A biomimetic robot obstacle-blocking walking simulation device

Abstract

This invention discloses a biomimetic robot obstacle-blocking and movement simulation device, characterized by comprising: a movement device that can be retractably moved on the inner wall of a tunnel via movable wheels, the movable wheels being equipped with anti-slip devices, and a servo motor disposed in the movement device; a first obstacle-clearing component, disposed at the output end of the servo motor via a connecting rod, for smoothing out mud and sand on the inner wall of the tunnel, so that the mud and sand are evenly distributed on the inner wall of the tunnel; and a second obstacle-clearing component, disposed between the movement device and the first obstacle-clearing component, for secondary reinforcement after the smoothing treatment by the first obstacle-clearing component.

Description

Technical Field

[0001] This invention relates to the field of obstacle removal technology, specifically a biomimetic robot obstacle-blocking simulation device. Background Technology

[0002] With the development of society, our transportation has become more and more convenient, and the construction of mountain tunnels has become more and more frequent. Bionic robots have become the mainstream to replace manual tunnel inspection. In the existing technology, bionic robots generally use infrared detection to avoid obstacles and achieve the purpose of movement. However, for the construction of large-scale projects such as tunnels, there will be a lot of mud and sand on the inner wall of the tunnel, which will cause the robot's movement device to get stuck in the mud and sand, resulting in the phenomenon of movement being stuck.

[0003] Therefore, it is necessary to provide a biomimetic robot obstacle-blocking simulation device to solve the problems mentioned in the background art. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides the following technical solution: a biomimetic robot obstacle-blocking movement simulation device, comprising:

[0005] The traveling device is retractable and movable on the inner wall of the tunnel via movable wheels, which are equipped with anti-slip devices, and the traveling device is equipped with a servo motor;

[0006] The first obstacle-clearing component, connected to the output end of the servo motor via a connecting rod, is used to smooth out the mud and sand on the tunnel wall, ensuring a uniform distribution of the mud and sand on the tunnel wall; and

[0007] The second obstacle removal component is disposed between the traveling device and the first obstacle removal component, and is used for secondary reinforcement after the first obstacle removal component has been smoothed.

[0008] Preferably, the first obstacle clearing component includes:

[0009] The rotating disk is configured in a frustum shape, with its larger diameter end fixed to the output end of the servo motor via a connecting rod; and

[0010] Multiple scrapers are distributed circumferentially and are all hinged to the side wall of the rotating disk. The scrapers are connected to the rotating disk by torsion springs.

[0011] Preferably, the second obstacle clearing component includes:

[0012] A connecting cylinder, fixed to the traveling end of the traveling device, wherein the connecting cylinder is sealed and penetrates the connecting rod; and

[0013] The reinforcing plate is arranged in an obtuse L-shape and is configured in two sets, with multiple plates distributed circumferentially in each set, and the two sets are staggered. One end of the reinforcing plate is hinged to the outer wall of the connecting cylinder, and the other end is connected to the connecting cylinder by a return spring.

[0014] Preferably, the reinforcing plate has an arc-shaped plate on the side away from the reset spring, and its arc surface fits tightly against the inner wall of the tunnel.

[0015] Preferably, the sum of the lengths of the two sets of interleaved arc-shaped plates is greater than twice the circumference of the circle formed by one of the arc-shaped plates.

[0016] Preferably, the second obstacle clearing component is further provided with a condensation component, the condensation component comprising:

[0017] The gas collection tank is sealed and fixed to the outer wall of the connecting cylinder;

[0018] The piston rod is telescopically mounted in the gas collection tank;

[0019] A hinge rod, one end of which is fixed to the side of the reinforcing plate near the connecting cylinder, and the other end is hinged to the side of the piston rod away from the connecting cylinder;

[0020] The vent pipe has one end installed on the upper surface of the gas collection tank and the other end fixed to the reinforcing plate; and

[0021] The nozzle penetrates the reinforcing plate and is connected to the air outlet pipe.

[0022] Preferably, a guide is provided inside the air outlet pipe, the guide comprising:

[0023] A rotating shaft is rotatably mounted in the air outlet pipe;

[0024] The guide disc is semi-circular in shape, with multiple discs arranged around its circumference, all fixed to the rotating shaft; and

[0025] A one-way control lever has one end hinged in the groove of the air outlet pipe, and the other side is connected to the inner wall of the air outlet pipe by a compression spring.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] In this invention, the amount of mud and sand between two adjacent arc-shaped plates increases, and the staggered distribution of the next level arc-shaped plates can evenly spread and reinforce the excessive mud and sand in the middle of the previous level. On the one hand, it can completely reinforce the mud and sand, and on the other hand, it increases the spreading area, making the inner wall of the tunnel smoother, so that the traveling device can move forward stably.

