WO2021142556A1 - 一种用于地形勘测的仿生机器人 - Google Patents

一种用于地形勘测的仿生机器人 Download PDF

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Publication number
WO2021142556A1
WO2021142556A1 PCT/CN2019/116479 CN2019116479W WO2021142556A1 WO 2021142556 A1 WO2021142556 A1 WO 2021142556A1 CN 2019116479 W CN2019116479 W CN 2019116479W WO 2021142556 A1 WO2021142556 A1 WO 2021142556A1
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survey
cavity
hole
shell
led lamp
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PCT/CN2019/116479
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English (en)
French (fr)
Inventor
闵康
王成林
吕云
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南京溧航仿生产业研究院有限公司
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Priority to PCT/CN2019/116479 priority Critical patent/WO2021142556A1/zh
Publication of WO2021142556A1 publication Critical patent/WO2021142556A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms

Definitions

  • the invention relates to the field of bionic robots, in particular to a bionic robot used for terrain surveying.
  • Snake-shaped robot is a new type of bionic robot that can imitate the movement of biological snakes.
  • the survey of crevice terrain generally uses snake-shaped robots; in the process of surveying using snake-shaped robots, due to the changing terrain of the crevices, the collision of the snake-shaped robot's survey head The image quality is not clear, and the collision of the LED lights causes damage, resulting in poor survey results of the snake-shaped robot.
  • the main purpose of the present invention is to provide a bionic robot for terrain survey, which can effectively solve the problems in the background art.
  • a bionic robot for terrain surveying comprising a snake-shaped machine torso, the front end of the snake-shaped machine torso is provided with a survey shell, and the survey shell includes a shell, a cavity, an LED lamp, a survey head, a connecting plate, and a through hole , Special-shaped electric push rod, connecting rod, wire groove, the rear end of the shell is provided with a cavity, and the front end of the shell is inserted with an LED lamp and a survey head.
  • the rear of the LED lamp and the survey head The end extends into the cavity, and the cavity of the cavity is provided with a connection plate, the front end edge of the connection plate is provided with a through hole, the LED lamp and the survey head rear-end wire penetrate the connection plate to open a through hole, the A connecting rod is connected to the middle of the rear end of the connecting plate, and a special-shaped electric push rod is connected to the other end of the connecting rod.
  • a wire groove is provided on the side wall of the special-shaped electric push rod, and a protective cover is connected to the front end of the housing.
  • the protective cover includes a cover body, a first docking hole, and a second docking hole. The front edge of the cover body is provided with a first docking hole, and the middle of the front end of the cover body is provided with a second docking hole.
  • the LED lamp, the surveying head and the housing are movably arranged, and the LED lamp and the back-end wires of the surveying head pass through the connecting plate to define a through hole and a wire groove opened by a special-shaped electric push rod one by one.
  • the wire grooves of the special-shaped electric push rod are arranged in an arc shape, and the side walls of the special-shaped electric push rod are provided with four wire grooves, and the special-shaped electric push rod telescopic rod is connected to the connecting rod by bolt penetration.
  • the wires at both ends of the connecting plate are arranged in knots, and the connecting plate and the housing are movably arranged, and the connecting plate and the connecting rod are connected by bolts.
  • the LED lights movably arranged at the front end of the housing are aligned with the first docking hole opened in the protective cover, and the survey heads movably arranged at the front end of the housing are aligned with the second docking hole opened in the protective cover.
  • the present invention has the following beneficial effects:
  • the connecting plate provided on the survey shell and the special-shaped electric push rod cooperate with each other to realize the extension and retraction of the LED lamp and the survey head, which improves the survey efficiency to a certain extent, and the survey shell and protection The cover cooperates with each other to improve the protection performance of the LED lamp and the survey head to a certain extent.
  • Figure 1 is a schematic diagram of the overall structure of a biomimetic robot for terrain surveying of the present invention
