CN220241481U - Bionic snake-shaped robot for sampling pollutants - Google Patents
Bionic snake-shaped robot for sampling pollutants Download PDFInfo
- Publication number
- CN220241481U CN220241481U CN202323173863.2U CN202323173863U CN220241481U CN 220241481 U CN220241481 U CN 220241481U CN 202323173863 U CN202323173863 U CN 202323173863U CN 220241481 U CN220241481 U CN 220241481U
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- snake
- subassembly
- robot
- tail
- component
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- 238000005070 sampling Methods 0.000 title claims abstract description 16
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 15
- 239000003344 environmental pollutant Substances 0.000 title claims abstract description 13
- 231100000719 pollutant Toxicity 0.000 title claims abstract description 13
- 241000270295 Serpentes Species 0.000 claims abstract description 50
- 241001597062 Channa argus Species 0.000 claims abstract description 17
- 230000007613 environmental effect Effects 0.000 claims abstract description 5
- 230000008447 perception Effects 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 35
- 230000000087 stabilizing effect Effects 0.000 claims description 10
- 210000002435 tendon Anatomy 0.000 claims description 9
- 239000002184 metal Substances 0.000 claims description 7
- 239000000356 contaminant Substances 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 2
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 claims 5
- 230000003592 biomimetic effect Effects 0.000 claims 5
- 238000013461 design Methods 0.000 abstract description 3
- 238000004321 preservation Methods 0.000 abstract description 3
- 238000007789 sealing Methods 0.000 abstract description 3
- 210000000078 claw Anatomy 0.000 abstract description 2
- 239000000306 component Substances 0.000 description 17
- 239000000126 substance Substances 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 210000000006 pectoral fin Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000008358 core component Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
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- Manipulator (AREA)
Abstract
The utility model discloses a bionic snake-shaped robot for sampling pollutants, which relates to the technical field of robots and comprises a snake body component, wherein one end of the snake body component is provided with a snake head component, the other end of the snake body component is provided with a snake tail component, a group of special simulated fin mechanical claws of the snake head component realize efficient sample collection and sealing preservation, the simulated skates of the snake body component imitate the characteristic of skin friction anisotropy of a snake in nature, so that the robot has smooth and efficient moving capability, the trunk part of the modularized design of the snake body component provides flexibility and maintainability, the tail camera of the snake tail component realizes accurate positioning and environmental perception, and successful completion of tasks is promoted.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a bionic snake-shaped robot for sampling pollutants.
Background
The current robots used for chemical pollution are of various types and can be used for rapidly detecting when leakage occurs in chemical equipment or pipelines, alarming in time and taking measures to prevent further diffusion of pollutants, and the robots possibly have the functions of adsorbing, cleaning, removing sediments and the like so as to safely and effectively remove chemical residues. These robots may be equipped with sensors and monitoring devices for monitoring indicators of contaminant concentration and air quality in the environment surrounding the chemical plant, which may provide real-time data and help to protect the health of workers and nearby residents.
Currently, robots for chemical pollution currently have the following drawbacks: the robot needs to consume a large amount of energy to move and operate, has higher research, development and manufacturing costs, is difficult to popularize and popularize, and needs to further reduce cost. In soft ground terrain, this form of robot is prone to subsidence into the earth and may not be able to travel properly or reach the desired sampling location.
In order to solve the problems, a bionic snake-shaped robot for sampling pollutants is provided.
Disclosure of Invention
The utility model aims to provide a bionic snake-shaped robot for sampling pollutants, which adopts the device to work, so that the problems that the robot needs to consume a large amount of energy to move and operate in the background, has higher research, development and manufacturing costs, is difficult to popularize and needs to further reduce cost are solved. In soft ground terrain, this form of robot is prone to problems in that it may not be able to run normally or reach the desired sampling position.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a be used for bionical snakelike robot of pollutant sampling, includes the snake body subassembly, the one end of snake body subassembly is provided with the snake head subassembly, and the other end of snake body subassembly is provided with the snake tail subassembly, sets up the bionical snakelike robot that forms a complete through the combination of snake head subassembly, snake body subassembly and snake tail subassembly, and the setting of snake head subassembly is used for accomplishing pollutant sample collection task, is used for environmental perception and keeps away the barrier through the setting of snake tail subassembly, is used for driving wholly to remove through the setting of snake body subassembly.
Further, the snake body component comprises a butt joint mechanism and a stabilizing mechanism which is fixedly arranged at one end of the butt joint mechanism through threads, a connecting mechanism is fixedly arranged at one end of the stabilizing mechanism through threads, and a driving mechanism is arranged in an inner cavity of the connecting mechanism.