[0028] In this invention, the reinforcing plate swings backward under the traction of the return spring, causing the hinge rod to swing synchronously, thereby driving the piston rod to squeeze the condensed gas in the gas collection tank and enter the nozzle through the gas outlet pipe. Under the uniform spraying action of the nozzle, the mud and sand on the inner wall of the tunnel are condensed, making the mud and sand on the inner wall of the tunnel more solid.

[0029] In this invention, the one-way control lever can only swing in the direction of air outlet under the contraction of the compression spring. That is to say, the guide plate can only rotate in one direction along the direction of air outlet. When gas enters the tunnel, the guide plate will be blocked by the one-way control lever, thereby preventing the gas in the tunnel from entering the gas collection tank. Therefore, the condensation effect on the mud and sand on the inner wall of the tunnel is improved, and the mud and sand reinforcement effect is further improved. Attached Figure Description

[0030] Figure 1 A schematic diagram of the overall structure of a biomimetic robot obstacle-blocking simulation device;

[0031] Figure 2 A schematic diagram of the second obstacle-clearing component of a biomimetic robot obstacle-blocking simulation device;

[0032] Figure 3 This is an enlarged view of point A in a biomimetic robot obstacle-blocking simulation device.

[0033] Figure 4 This is an enlarged view of section B of a biomimetic robot obstacle-blocking simulation device.

[0034] In the diagram: 1. Traveling device; 2. First obstacle clearing component; 3. Second obstacle clearing component; 21. Rotating disc; 22. Scraper; 31. Connecting cylinder; 32. Reinforcing plate; 33. Return spring; 34. Arc plate; 35. Air collection tank; 36. Piston rod; 37. Hinge rod; 38. Air outlet pipe; 39. Nozzle; 381. Rotating shaft; 382. Guide disc; 383. One-way control lever; 384. Compression spring. Detailed Implementation

[0035] Please see Figures 1-4 In this embodiment, a biomimetic robot obstacle-blocking movement simulation device includes:

[0036] The traveling device 1 is retractable and movable on the inner wall of the tunnel via movable wheels, which are equipped with anti-slip devices. The traveling device 1 is equipped with a servo motor.

[0037] The first obstacle-clearing component 2, connected to the output end of the servo motor via a connecting rod, is used to smooth out the mud and sand on the tunnel wall, ensuring a uniform distribution of the mud and sand on the tunnel wall; and

[0038] The second obstacle clearing component 3 is disposed between the traveling device 1 and the first obstacle clearing component 2, and is used for secondary reinforcement after the first obstacle clearing component 2 has been smoothed.

[0039] In this embodiment, the first obstacle clearing component 2 includes:

[0040] Rotating disk 21 is configured in a frustum shape, with its larger diameter end fixed to the output end of the servo motor via a connecting rod; and

[0041] Multiple scrapers 22 are distributed circumferentially and are all hinged to the side wall of the rotating disk 21. The scrapers 22 are connected to the rotating disk 21 by torsion springs.

[0042] It should be explained that the servo motor drives the rotating disk 21 to rotate, thereby driving the scraper 22 to rotate synchronously. Under the squeezing action of the torsion spring, the scraper 22 can evenly smooth the mud and sand in the tunnel, avoid the accumulation of mud and sand in the tunnel, and thus avoid the traveling device 1 from getting stuck in the mud and sand and causing it to jam.

[0043] In a preferred embodiment, the second obstacle clearing component 3 includes:

[0044] A connecting cylinder 31 is fixed to the traveling end of the traveling device 1, and the connecting cylinder 31 is sealed and penetrates the connecting rod; and

[0045] The reinforcing plate 32 is arranged in an obtuse L-shape and is configured in two groups. Each group has multiple plates distributed around its circumference and the two groups are staggered. One end of the reinforcing plate 32 is hinged to the outer wall of the connecting cylinder 31, and the other end is connected to the connecting cylinder 31 by a return spring 33.