  • Figure 2 is a split view of the overall structure of a biomimetic robot for terrain surveying according to the present invention
  • Fig. 3 is a cut-away schematic diagram of a survey shell of a biomimetic robot used for terrain survey of the present invention
  • Fig. 4 is a schematic diagram of a protective cover of a biomimetic robot for terrain surveying of the present invention.
  • a biomimetic robot for terrain survey includes a snake-shaped machine torso 1.
  • a survey shell 2 is provided at the front end of the snake-shaped machine torso 1, and the survey shell 2 includes a housing 201 and a cavity 202 , LED light 203, survey head 204, connecting plate 205, through hole 206, special-shaped electric push rod 207, connecting rod 208, wire slot 209, the rear end of the housing 201 is provided with a cavity 202, and the front end of the housing 201 is provided The LED light 203 and the survey head 204 are inserted into the hole.
  • the rear ends of the LED light 203 and the survey head 204 extend into the cavity of the cavity 202, and the cavity of the cavity 202 is provided with a connecting plate 205, the front edge of the connecting plate 205 A through hole 206 is opened.
  • the rear-end wires of the LED light 203 and the survey head 204 pass through the connecting plate 205 to open a through hole 206.
  • the middle of the rear end of the connecting plate 205 is connected with a connecting rod 208, and the other end of the connecting rod 208 is connected with a special-shaped electric motor.
  • the push rod 207, the side wall of the special-shaped electric push rod 207 is provided with a wire groove 209, the front end of the housing 201 is connected with a protective cover 3, and the protective cover 3 includes a cover 301, a first docking hole 302, and a second docking hole 303, The front edge of the cover 301 is provided with a first mating hole 302, and the middle of the front end of the cover 301 is provided with a second mating hole 303.
  • the LED lamp 203, the survey head 204 and the housing 201 are movably arranged, and the rear-end wires of the LED lamp 203 and the survey head 204 pass through the connecting plate 205 one by one to open a through hole 206 and a wire groove 209 opened by a special-shaped electric push rod 207;
  • the wire groove 209 of the push rod 207 is arranged in an arc shape, and the side wall of the special-shaped electric push rod 207 is provided with four wire grooves 209, and the telescopic rod of the special-shaped electric push rod 207 is connected with the connecting rod 208 through bolt penetration;
  • the connecting plate 205 The wires at both ends are arranged in knots, and the connecting plate 205 and the housing 201 are movably arranged, and the connecting plate 205 and the connecting rod 208 are connected by bolts;
  • the LED light 203 movably arranged at the front end of the housing 201 is aligned with the opening of the protective cover 3
  • a pair of connecting holes 302 are
  • the present invention is a biomimetic robot used for terrain surveying.
  • the survey head 204 and the LED lamp 203 at the front end of the housing 201 provided in the survey shell 2 are cleaned out.
  • the LED lamp 203 is aligned with the front edge of the housing 201 to open a hole and inserted until the rear end of the LED lamp 203 is inserted into the cavity 202, the wire of the LED lamp 203 extends into the cavity of the cavity 202, and the rear wire of the survey head 204 is aligned
  • a hole is opened in the middle of the front end of the housing 201 for insertion until the rear end of the survey head 204 is inserted into the cavity 202, and the back end wire of the survey head 204 extends into the cavity 202 to realize the survey head 204, the LED lamp 203 and the housing 201 Assemble between, the wire contacts the survey head 204 and the LED lamp 203 and is knotted.
  • the wire is inserted into the through hole 206 opened in the connection plate 205.
  • the wires of the survey head 204 and the LED lamp 203 are knotted again, and the LED lamp is pulled.
  • 203 and the wire of the survey head 204 check whether the LED light 203 and survey head 204 can move with the connecting plate 205, the connecting plate 205 is pushed into the cavity 202 opened in the housing 201, and one end of the connecting plate 205 is connected to the connecting rod 208 Connected by bolt fixing, the other end of the connecting rod 208 is connected with the telescopic rod of the special-shaped electric push rod 207, and the connecting rod 208 and the special-shaped electric push rod 207 are connected by bolt penetration to realize the connection of the special-shaped electric push rod 207

