, are fixedly connected between electromagnet 12 and fixed plate 11, restoring board 10 Inside spring 13 is installed, spring 13 is evenly distributed about the horizontal center line of restoring board 10, in the external setting of body 1 Cushion course 19, material is the materials such as silica gel, high resilience and more soft, is conducive to compressive deformation recovery, in this way can be with When robot goes to narrow space, prevents its extruding from damaging to device, play a protective role, while body 1 The inner casing 2 of inside setting can carry out installation elements, and airtightness is preferable, plays isolation protective effect, and its upper and lower ends The restoring board 10 of installation is when being under pressure, by the effect absorption pressure of spring 13, play the role of resetting it is measuring body, convenient for expanding The use scope of big robot, the right side lower end of body 1 are equipped with runner 14, and there are two the settings of runner 14, in the right end of body 1 Portion is provided with the first expelling parasite chamber 15, and the outer wall of the first expelling parasite chamber 15 is equipped with web plate 16, and the first expelling parasite chamber 15 is arc-shaped knot The left end middle part of structure, body 1 is provided with the second expelling parasite chamber 24, and the second expelling parasite chamber 24 and the first expelling parasite chamber 15 are about body 1 Vertical center line is symmetric, and due to the small volume of body 1, some narrow space work can be entered, in body 1 The the first expelling parasite chamber 15 and the second expelling parasite chamber 24 of left and right ends setting, due to the inside of the first expelling parasite chamber 15 and the second expelling parasite chamber 24 Its odor dispersion is come out equipped with expelling parasite medicament, and by web plate 16, carries out expelling parasite, prevents the biggish insect of volume from destroying dress It sets, plays the function of protection, the right side upper end of body 1 is equipped with the first miniature webcam 17, and the left end of body 1 is provided with second Miniature webcam 23, the shape and structure of the second miniature webcam 23 match with the shape and structure of the first miniature webcam 17, electricity Isolation board 18 is installed at left and right sides of the upper end of magnet 12, the upper and lower ends outer wall of body 1 is provided with cushion course 19, and cushion course 19 are symmetric about the horizontal center line of body 1, and isolation board 18 is equipped with battery 20, and battery 20 and body 1 Between to be fixedly connected, and the front end of battery 20 is provided with processor 21, is equipped with WIFI mould above the inside left of inner casing 2 Block 22 plays the role of element to provide the energy, so needing to carry out since device conducts connecting wire 29 by battery 20 Protection can play the role of insulation protection since its material is isolation material in two pieces of isolation boards 18 of its both ends setting, It prevents battery 20 and connecting wire 29 from leaking electricity, carries out the operation for influencing the other elements of device, the second miniature webcam 23 Rear end link block 26 is installed, and the left and right sides outer wall of link block 26 is provided with screw 25, the second miniature webcam 23 with To be fixedly connected between link block 26, link block 26 constitutes helicitic texture by screw 25 and body 1, passes through model linkcard For the effect of the first miniature webcam 17 and the second miniature webcam 23, external information is acquired, processor is then passed through 21 pass data to WIFI module 22, then pass information to network by WIFI module 22, carry out at any time convenient for user Investigation, while the link block 26 that camera rear end is fixed is attached by screw 25 with body 1, convenient for pacifying to camera Dress or disassembly, and then be conveniently replaceable, the right end of processor 21 is provided with connecting wire 29, and the lower end connection of connecting wire 29 There is microcontroller 30, is fixedly connected between microcontroller 30 and connecting wire 29, by the effect of first rotating shaft 5, makes The effect for being rotated, but also passing through the second shaft 6 can be connect with body 1 by obtaining motion bar 4, revolve the upper end Turn, in this way, can allow motion bar 4 that there is rotation function while fixation, by the effect of electromagnet 12, can incite somebody to action The metal block 28 for 27 right end of the piston rod installation that motion bar 4 connects is adsorbed, so that motion bar 4 is pulled to the right rotation, then Connecting wire 29 is subjected to intermittent blocking by the effect of microcontroller 30, so that electromagnet 12 loses electric power, and then not Piston rod 27 can be resetted to the left, drive activity with adsorption capacity since 8 material of resilient sleeve is springy rubber Bar 4 rotates to the left, overall process in this way, so that the carry out moving in rotation of motion bar 4 or so repeatedly, it can be with runner 14 Together body 1 is pushed, so that device has mobile ability, is convenient for investigating.