[0046] It should be noted that after the scraper 22 smooths the mud and sand, the reinforcing plate 32, under the damping action of the torsion spring, further reinforces the mud and sand on the inner wall of the tunnel, so that the mud and sand can remain evenly and stably on the inner wall of the tunnel.

[0047] In a preferred embodiment, an arc-shaped plate 34 is provided on the side of the reinforcing plate 32 away from the return spring 33, and its arc surface fits tightly against the inner wall of the tunnel. That is to say, the arc surface of the arc plate 34 can provide the same reinforcement effect to all parts of the inner wall of the tunnel it contacts, thereby improving the uniformity of reinforcement.

[0048] It should be noted that when the arc-shaped plate 34 reinforces the mud and sand, the mud and sand will move towards the middle of the adjacent arc-shaped plates 34 due to the squeezing effect, resulting in an increase in the amount of mud and sand in the middle of the two adjacent arc-shaped plates 34.

[0049] Therefore, in a preferred embodiment, the length of the arc formed between two adjacent arc plates 34 is less than the arc length of the arc plate 34.

[0050] In other words, as the amount of mud and sand between two adjacent arc-shaped plates 34 increases, the staggered lower-level arc-shaped plates 34 can evenly spread and reinforce the excessive mud and sand in the middle of the upper level. On the one hand, it can completely reinforce the mud and sand, and on the other hand, it increases the spreading area, making the inner wall of the tunnel smoother, so that the traveling device 1 can move forward stably.

[0051] In a preferred embodiment, the second obstacle clearing component 3 is further provided with a condensation component, the condensation component comprising:

[0052] The gas collection tank 35 is sealed and fixed to the outer wall of the connecting cylinder 31;

[0053] The piston rod 36 is telescopically disposed in the gas collection tank 35;

[0054] The hinge rod 37 has one end fixed to the reinforcing plate 32 near the connecting cylinder 31, and the other end hinged to the piston rod 36 away from the connecting cylinder 31.

[0055] The vent pipe 38 has one end installed on the upper surface of the gas collecting tank 35 and the other end fixed to the reinforcing plate 32; and

[0056] The nozzle 39 penetrates the reinforcing plate 32 and is connected to the air outlet pipe 38.

[0057] It should be explained that the reinforcing plate 32 swings backward under the traction of the return spring 33, which drives the hinge rod 37 to swing synchronously, thereby driving the piston rod 36 to squeeze the condensed gas in the gas collection tank 35 and enter the nozzle 39 through the gas outlet pipe 38. Under the uniform spraying action of the nozzle 39, the mud and sand on the inner wall of the tunnel are condensed, making the mud and sand on the inner wall of the tunnel more solid.

[0058] However, it should be noted that the temperature inside the tunnel must be above 25°C in order to prevent air from entering the gas collection tank 35, which would raise the temperature of the condensed gas inside the gas collection tank 35 and affect the condensation effect.

[0059] Therefore, in a preferred embodiment, a guide is provided inside the air outlet pipe 38, the guide comprising:

[0060] The rotating shaft 381 is rotatably disposed in the air outlet pipe 38;

[0061] The guide disc 382 is semi-circular in shape, and multiple discs are arranged around its circumference, all of which are fixed to the rotating shaft 381; and

[0062] One-way control lever 383, one end of which is hinged in the groove of the air outlet pipe 38, and the other side is connected to the inner wall of the air outlet pipe 38 by a compression spring 384.

[0063] It should be explained that the one-way control lever 383 can only swing in the direction of air outlet under the contraction of the compression spring 384. In other words, the guide plate 382 can only rotate in one direction along the air outlet. When gas enters the tunnel, the guide plate 382 will be blocked by the one-way control lever 383, thereby preventing the gas in the tunnel from entering the gas collection tank 35. This improves the condensation effect on the mud and sand on the inner wall of the tunnel and further enhances the mud and sand reinforcement effect.

