A soil collecting snake robot

Abstract

The application discloses a soil collecting snake-shaped robot, which comprises a driving module and a sampling module, the driving module is 2N in number, and the two ends of the sampling module are connected with N driving modules through universal couplings; the driving module comprises a driving module central shaft, a camshaft, a shaft sleeve, a bearing, a lower support, a top support, a skeleton and a scale; the sampling module comprises a top shell, a lower shell, a sampling module central shaft, a connecting plate, a soil breaking device and a recycling device; the skeleton is driven by the camshaft, so that the problem of slippage and the like that may be encountered when wheels are used for driving is avoided; when the skeleton drives the robot to move forward, the two skeletons alternately move forward and backward, so that the robot moves forward more stably; the soil sampling is carried out by the soil breaking device and the recycling device which are two independent devices, so that the damage to the sampling module is reduced, the sampling time is shortened, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of robot technology, in particular a kind of soil collection snake robot. BACKGROUND

[0002] The tool for remote detection in today's society is mainly wheeled remote control car, and the common problems are: limited load, tire wear is serious in different environments; It is not easy to move on rough road, and it is easy to overturn; It is difficult to continue to move forward in places with large slope; Low endurance; And too much heat absorption leads to equipment paralysis due to overheating. The various types of environmental terrain are different, and the traditional detector can only carry out related projects in a certain specific terrain. If you want to carry out projects in different terrains, you need to bring additional accessories, and the weight is too heavy to move.

[0003] In the pipeline snake robot research based on ultrasonic cleaning of China University of Petroleum, the robot can only work in the pipeline through the suction cup, can only make a simple 90° turn, and only one functional module is difficult to deal with various situations.

[0004] A kind of farmland soil sampling robot is disclosed in Chinese patent CN 114323754 A, although the robot can replace manual collection in farmland in design, the robot lacks balance, and uneven land has a greater impact on the robot. SUMMARY

[0005] To solve the above problems existing in the prior art, the present application designs a soil collection snake robot capable of adapting to complex terrain and flexible operation of soil collection function.

[0006] In order to achieve the above purpose, the technical scheme of the present application is as follows: a soil collection snake robot, comprising a driving module and a sampling module, the driving module has 2N, both ends of the sampling module are connected in series with N driving modules through universal coupling; the driving module at one end is connected with a driving motor;

[0007] The driving module comprises a driving module center shaft, a camshaft, a shaft sleeve, a bearing, a lower support, a top support, a skeleton and a scale, the driving module center shaft is connected with the camshaft through a key, both ends of the driving module center shaft are installed on the lower support through the bearing, and the shaft sleeve is arranged at both ends of the camshaft; the top support is fixedly connected with the lower support to form a driving module shell, the skeleton has two and is symmetrically installed on both sides of the camshaft, the upper end of the skeleton is slidably connected with the camshaft, and the lower end penetrates the lower support and is connected with the scale; the camshafts of adjacent two driving modules face opposite directions;

[0008] The driving motor is located outside the driving module shell at the end, and the driving motor drives the driving module center shaft to rotate;

[0009] The camshaft is a Luer triangle camshaft with rounded corners; the camshaft surface is provided with a closed track in the circumferential direction, the cross section of the closed track is a circular groove; the plane where the center line of the closed track is located has an included angle with the vertical plane;

[0010] The skeleton is a bent rod structure, which is composed of an upper rod and a lower rod, the lower end of the upper rod and the upper end of the lower rod are fixedly connected; the included angle between the upper rod and the lower rod is 120°±10°; the upper end of the upper rod is a spherical ball, which is embedded in the closed track on the surface of the camshaft and is in sliding connection with the closed track; the lower section of the upper rod is in contact with the baffle at the opening of the lower support, so that the skeleton performs a cyclic reciprocating motion in a plane; the lower end of the lower rod is fixedly connected with the scale;

[0011] The top end of the top support is provided with a plane and an opening;

[0012] The sampling module comprises a top shell, a lower shell, a sampling module central shaft, a connecting plate, a soil breaking device and a recycling device, both ends of the sampling module central shaft are installed on the lower shell through bearings, the top shell and the lower shell are fixedly connected to form a sampling module shell, and the soil breaking device and the recycling device are installed on the top shell through the connecting plate.