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种用于地形勘测的仿生机器人，包括蛇形机器躯干（1），蛇形机器躯干（1）的前端设置有勘测壳（2），且勘测壳（2）包括壳体（201）、空腔（202）、LED灯（203）、勘测头（204）、连接盘（205）、通孔（206）、异形电动推杆（207）、连接杆（208）、导线槽（209），壳体（201）的后端开设有空腔(202)，且壳体(201)的前端开设孔内插入设置有LED灯(203)和勘测头(204)，LED灯（203）和勘测头（204）的后端延伸至空腔（202）腔内，且空腔（202）的腔内设置有连接盘（205），连接盘（205）的前端边缘开设有通孔（206）。

Description

一种用于地形勘测的仿生机器人 技术领域
本发明涉及仿生机器人领域，特别涉及一种用于地形勘测的仿生机器人。
 背景技术
蛇形机器人是一种能够模仿生物蛇运动的新型仿生机器人，缝隙地形的勘测一般使用蛇形机器人进行勘测；使用蛇形机器人进行勘测过程中，由于缝隙地形多变，蛇形机器人勘测头碰撞导致画质不清晰，LED灯碰撞导致损坏，导致蛇形机器人勘测效果不佳。
 技术问题
本发明的主要目的在于提供一种用于地形勘测的仿生机器人，可以有效解决背景技术中的问题。
 技术解决方案
为实现上述目的，本发明采取的技术方案为：
一种用于地形勘测的仿生机器人，包括蛇形机器躯干，所述蛇形机器躯干的前端设置有勘测壳，且勘测壳包括壳体、空腔、LED灯、勘测头、连接盘、通孔、异形电动推杆、连接杆、导线槽，所述壳体的后端开设有空腔，且壳体的前端开设孔内插入设置有LED灯和勘测头，所述LED灯和勘测头的后端延伸至空腔腔内，且空腔的腔内设置有连接盘，所述连接盘的前端边缘开设有通孔，所述LED灯和勘测头后端导线贯穿连接盘开设通孔，所述连接盘的后端中间处连接有连接杆，且连接杆的另一端连接有异形电动推杆，所述异形电动推杆的侧壁开设有导线槽，所述壳体的前端连接有防护盖，且防护盖包括盖体、第一对接孔、第二对接孔，所述盖体的前端边缘开设有第一对接孔，且盖体的前端中间处开设有第二对接孔。
优选的，所述LED灯、勘测头与壳体之间活动设置，且LED灯和勘测头后端导线逐一贯穿连接盘开设通孔和异形电动推杆开设的导线槽。
优选的，所述异形电动推杆的导线槽呈弧形设置，且异形电动推杆的侧壁开设有四个导线槽，所述异形电动推杆伸缩杆通过螺栓贯穿方式与连接杆相连接。
优选的，所述连接盘两端处导线呈打结设置，且连接盘与壳体活动设置，所述连接盘与连接杆通过螺栓相连接。
优选的，所述壳体前端活动设置的LED灯对准防护盖开设的第一对接孔设置，所述壳体前端活动设置的勘测头对准防护盖开设的第二对接孔设置。
 有益效果
与现有技术相比，本发明具有如下有益效果：
本发明中，通过设置的勘测壳和防护盖，勘测壳设置的连接盘和异形电动推杆相互配合，实现LED灯和勘测头的伸出和收回，一定程度上提升勘测效率，勘测壳和防护盖相互配合，一定程度上提高LED灯和勘测头的保护性能。
 附图说明
图1为本发明一种用于地形勘测的仿生机器人的整体结构示意图；
图2为本发明一种用于地形勘测的仿生机器人的整体结构拆分图；
图3为本发明一种用于地形勘测的仿生机器人的勘测壳剖切示意图；
图4为本发明一种用于地形勘测的仿生机器人的防护盖示意图。
图中：1、蛇形机器躯干；2、勘测壳；201、壳体；202、空腔；203、LED灯；204、勘测头；205、连接盘；206、通孔；207、异形电动推杆；208、连接杆；209、导线槽；3、防护盖；301、盖体；302、第一对接孔；303、第二对接孔。
 本发明的最佳实施方式
为使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施方式，进一步阐述本发明。
在本发明的描述中，需要说明的是，术语“上”、“下”、“内”、“外”“前端”、“后端”、“两端”、“一端”、“另一端”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“设置有”、“连接”等，应做广义理解，例如“连接”，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