To sum up, the investigation soft robot for having stronger leakproofness, in use, pass through the effect of first rotating shaft 5, so that Motion bar 4 can be connect with body 1 to be rotated, but also passes through the effect of the second shaft 6, revolves the upper end Turn, in this way, can allow motion bar 4 that there is rotation function while fixation, by the effect of electromagnet 12, can incite somebody to action The metal block 28 for 27 right end of the piston rod installation that motion bar 4 connects is adsorbed, so that motion bar 4 is pulled to the right rotation, then Connecting wire 29 is subjected to intermittent blocking by the effect of microcontroller 30, so that electromagnet 12 loses electric power, and then not Piston rod 27 can be resetted to the left, drive activity with adsorption capacity since 8 material of resilient sleeve is springy rubber Bar 4 rotates to the left, overall process in this way, so that the carry out moving in rotation of motion bar 4 or so repeatedly, it can be with runner 14 Together body 1 is pushed, so that device has mobile ability, is convenient for investigating, then, is by model linkcard The effect of first miniature webcam 17 and the second miniature webcam 23, external information is acquired, and then passes through processor 21 WIFI module 22 is passed data to, then network is passed information to by WIFI module 22, is detectd at any time convenient for user It looks into, while the link block 26 that camera rear end is fixed is attached by screw 25 with body 1, convenient for being installed to camera Or disassembly, and then be conveniently replaceable, then due to device, which conducts connecting wire 29 by battery 20, plays offer energy to element The effect in source, so protected, two pieces of isolation boards 18 of its both ends setting can since its material is isolation material To play the role of insulation protection, prevents battery 20 and connecting wire 29 from leaking electricity, carry out the other elements for influencing device Operation, subsequently, in the external cushion course 19 being arranged of body 1, material is the materials such as silica gel, high resilience and more soft It is soft, be conducive to compressive deformation recovery, can prevent its extruding from causing to device when robot goes to narrow space in this way Damage, plays a protective role, while the inner casing 2 of the inside setting of body 1 can carry out installation elements, and airtightness is preferable, rises To isolation protective effect, and the restoring board 10 of its upper and lower ends installation is absorbed when being under pressure by the effect of spring 13 Pressure, play the role of resetting it is measuring body,, can be with finally due to the small volume of body 1 convenient for expanding the use scope of robot The work of some narrow spaces is entered, in the first expelling parasite chamber 15 and the second expelling parasite chamber 24 that the left and right ends of body 1 are arranged, due to The inside of first expelling parasite chamber 15 and the second expelling parasite chamber 24 is equipped with expelling parasite medicament, and is come out its odor dispersion by web plate 16, Expelling parasite is carried out, the biggish insect breaking plant of volume is prevented, plays the function of protection.

More than, it is merely preferred embodiments of the present invention, but scope of protection of the present invention is not limited thereto, it is any Those familiar with the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its invents Design is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.

Claims

1. a kind of investigation soft robot for having stronger leakproofness, including body (1) and connecting plate (7), it is characterised in that: institute Being internally provided with inner casing (2) for body (1) is stated, is equipped with movable leg (3) on the left of the body (1), the movable leg (3) It is internally connected with motion bar (4), and the upper end middle-end of motion bar (4) is provided with first rotating shaft (5), the top of the motion bar (4) End is connected with the second shaft (6), and the connecting plate (7) is located at the upper end of the second shaft (6), and the right setting of connecting plate (7) The outer wall of flexible set (8), the resilient sleeve (8) installs fluted (9), and the upper and lower ends of the inner casing (2) are provided with reset Plate (10).

2. a kind of investigation soft robot for having stronger leakproofness according to claim 1, it is characterised in that: the work Lever (4) constitutes rotational structure by first rotating shaft (5) and body (1), and motion bar (4) by the second shaft (6) with connect Plate (7) constitutes rotational structure, and there are six motion bar (4) settings.

3. a kind of investigation soft robot for having stronger leakproofness according to claim 1, it is characterised in that: described recessed Slot (9) is evenly distributed about the horizontal center line of resilient sleeve (8), and the inner wall of the connecting plate (7) is connected with piston rod (27), To be fixedly connected between the piston rod (27) and resilient sleeve (8), the horizontal center line of the resilient sleeve (8) and piston rod (27) Horizontal center line coincide, the rear end of the piston rod (27) is fixed with metal block (28).

4. a kind of investigation soft robot for having stronger leakproofness according to claim 1, it is characterised in that: described multiple It is equipped with fixed plate (11) on the inside of position plate (10), the upper end of the fixed plate (11) is connected with electromagnet (12), the electromagnetism To be fixedly connected between iron (12) and fixed plate (11), the inside of the restoring board (10) is equipped with spring (13), the spring (13) horizontal center line about restoring board (10) is evenly distributed.

5. a kind of investigation soft robot for having stronger leakproofness according to claim 1, it is characterised in that: the machine The right side lower end of body (1) is equipped with runner (14), and there are two runner (14) settings, is set in the middle part of the right end of the body (1) It is equipped with the first expelling parasite chamber (15), and the outer wall of the first expelling parasite chamber (15) is equipped with web plate (16), the first expelling parasite chamber (15) is Arc-shaped structure, the left end middle part of the body (1) is provided with the second expelling parasite chamber (24), and the second expelling parasite chamber (24) drives with first Worm chamber (15) is symmetric about the vertical center line of body (1).

6. a kind of investigation soft robot for having stronger leakproofness according to claim 4, it is characterised in that: the machine The right side upper end of body (1) is equipped with the first miniature webcam (17), and the left end of the body (1) is provided with the second miniature webcam (23), the shape and structure of second miniature webcam (23) matches with the shape and structure of the first miniature webcam (17), institute It states and isolation board (18) is installed at left and right sides of the upper end of electromagnet (12).

7. a kind of investigation soft robot for having stronger leakproofness according to claim 6, it is characterised in that: the machine The upper and lower ends outer wall of body (1) is provided with cushion course (19), and cushion course (19) is in symmetrical about the horizontal center line of body (1) Distribution, the isolation board (18) are equipped with battery (20), and to be fixedly connected between battery (20) and body (1), and The front end of battery (20) is provided with processor (21), is equipped with WIFI module (22) above the inside left of the inner casing (2).

8. a kind of investigation according to claim 6 is with there is the soft robot of stronger leakproofness, it is characterised in that: described the The rear end of two miniature webcams (23) is equipped with link block (26), and the left and right sides outer wall of link block (26) is provided with screw (25), to be fixedly connected between second miniature webcam (23) and link block (26), the link block (26) passes through screw (25) helicitic texture is constituted with body (1).

9. a kind of investigation soft robot for having stronger leakproofness according to claim 7, it is characterised in that: the place The right end of reason device (21) is provided with connecting wire (29), and the lower end of connecting wire (29) is connected with microcontroller (30), institute State is to be fixedly connected between microcontroller (30) and connecting wire (29).