[0013] Further, the longitudinal length L of the closed track is 31±4mm, and the plane where the center line of the closed track is located has an included angle α of 30°±5° with the vertical plane. t for 31±4mm, and the plane where the center line of the closed track is located has an included angle α of 30°±5° with the vertical plane.

[0014] Further, the bearing is a 6004 deep groove ball bearing.

[0015] Further, the upper rod of the skeleton is a flat rod, the upper section of the lower rod of the skeleton is a cylindrical rod, and the lower section is a conical rod; the lower end of the lower rod is wedge-shaped and embedded in the wedge-shaped hole on the scale.

[0016] Further, the wedge-shaped hole is a square hole.

[0017] Further, one end of the camshaft is provided with a circular mounting hole for mounting the spherical ball at the upper end of the skeleton into the closed track, and the mounting hole is closed with a shaft plug.

[0018] Further, the top support and the lower support are fixedly connected by embedding, and the top shell and the lower shell are also fixedly connected by embedding.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] 1. The camshaft drives the framework to avoid the problems such as slipping when the wheels are used to drive, and when the framework drives the robot to move forward, the two side frameworks move alternately, so that the robot moves more stably.

[0021] 2. Compared with the common driving system, the application is designed by imitating the characteristics of the reptiles that can move smoothly on various terrains and control the direction more flexibly, so that the sampling site where the human body and large sampling machines cannot work due to the staggered growth of plants and too small space can be coped with.

[0022] 3. The sampling module is divided into two independent devices, the soil breaking device and the recycling device, to cooperate with soil sampling, so that the damage to the sampling module is reduced, the sampling time is shortened, and the work efficiency is improved. DETAILED DESCRIPTION

[0023] Figure 1 is a structural schematic diagram of the application.

[0024] Figure 2 is a structural schematic diagram of the driving module.

[0025] Figure 3 is a closed track curve schematic diagram.

[0026] Figure 4 is a camshaft structure schematic diagram.

[0027] Figure 5 is a driving module center shaft structure schematic diagram.

[0028] Figure 6 is a driving module shaft and related parts assembly effect schematic diagram.

[0029] Figure 7 is a top support structure schematic diagram.

[0030] Figure 8 is a framework structure schematic diagram.

[0031] Figure 9 is a scale structure schematic diagram.

[0032] Figure 10 is a sampling module structure schematic diagram.

[0033] Figure 11 is a soil breaking device structure schematic diagram.

[0034] Figure 12 is a recycling device structure schematic diagram.

[0035] In the figure: 1-camshaft, 2-bearing, 3-driving motor, 4-skeleton, 5-scale, 6-lower support, 7-bush, 8-driving module center shaft, 9-top support, 10-connection plate, 11-soil breaking device, 12-recovery device, 13-lower housing, 14-sampling module center shaft, 15-top housing. DETAILED DESCRIPTION

[0036] The application will be further described below with reference to the accompanying drawings. As shown in the figure, a soil collecting serpentine robot is characterized in that it comprises a driving module and a sampling module, the driving module has 2N, and the two ends of the sampling module are connected in series with N driving modules through universal shaft couplings; the driving module at the end of one side is connected with a driving motor 3. Figures 1-12

[0037] 1. Design of driving module

[0038] The driving module comprises a driving module center shaft 8, a camshaft 1, a bush 7, a 6004 deep groove ball bearing 2, a lower support 6, a top support 9, a skeleton 4, and a scale 5. The structural schematic diagram is shown in the figure. Figure 2

[0039] The driving module center shaft 8 drives the camshaft 1 to rotate through a key.

[0040] The camshaft 1 is designed in the shape of a rounded Loev triangle, so that the skeleton 4 of the robot moves more uniformly when driving the scale 5 to move alternately, thereby ensuring that the movement of the robot is continuous and stable. The surface of the camshaft 1 is closed track, and the cross section of the closed track is designed in a circular shape, which can ensure that the spherical top end of the skeleton 4 can smoothly slide in the closed track.