[0064] Specifically, during implementation, the device is placed in a tunnel. The traveling device 1 moves forward under its own drive, while the servo motor is activated to drive the rotating disk 21 to rotate, thereby causing the scraper 22 to rotate synchronously. Under the compression of the torsion spring, the scraper 22 can evenly smooth the mud and sand in the tunnel, preventing the accumulation of mud and sand and thus preventing the traveling device 1 from getting stuck in the mud and sand. After the scraper 22 smooths the mud and sand, the reinforcing plate 32, under the damping action of the torsion spring, provides secondary reinforcement to the mud and sand on the inner wall of the tunnel, so that the mud and sand can remain evenly and stably on the inner wall of the tunnel. During this process, the amount of mud and sand between two adjacent arc-shaped plates 34 increases, and the staggered lower-level arc-shaped plates 34 can evenly spread and reinforce the excess mud and sand in the middle of the upper level, which on the one hand can... The silt is fully reinforced, and the flattened area is increased, making the tunnel wall smoother. This allows the traveling device 1 to move forward stably. During the secondary reinforcement, the reinforcing plate 32 swings backward under the traction of the return spring 33, causing the hinge rod 37 to swing synchronously. This causes the piston rod 36 to squeeze the condensed gas in the gas collection tank 35, which enters the nozzle 39 through the gas outlet pipe 38. Under the uniform spraying action of the nozzle 39, the silt on the tunnel wall is condensed, making the silt on the tunnel wall more solid. At the same time, the guide plate 382 can only rotate in one direction along the gas outlet direction. When gas enters the tunnel, the guide plate 382 will be blocked by the one-way control rod 383, thus preventing the gas from entering the gas collection tank 35. Therefore, the condensation effect on the silt on the tunnel wall is improved, further enhancing the silt reinforcement effect.

[0065] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A biomimetic robot obstacle-blocking movement simulation device, characterized in that, include: The traveling device (1) is retractably movable on the inner wall of the tunnel by means of movable wheels, the movable wheels are equipped with anti-slip devices, and the traveling device (1) is equipped with a servo motor; The first obstacle clearing component (2) is set at the output end of the servo motor via a connecting rod, and is used to smooth the mud and sand on the inner wall of the tunnel so that the mud and sand are evenly distributed on the inner wall of the tunnel. as well as The second obstacle clearing component (3) is disposed between the traveling device (1) and the first obstacle clearing component (2) for secondary reinforcement of the first obstacle clearing component (2) after it has been smoothed out. The second obstacle clearing component (3) includes: A connecting cylinder (31) is fixed to the traveling end of the traveling device (1), and the connecting cylinder (31) is sealed and penetrates the connecting rod; and The reinforcing plate (32) is arranged in an obtuse L-shape and is configured in two groups. Each group has multiple plates distributed around its circumference and the two groups are staggered. One end of the reinforcing plate (32) is hinged to the outer wall of the connecting cylinder (31), and the other end is connected to the connecting cylinder (31) by a return spring (33). An arc-shaped plate (34) is provided on the side of the reinforcing plate (32) away from the reset spring (33), and its arc surface fits tightly against the inner wall of the tunnel. The second obstacle clearing component (3) is also provided with a condensation component, the condensation component comprising: The gas collection tank (35) is sealed and fixed on the outer wall of the connecting cylinder (31); The piston rod (36) is telescopically disposed in the gas collection tank (35); The hinge rod (37) has one end fixed to the side of the reinforcing plate (32) near the connecting cylinder (31), and the other end hinged to the side of the piston rod (36) away from the connecting cylinder (31); An exhaust pipe (38) has one end installed on the upper surface of the gas collection tank (35) and the other end fixed to the reinforcing plate (32); and The nozzle (39) penetrates the reinforcing plate (32) and is connected to the air outlet pipe (38).

2. The biomimetic robot obstacle obstacle movement simulation device according to claim 1, characterized in that, The first obstacle clearing component (2) includes: The rotating disk (21) is configured as a frustum, with its larger diameter end fixed to the output end of the servo motor via a connecting rod; and There are multiple scrapers (22) distributed around the circumference, all of which are hinged to the side wall of the rotating disk (21). The scrapers (22) are connected to the rotating disk (21) by torsion springs.

3. The biomimetic robot obstacle obstacle movement simulation device according to claim 1, characterized in that, The sum of the arc lengths of the two sets of interleaved arc plates (34) is greater than twice the circumference of the circle formed by the arc of one of the arc plates (34).

4. The biomimetic robot obstacle obstacle movement simulation device according to claim 1, characterized in that, A guide is provided inside the air outlet pipe (38), the guide comprising: A rotating shaft (381) is rotatably disposed in the air outlet pipe (38); The guide disc (382) is semi-circular in shape and has multiple discs arranged around its circumference, all of which are fixed to the rotating shaft (381); and A one-way control lever (383) is hinged at one end in a groove of the air outlet pipe (38), and the other side is connected to the inner wall of the air outlet pipe (38) by a compression spring (384).

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