Further, the butt joint mechanism comprises an opening clamping block and clamping discs arranged in the middle of the upper end and the lower end of the inner wall of the opening clamping block.
Further, the stabilizing mechanism comprises an annular frame and a plurality of skates-like structures which are linearly and equidistantly fixedly arranged at one end of the outer wall of the annular frame.
Further, the snake head assembly comprises a metal bearing and a set of tendon ropes wound on the metal bearing, and the tail ends of the tendon ropes are wound on the second motor.
Further, the second motor drives the tendon rope to drive the mechanical gripper to move, and four fingers of the mechanical gripper comprise a layer of bionic flipper made of rubber.
Compared with the prior art, the utility model has the following beneficial effects: the special fin-like mechanical gripper of the snake head component realizes efficient sample collection and sealing preservation, the ice blade-like structure of the snake body component simulates the characteristic of skin friction anisotropy of a snake in nature, so that the robot has smooth and efficient moving capability, the trunk part of the modularized design of the snake body component provides flexibility and easy maintenance, the tail camera of the snake tail component realizes accurate positioning and environmental perception, and successful completion of tasks is promoted.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
FIG. 2 is a schematic view of a snake body connector according to the utility model;
FIG. 3 is a schematic view of the skates of the present utility model;
fig. 4 is a schematic view of the structure of the manipulator claw according to the present utility model.
In the figure: 1. a snake body assembly; 11. a docking mechanism; 111. an opening clamp block; 112. a clamping disc; 12. a stabilizing mechanism; 121. an annular frame; 122. an ice blade simulating structure; 13. a connecting mechanism; 14. a driving mechanism is arranged; 2. a snake head assembly; 21. a metal bearing; 22. a second motor; 23. a mechanical gripper; 24. bionic flippers; 3. snake tail assembly.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
For a further understanding of the present utility model, the present utility model will be described in detail with reference to the drawings.
Referring to fig. 1-4, a bionic snake-shaped robot for sampling pollutants comprises a snake body component 1, wherein a snake head component 2 is arranged at one end of the snake body component 1, a snake tail component 3 is arranged at the other end of the snake body component 1, a complete bionic snake-shaped robot is formed by the combination of the snake head component 2, the snake body component 1 and the snake tail component 3, the snake head component 2 is used for completing a pollutant sample collection task, the snake tail component 3 is used for sensing and avoiding obstacles, and the snake body component 1 is used for driving the whole body to move.
The snake body component 1 comprises a docking mechanism 11 and a stabilizing mechanism 12 which is fixedly arranged at one end of the docking mechanism 11 through threads, one end of the stabilizing mechanism 12 is fixedly arranged with a connecting mechanism 13 through threads, a driving mechanism 14 is arranged in an inner cavity of the connecting mechanism 13, the driving mechanism 14 is a group of motors which are vertically and horizontally arranged, the driving mechanism 14 is connected with a sensing device through a CAN bus and is connected with the motors in the driving mechanism 14, a lower computer of the snake robot is an ARM board, the ARM board controls the driving mechanism 14, the control mode is that the USB pin serial port is arranged by virtue of the ARM board, the USB serial port is connected with a USB-to-CAN module through a Du wire-to-USB female seat, the USB-to-CAN module is directly connected with the motors through a Data wire, thereby achieving the aim of enabling a single ARM board to control the motor group, 16-bit Data frames are transmitted to the module through ARM board motor control codes, the module then carries out correction and conversion on the Data frames, converts the 16-bit Data frames into 8-bit CAN signal frames, the CAN signal frames are divided into transmission frames and feedback frames, the motors receive the CAN transmission frames, make corresponding control conversion and return CAN feedback frames to the module in real time, the module converts the 8-bit CAN signal frames into 16-bit Data frames and returns the 16-bit Data frames to the ARM board for analysis of feedback frame Data, so that the position, speed, torque, temperature and driving temperature of each motor are known, the Data frames are accurately controlled to a single motor, data4 to Data7 of the 16-bit Data frames are related to the Data frames, the Data4 to Data7 Data contain CAN IDs, the CAN IDs of each motor are preset in advance so as to be controlled in advance, and the motors receive the difference of the CAN IDs so as to carry out further response, thereby achieving the purpose of accurate control.