[0041] One end of the skeleton 4 is a spherical shape, which can ensure that it circulates and slides in the closed track, and because the baffle of the lower support 6 fixes the angle, the skeleton 4 will not be radially skewed, thereby affecting the entire movement mechanism. The middle section of the skeleton 4 is designed in a flat shape, which can ensure that it moves in a reciprocating motion in a plane under the support of the support and the correction of the baffle, and can swing in one direction with the support position as the fulcrum. The end of the skeleton 4 is wedge-shaped, which can be fitted with the wedge-shaped hole on the scale 5, and at the same time, the wedge-shaped hole on the scale 5 of the skeleton 4 is designed in a square hole, which ensures the connection with the scale 5, making the connection between the scale 5 and the skeleton 4 tight. In addition, such a design can also prevent the scale 5 from moving relative to the skeleton 4 during movement, thereby affecting the operation of the overall mechanism,

[0042] ​​The camshaft 1 and the bracket can ensure that the skeleton 4 can drive the scale 5 to swing and undulate uniformly. Each driving module support part contains two skeletons 4, two scales 5, two brackets and a top bracket 9. The scale 5 has a certain surface area, which can reduce the overall pressure of the device on the ground on the basis of preventing slipping.

[0043] Each driving module unit is connected through a universal joint, which ensures that the robot has freedom and smoothness while completing a series of actions such as turning. In the bracket structure, the top plane and the opening can install a variety of other components, and for the control system to be added in the future, the steering action of the robot and the related functions can be controlled by installing a rudder controlled by the system in the relevant part of the bracket.

[0044] (1) Design of camshaft 1

[0045] Because the bionic crawling robot needs to work in the wild environment, and sometimes it needs to enter dark and narrow spaces, the overall size should not be too large. According to the size of similar types and related field survey robots, the diameter of the invention is controlled at about 650mm-750mm.

[0046] First, the closed track is designed. The closed track is the main structure for the movement of the camshaft 1 surface and the control principle of the overall movement. The closed track design adopts a plane oblique cutting on the established triangular cylindrical surface, which can obtain a spline curve that is connected at the end and surrounds the target cylindrical surface. Such a curve not only ensures the smoothness of the overall structure during movement, but also ensures that the closed track with consistent and uniform depth can be obtained on the surface of the camshaft 1.

[0047] In order to facilitate the overall mechanism to produce an effective movement distance, the skeleton 4 needs to repeatedly lift and swing left and right during movement, and each skeleton 4 needs to alternate swing to achieve smooth movement similar to a crawling organism in this design. The camshaft 1 surface has a certain obvious height difference, and needs to be smooth and smooth overall. Therefore, a triangle is selected as the main shape of the camshaft 1, and an equilateral triangle with a vertex distance of a1=40±5mm from the center and a side length of a is determined as the closed track. At the same time, due to the shape design of the closed track, the top structure of the skeleton 4 is designed as a spherical structure, and in order to ensure that the spherical structure at the end of the skeleton 4 can move smoothly in the closed track, the equilateral triangle is evolved into a Loeche triangle, and the edges of the triangular prism are designed with rounded corners. The top corner radius is 16±2mm.

[0048] Therefore, the distance L1 from the lowest edge of the closed track to the center is:

[0049] L1 = a - a1 = 2 x sin 60° x a1 - a1 1

[0050] The target triangular structure is rounded, and thus the highest edge of the closed track is obtained from the center distance L'1. Therefore, the height difference AL1 between the highest and lowest points of the closed track of the camshaft 1 is:

[0051] AL1 = L'1 - L1 2

[0052] The obtained rounded L'1 is stretched to the effective length of the closed track of the camshaft 1, and the closed track curve is obtained by cutting the surface with a plane as shown in Figure 3 .

[0053] The radius of the closed track is set. In order to consider the error and the movement space of the whole device, the inner radius of the closed track is set to r1 = 6.1-6.5mm, and the radius of the sphere at the end of the skeleton 4 is set to r2 = 5.1-5.6mm.

[0054] The overall profile shape of the L'1 obtained in the above step can be enlarged by n times according to the needs, and n is 1-1.15. The outer contour distance L2 of the camshaft 1 from the center is:

[0055] L2 = nAL1 3

[0056] An inner hole for placing the center shaft 8 of the driving module is cut in the center of the camshaft 1, and the diameter is 20±2mm. According to the table, the width of the shaft key groove is 6mm, and the depth of the shaft key groove is 2.8mm.

[0057] Finally, in order to facilitate the installation of the skeleton 4 into the closed track of the camshaft 1, a shaft plug is cut out at one edge of the camshaft 1, and the diameter of the shaft plug is equal to the inner diameter of the closed track. The shaft plug can be assembled back into the camshaft 1 after the skeleton 4 is installed, which ensures the integrity of the camshaft 1 and prevents the skeleton 4 from sliding out of the closed track. The overall design effect of the final camshaft 1 is shown in Figure 4 .