如图1-4所示，一种用于地形勘测的仿生机器人，包括蛇形机器躯干1，蛇形机器躯干1的前端设置有勘测壳2，且勘测壳2包括壳体201、空腔202、LED灯203、勘测头204、连接盘205、通孔206、异形电动推杆207、连接杆208、导线槽209，壳体201的后端开设有空腔202，且壳体201的前端开设孔内插入设置有LED灯203和勘测头204，LED灯203和勘测头204的后端延伸至空腔202腔内，且空腔202的腔内设置有连接盘205，连接盘205的前端边缘开设有通孔206，LED灯203和勘测头204后端导线贯穿连接盘205开设通孔206，连接盘205的后端中间处连接有连接杆208，且连接杆208的另一端连接有异形电动推杆207，异形电动推杆207的侧壁开设有导线槽209，壳体201的前端连接有防护盖3，且防护盖3包括盖体301、第一对接孔302、第二对接孔303，盖体301的前端边缘开设有第一对接孔302，且盖体301的前端中间处开设有第二对接孔303。
LED灯203、勘测头204与壳体201之间活动设置，且LED灯203和勘测头204后端导线逐一贯穿连接盘205开设通孔206和异形电动推杆207开设的导线槽209；异形电动推杆207的导线槽209呈弧形设置，且异形电动推杆207的侧壁开设有四个导线槽209，异形电动推杆207伸缩杆通过螺栓贯穿方式与连接杆208相连接；连接盘205两端处导线呈打结设置，且连接盘205与壳体201活动设置，连接盘205与连接杆208通过螺栓相连接；壳体201前端活动设置的LED灯203对准防护盖3开设的第一对接孔302设置，壳体201前端活动设置的勘测头204对准防护盖3开设的第二对接孔303设置。
需要说明的是，本发明为一种用于地形勘测的仿生机器人，组装勘测壳2和防护盖3时，清理勘测壳2设置的壳体201前端勘测头204和LED灯203安装处的孔洞，LED灯203对准壳体201前端边缘开设孔进行插入，直至LED灯203后端插入进空腔202内，LED灯203的导线延伸至空腔202腔内，勘测头204后端导线处对准壳体201前端中间开设孔进行插入，直至勘测头204后端插入进空腔202腔内，勘测头204后端导线延伸至空腔202腔内，实现勘测头204、LED灯203和壳体201之间的组装，导线接触勘测头204和LED灯203端打结，导线在插入进连接盘205开设的通孔206孔内，再次对勘测头204和LED灯203的导线打结，拉动LED灯203和勘测头204的导线，检查LED灯203和勘测头204能否随之连接盘205移动，连接盘205整体推进至壳体201开设的空腔202腔内，连接盘205一端与连接杆208通过螺栓固定方式相连接，连接杆208另一端与异形电动推杆207的伸缩杆相连接，连接杆208和异形电动推杆207伸缩杆使用螺栓贯穿方式相连接，实现异形电动推杆207和连接盘205之间的连接，异形电动推杆207伸缩杆伸缩时，伸缩杆带动连接盘205在空腔202腔内移动，从而带动勘测头204和LED灯203在壳体201的前端孔内伸缩，连接盘205贯穿处的导线放置进异形电动推杆207侧壁卡斯和的导线槽209槽内，勘测头204、LED灯203延伸出壳体201的导线插入进蛇形机器躯干1，壳体201与蛇形机器躯干1之间固定焊接连接，防护盖3后端开设孔对准壳体201的前端，转动防护盖3的盖体301，盖体301通过螺纹与壳体201相连接，第一对接孔302对准LED灯203设置，第二对接孔303对准勘测头204设置。
以上显示和描述了本发明的基本原理和主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (10)

  1. 在此处键入权利要求项1。
  2. 在此处键入权利要求项2。
  3. 在此处键入权利要求项3。
  4. 在此处键入权利要求项4。
  5. 在此处键入权利要求项5。
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  9. 在此处键入权利要求项9。
  10. 在此处键入权利要求项10。
PCT/CN2019/116479 2020-01-17 2020-01-17 一种用于地形勘测的仿生机器人 WO2021142556A1 (zh)

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CN208614784U (zh) * 2018-08-13 2019-03-19 吉林农业大学 一种拉线控制式蛇形机器人

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