The docking mechanism 11 comprises an opening clamping block 111 and clamping discs 112 arranged in the middle of the upper end and the lower end of the inner wall of the opening clamping block 111, the stabilizing mechanism 12 comprises an annular frame 121 and a plurality of skates-like structures 122 which are arranged at one end of the outer wall of the annular frame 121 in a linear equidistant fixed mode, the bottom of the trunk portion of the snake-like robot comprises a special skates-like structure 122, the movement track of a snake in nature is contained in the bottom of the trunk portion of the snake-like robot, and the skates-like structures 122 can provide better mobility and stability for the snake-like robot.
The snake head assembly 2 comprises a metal bearing 21 and a group of tendon ropes wound on the metal bearing 21, the tail ends of the tendon ropes are wound on a second motor 22, the tendon ropes are driven by the second motor 22 to drive a mechanical gripper 23 to move, four fingers of the mechanical gripper 23 comprise a layer of bionic flippers 24 made of rubber, the mechanical gripper 23 can collect samples such as soil in a sample collection task, and meanwhile, a camera can be arranged on a tail module of the snake tail to ensure the stability of movement of the snake robot.
The special fin-like mechanical gripper of the snake head assembly 2 realizes efficient sample collection and sealing preservation, the ice blade-like structure 122 of the snake body assembly 1 imitates the characteristic of skin friction anisotropy of a snake in nature, so that the robot has smooth and efficient moving capability, the trunk part of the modularized design of the snake body assembly 1 provides flexibility and easy maintenance, the tail camera of the snake tail assembly 3 realizes accurate positioning and environmental perception, successful completion of tasks is promoted, and the device designed by the utility model is convenient to manufacture, low in cost and effective in reducing manufacturing cost.
It should be noted that, the inside of the bionic snake-shaped robot is provided with core components which can support the normal operation of the bionic snake-shaped robot, and the core components can work normally and are not an innovation part of the application document, and the bionic snake-shaped robot also belongs to common knowledge, and a person skilled in the art can think of specific structures and structural layout arrangement.
In the description of the present utility model, it should be understood that the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings, and is merely for convenience in describing the present utility model and simplifying the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a be used for bionical snakelike robot of pollutant sampling, includes snake body subassembly (1), its characterized in that: one end of snake body subassembly (1) is provided with snake head subassembly (2), and the other end of snake body subassembly (1) is provided with snake tail subassembly (3), sets up the combination through snake head subassembly (2), snake body subassembly (1) and snake tail subassembly (3) and forms a complete bionical snakelike robot, and the setting of snake head subassembly (2) is used for accomplishing pollutant sample collection task, is used for environmental perception and keeps away the barrier through the setting of snake tail subassembly (3), is used for driving wholly to remove through the setting of snake body subassembly (1).
2. A biomimetic serpentine robot for contaminant sampling according to claim 1, wherein: the snake body assembly (1) comprises a butt joint mechanism (11) and a stabilizing mechanism (12) fixedly arranged at one end of the butt joint mechanism (11) through threads, a connecting mechanism (13) is fixedly arranged at one end of the stabilizing mechanism (12) through threads, and a driving mechanism (14) is arranged in an inner cavity of the connecting mechanism (13).
3. A biomimetic serpentine robot for contaminant sampling according to claim 2, wherein: the butt joint mechanism (11) comprises an opening clamping block (111) and clamping discs (112) arranged in the middle of the upper end and the lower end of the inner wall of the opening clamping block (111).
4. A biomimetic serpentine robot for contaminant sampling according to claim 3, wherein: the stabilizing mechanism (12) comprises an annular frame (121) and a plurality of skates-like structures (122) which are linearly and equidistantly fixedly arranged at one end of the outer wall of the annular frame (121).
5. The biomimetic serpentine robot for contaminant sampling of claim 4, wherein: the snake head assembly (2) comprises a metal bearing (21) and a group of tendon ropes wound on the metal bearing (21), and the tail ends of the tendon ropes are wound on a second motor (22).
6. The biomimetic serpentine robot for contaminant sampling of claim 5, wherein: the second motor (22) drives the tendon rope to drive the mechanical gripper (23) to move, and four fingers of the mechanical gripper (23) comprise a layer of bionic flipper (24) made of rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323173863.2U CN220241481U (en) | 2023-11-24 | 2023-11-24 | Bionic snake-shaped robot for sampling pollutants |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323173863.2U CN220241481U (en) | 2023-11-24 | 2023-11-24 | Bionic snake-shaped robot for sampling pollutants |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220241481U true CN220241481U (en) | 2023-12-26 |
Family
ID=89229941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323173863.2U Active CN220241481U (en) | 2023-11-24 | 2023-11-24 | Bionic snake-shaped robot for sampling pollutants |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220241481U (en) |
-
2023
- 2023-11-24 CN CN202323173863.2U patent/CN220241481U/en active Active
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