[0058] (2) Design of the driving module center shaft 8

[0059] According to the transmission requirements of the camshaft 1, and according to the table, a shaft with a diameter of 20mm and a length of 120mm is selected, and a key connection is selected between the driving module center shaft 8 and the camshaft 1.

[0060] According to the table, the key size required for the connection between the camshaft 1 and the driving module center shaft 8 is 6x6x10mm, that is, the key groove size on the driving module center shaft 8 is 6x10mm.

[0061] Because the error generated also needs to be considered, in order to prevent the size mismatch that may be generated in the final physical assembly, the keyway depth is taken as 3.6-4.2mm.

[0062] The two-section driving modules are connected through the universal coupling, the 05-G-A-16 type single-section universal coupling is selected through table lookup, the connection between the coupling and the central shaft 8 of the driving module adopts the matched pin connection, the inner hole diameter is 16±3mm, the depth is 23±3mm, and the overall length of the coupling is 82±8mm. The pin diameter is 6±2mm, the length is 30±5mm, and the material of the coupling and the matched pin is 40Cr. The universal coupling can meet the connection requirements between each section, so that the rotation of the central shaft 8 of the driving module can be ensured, and the direction change generated when the robot turns can also be met.

[0063] According to the coupling size and the pin size, the pin taper hole is cut off at both ends of the shaft, which is 11±2mm away from the shaft edge. The overall modeling of the central shaft 8 of the driving module is as shown in Figure 5 .

[0064] The strength of the shaft is checked according to the torsional strength condition, and the torsional strength condition τ T of the shaft is:

[0065]

[0066] It is known that the motor used for overall driving is a MY5840-31ZY-2840 type worm gear DC speed reducer, and the allowable torsional shear stress [τ T ] of the white resin material SLA is 5-20MPa, which can be obtained by table lookup. Therefore, the torsional strength of the central shaft 8 of the driving module meets the requirements. τ T The value range is 2.5-3MPa.

[0067] (3) Selection of bearing 2 and shaft sleeve 7

[0068] The rolling bearing 2 is preliminarily selected, because the bearing 2 is simultaneously subjected to radial force and axial force and the axial force is slight, so the deep groove ball bearing 2 is selected, and it is known that the inner diameter d of the central shaft 8 of the driving module is 20±2mm, so the 6004 deep groove ball bearing 2 is selected, and the size is inner diameter×outer diameter×thickness=d×D×T.

[0069] In order to keep the distance between the bearing 2 and the camshaft 1 constant and the position fixed, the modeling of the shaft sleeve 7 is carried out according to the length of the central shaft 8 of the driving module and the overall position of the bearing 2 and the camshaft 1. Therefore, the overall length of the shaft sleeve 7 is 10±2mm.

[0070] The assembly effect of the driving system shafting and related parts is as shown in Figure 6 .

[0071] (4) Design of external parts of the drive module

[0072] In order to make the legs of the robot swing back and forth, a fulcrum is needed on the skeleton 4 to ensure its fixation, which can provide corresponding force to the skeleton 4 to ensure that a certain position remains unchanged during the swinging movement of the skeleton 4, and the two ends swing with equal angles and similar amplitudes according to the fixed point. The skeleton 4 as a whole is driven to swing by the rotation of the camshaft 1. Since the closed track is inclined around a circle, the skeleton 4 can swing with the rotation of the shaft. At the same time, due to the height difference of the camshaft 1, the skeleton 4 is in contact with the ground when it swings to the leftmost or rightmost position. When the skeleton 4 moves to the center, it is in a relatively contracted state because it reaches the lowest point of the radius of the camshaft 1. Since the camshaft 1 is a triangle, the angle between the positions of every two skeletons 4 is 120°±10°. This can ensure that one side of the skeleton 4 is in contact with the ground while the other side of the skeleton 4 is in a raised state during the movement. This principle is applied to the remaining single drive joints to achieve the forward movement of the robot similar to walking.

[0073] (5) Design of the lower support 6

[0074] The thickness of the support body is 4±2mm, and a baffle is installed at the position of the skeleton 4 to ensure the stable movement of the skeleton 4 in the closed track of the camshaft 1 and prevent additional angular swinging. At the same time, the plate outside the support is simplified to facilitate weight reduction and monitor the internal movement state of the structure.

[0075] In order to ensure the stability of the robot movement, it is necessary to keep the left and right swinging amplitude of the skeleton 4 within 60°-90°. For calculation, the unilateral swinging amplitude ∝1=30°-45°. When the skeleton 4 moves to the convex part of the camshaft 1, the swinging amplitude of the support to one side reaches the maximum, and at this time the inclination angle of the skeleton 4 is the largest, and the transverse length from the center of the closed track of the camshaft 1 is L t =16±3mm. According to the range of swinging angle, the distance between the support and the camshaft 1 at this time should be:

[0076] h min =tan∝ 1min L t 5

[0077] h max =tan∝ 1max L t 6

[0078] At this time, the size of the inner diameter of the support r′ is in the range of:

[0079] r min =L1+h min7

[0080] r max = L1 + h max 8

[0081] When the skeleton 4 moves to the triangular bottom edge part of the camshaft 1, the amplitude of the swing of the bracket to the other side reaches the maximum, and the maximum swing angle of the skeleton 4 at this time can be obtained from the size range of the inner diameter of the bracket ∝2 range:

[0082]

[0083]

[0084] Therefore, finally, the inner diameter of the bracket is 60±8mm, and the thickness of the main body is 4±2mm. The overall length of the bracket is related to the assembly size of the driving module center shaft 8, and the length of the bracket is 120±12mm. The bearing 2 baffle with a thickness of 4±2mm is installed at both ends to fix the position of the bearing 2.

[0085] (6) Design of the top bracket 9

[0086] Similarly, the size of the top bracket 9 can be calculated. In order to ensure the strength of the top bracket 9 and achieve the purpose of placing other components, the thickness of the top bracket 9 is increased to increase its supporting force, and after the top is cut flat, the top plane still maintains the original thickness. Therefore, the original thickness of the top bracket 9 is increased to 13-18mm, and after cutting, the thinnest edge of the top is 4±2mm. The design of the top bracket 9 is as shown in Figure 7 .

[0087] (7) Design of the skeleton 4

[0088] The model of the skeleton 4 is established in relation to the bracket and the camshaft 1. First, according to the closed track of the camshaft 1, a spherical structure is established to meet the requirements of sliding and swinging in the closed track. The lower end of the spherical structure is narrowed, and the maximum swing angle ∝3 is 45°±3°. The diameter of the connection part between the spherical structure and the lower main rod structure is 4±2mm, and the fillet is increased to increase the supporting force and the flow degree.

[0089] The upper half of the rod is extended outward by a length of L4=48-52mm, which can ensure that it swings near the bracket during movement, and the rod is planarized. During movement, the control of the flat surface and the middle baffle of the bracket ensures that the rod does not deviate in the axial angle during movement, and maintains its reciprocating and telescopic movement in the same plane.

[0090] The lower half of the rod is wedge-shaped and shrunk, and the rod is extended outward by a length of L'4=58-62mm. In order to facilitate the installation of the subsequent scales 5, the end is finally shrunk to a square boss with a size of 4×4-6×6mm. The final design of the skeleton 4 is as shown in Figure 8as shown.

[0091] (8) Design of the scales 5

[0092] To ensure that the end scales 5 do not block the overall movement while swinging left and right during the forward movement of the mechanism, the bending angle of the scales 5 is designed. It is known that the height difference AL1 between the highest and lowest points of the closed track of the camshaft 1, the maximum angle between the lower half of the bar of the skeleton 4 and the vertical direction when swinging left and right is about 45°±3°, at this time the skeleton 4 drives the scales 5 to be in the raised state, and the end of the scales 5 needs to be retracted upward by a certain distance to ensure that it eventually falls back to the ground with the center of the scales 5, so a circular arc model angle is established in the transverse direction, the length of the lower half of the skeleton 4 is 60±6mm, the overall rotation forming radius of the scales 5 is set to 120±10mm, according to the angle difference when the actual model moves, a solid with a radius of 36±5mm and a thickness of 4±2mm is established at a distance of 80±8mm from the origin, and a square hole with the same size of 4×4-6×6mm is cut out from the boss at the end of the skeleton 4, so as to install the skeleton 4 and the scales 5. In order to ensure the stability of the scales 5 during movement, the surface is treated with anti-skid treatment, i.e. a rubber layer is added to the surface to increase the friction and ensure the stability of the movement. The final forming effect of the scales 5 is as shown. Figure 9

[0093] Through the establishment of the above model, the final drive part main body structure modeling physical object is as shown. Figure 1

[0094] (9) Selection of the motor of the drive module

[0095] In order to ensure its accuracy, white resin material is selected, and the accuracy can be controlled within ±0.2mm, and each group of two sections of the drive part is weighed, and the weight is about 750-850g. Because the motor mainly drives the central shaft 8 of the drive module to rotate, and then drives the entire mechanism to move, it is not suitable to select a motor with too fast speed, so a reduction motor is selected.

[0096] According to the calculation, when the camshaft 1 rotates one revolution, the maximum swing angle of the lower end of the spherical structure to one side is α3=45°±3°, at this time the swing distance L5 of the upper half of the bar of the skeleton 4 is:

[0097]

[0098] Because the lower half of the bar and the end of the upper half of the bar are perpendicular in the vertical direction, the swing amplitude is equal to the distance, i.e. the forward movement distance of the entire mechanism is equal to the distance.

[0099] ​​The forward motion of the bionic robot is about 0.5 m / min, and the motor speed RPM is about 30 r / min. The MY5840-31ZY-2840 type worm gear DC motor is selected, the input voltage is 24 V, the power is 28.8 W, and the rated torque is 16 Kgf.cm.

[0100] 2. Design of the sampling module

[0101] The sampling module is composed of a lower housing 13, a top housing 15, a sampling module central shaft 14, a connecting plate 10, a soil breaking device 11, and a recovery device 12. The sampling module central shaft 14 ensures the smooth motion of the robot as a whole, the lower housing 13 and the top housing 15 form a housing to protect the internal structure, the connecting plate 10 is installed on the inside of the top housing 15, and the soil breaking device 11 and the recovery device 12 are installed on the lower part of the connecting plate 10 and are fixed in position through the connecting plate 10. The main function of the soil breaking device 11 is to loosen the soil samples that need to be collected at the target site. After the drill bit drills a certain depth downward, the soil meets the requirements for being loaded into the recovery device 12. At this time, the recovery device 12 is lowered into the loosened soil. Because the recovery device 12 has a certain inclination angle, the device can temporarily store the sample, so the soil sample can be carried back to the ground. The structural diagram is shown in Figure 10 .

[0102] (1) Design of the sampling module housing and connection with the driving part

[0103] The housing of the sampling module is designed in a similar structure to the support of the driving part. In order to unify the overall structure, the connection between the sampling part and other parts is still driven by the sampling module central shaft 14 which has similar size and structure. The sampling module central shaft 14 is connected to the external housing with 6004 deep groove ball bearings at both ends, and the sampling module central shaft 14 has baffles at both ends to fix the bearing position, ensuring the stability of the mechanism motion.

[0104] (2) Design of the soil breaking device 11

[0105] The soil breaking device 11 needs to drill into the relatively hard soil and loosen the soil through repeated motion. Therefore, the soil breaking device 11 can perform telescopic and rotary motion through a mechanical transmission structure, i.e., telescopic motion in the vertical direction while ensuring axial rotary motion. The final transmission rod rotates the pagoda-shaped drill bit at the front end into the soil, and then the transmission rod drives the pagoda-shaped drill bit to perform repeated telescopic and rotary motion to loosen the soil. As shown in Figure 11 .

[0106] The motor voltage is 12V, the rotation speed is 4rad / s, and the stroke is 35mm. The conical drill bit is selected as M35 cobalt-containing 4.20 straight slot drill bit, and the material is HSS-CO / M35, so as to ensure the strength of the drill bit. The blade length of the drill bit is 52mm, and the overall length of the drill bit is 77mm.

[0107] (3) Design of the recovery device 12

[0108] The angle between the center line of the electric push rod of the recovery device 12 and the center line of the soil breaking device 11 is about 30°. The front end of the push rod is provided with a soil sampler which is similar to a drill bit, has a reverse hook type inclined surface opening on the side wall, and has a large space inner cavity.

[0109] After the soil breaking device 11 is restored to the original length and stops running, the electric push rod is extended and the soil sampler is completely pushed into the loosened soil. After the soil enters the inner cavity of the soil sampler, the push rod is retracted. In the retraction process, the reverse hook structure of the inclined surface of the soil sampler prevents the soil from leaking out while collecting as much soil as possible. The outer shell of the lower part of the push rod is provided with a cylindrical preservation tube with an inner wall matched with the outer wall of the soil sampler. After the push rod is retracted and restored to the original length, the opening on the side wall of the soil sampler completely enters the preservation tube, preventing the collected soil from leaking out during movement. Finally, the telescopic push rod in the recovery device 12 is selected as a telescopic motor with a voltage of 12V, a pushing speed of 15mm / s, a torque of 900N, and a stroke of 40mm. The overall structure of the recovery device 12 is shown in Figure 12 .

[0110] Because there is a gap between the soil breaking device 11 and the recovery device 12, and the gap is greater than the shaft diameter of the driving module center shaft 8 during the oblique extension and retraction of the recovery device 12, a through-type driving module center shaft 8 can be installed in the sampling module to connect the module and the driving modules before and after it.

[0111] The present application is not limited to the present embodiment, and any equivalent concept or change within the technical scope disclosed in the present application is included in the protection scope of the present application.

Claims

1. A soil collecting snake robot, characterized by: It comprises driving modules and sampling modules, the driving modules are 2N, and the sampling modules are connected with the driving modules in series through universal couplings at two ends; The driving module comprises a driving module center shaft (8), a camshaft (1), a shaft sleeve (7), a bearing (2), a lower support (6), a top support (9), a framework (4) and a scale (5), the driving module center shaft (8) is connected with the camshaft (1) through a key, both ends of the driving module center shaft (8) are installed on the lower support (6) through the bearing (2), and the camshaft (1) is provided with the shaft sleeve (7) at two ends; the top support (9) is fixedly connected with the lower support (6) and constitutes a driving module shell, the framework (4) is symmetrical and installed at two sides of the camshaft (1), the upper end of the framework (4) is slidably connected with the camshaft (1), and the lower end penetrates through the lower support (6) and is connected with the scale (5); the camshafts (1) of two adjacent driving modules face opposite directions; The driving motor (3) is located outside the shell of the driving module at the end, and the driving motor (3) drives the driving module center shaft (8) to rotate; The camshaft (1) is a Luer triangle camshaft with a round corner; a closed track is arranged on the surface of the camshaft (1) in a circumferential direction, the cross section of the closed track is a circular groove, and an included angle is formed between the plane where the center line of the closed track is located and the vertical plane; The framework (4) is a bent rod structure and is composed of an upper rod and a lower rod, the lower end of the upper rod and the upper end of the lower rod are fixedly connected, the included angle between the upper rod and the lower rod is 120°±10°, the upper end of the upper rod is a ball, the ball is embedded in the closed track on the surface of the camshaft (1) and is slidably connected with the closed track, the lower section of the upper rod is in contact with a baffle at the opening of the lower support (6), so that the framework (4) performs a cyclic reciprocating motion in a plane, and the lower end of the lower rod is fixedly connected with the scale (5); The top end of the top support (9) is provided with a plane and an opening; The sampling module comprises a top shell (15), a lower shell (13), a sampling module center shaft (14), a connecting plate (10), a soil breaking device (11) and a recovery device (12), both ends of the sampling module center shaft (14) are installed on the lower shell (13) through bearings, the top shell (15) is fixedly connected with the lower shell (13) and constitutes a sampling module shell, and the soil breaking device (11) and the recovery device (12) are installed on the top shell (15) through the connecting plate (10).

2. The soil collecting snake robot according to claim 1, wherein: The closed track longitudinal length L t is 31 ± 4 mm, and the plane in which the center line of the closed track is located has an included angle a of 30° ± 5° with the vertical plane.

3. The soil collecting snake robot according to claim 1, wherein: The bearing (2) is a 6004 deep groove ball bearing.

4. The soil collecting snake robot according to claim 1, wherein: The upper rod of the framework (4) is a flat rod, the upper section of the lower rod of the framework (4) is a cylindrical rod, and the lower section is a conical rod; the lower end of the lower rod is wedge-shaped and is embedded in a wedge-shaped hole on the scale (5).

5. The soil collecting snake robot according to claim 4, wherein: The wedge-shaped hole is a square hole.

6. The soil collecting snake robot according to claim 1, wherein: One end of the camshaft (1) is provided with a circular mounting hole, which is used for mounting the ball at the upper end of the framework (4) into the closed track and sealing the mounting hole with a shaft plug.

7. The soil collecting snake robot according to claim 1, wherein: The top support (9) is fixedly connected with the lower support (6) by embedding, and the top shell (15) is fixedly connected with the lower shell (13) by embedding as well.

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