Bionic detection robot and system for cave denial environment

Abstract

The invention discloses a cave rejection environment bionic detection robot and system, and relates to the technical field of detection device.The cave rejection environment bionic detection robot comprises a plurality of robot assemblies connected in series, and a first movement unit is connected with a second movement unit; the first movement unit can rotate in the direction close to and away from the second movement unit, and the second movement unit can rotate in the direction close to and away from the first movement unit, so that the robot can automatically adjust the relative angle under the action of the cave environment when passing through road conditions in caves such as rollover, abrupt slopes and pits, and the robot adapts to the cave environment; effective contact between the robot and the inner wall of the cave is kept, and the trafficability of the robot in different cave environments is improved; and the reset unit enables the robot to automatically recover to the original state after passing through obstacles such as rollover, abrupt slopes and pits, the deviation of the movement direction is reduced, the movement ability of the robot in the cave is improved, and the situation that the robot is stuck is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of detection equipment, and in particular to a cave denial environment bionic detection robot and system. Background Art

[0002] There are often multiple forked structures in caves, and some caves also have complex terrains such as pits, protrusions, steep slopes, tree roots, and protruding stones. The soil in the cave varies with the location, and some areas in the cave have soft soil, some areas have high hardness, and some areas are slippery and covered with clay. However, robots in the prior art move on the bottom of the cave through wheels or tracks to achieve detection. When encountering steep slopes and sharp bends, once the robot rolls over or moves down a steep slope, the robot will be stuck and unable to move because the wheels or tracks cannot contact the cave.

[0003] Therefore, how to improve the robot's ability to move in the cave and reduce the problem of the robot getting stuck has become a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] The purpose of the present invention is to provide a cave denial environment bionic detection robot and system to improve the robot's movement ability in the cave and reduce the problem of the robot getting stuck.

[0005] To achieve the above object, the present invention provides the following solutions: The present invention provides a bionic detection robot for a cave-denying environment, the bionic detection robot for a cave-denying environment comprising a plurality of robot components connected in series, the robot components comprising: A first motion unit and a second motion unit, wherein the first motion unit is connected to the second motion unit, and the first motion unit can rotate toward and away from the second motion unit, and the second motion unit can rotate toward and away from the first motion unit, and both the first motion unit and the second motion unit can spirally move in the direction in which the adjacent robot components are connected in series, and the axis of rotation of the first motion unit toward the second motion unit is perpendicular to the moving direction of the first motion unit, and the axis of rotation of the second motion unit toward the first motion unit is perpendicular to the moving direction of the second motion unit; A reset unit, the reset unit is located between the first motion unit and the second motion unit, two ends of the reset unit are connected to the first motion unit and the second motion unit respectively, and a connection point between the first motion unit and the second motion unit is staggered with the reset unit; When the external force acting on the reset unit is greater than the first force of the reset unit, the reset unit is deformed; when the external force is less than the first force of the reset unit, the first force causes the reset unit to return to its original position; the deformation includes compression and / or stretching and / or bending.

[0006] Preferably, each end of the reset unit is connected to at least one of the first motion unit and at least one of the second motion unit, and the first motion unit and the second motion unit located at the same end of the reset unit are connected in a direction in which adjacent robot components are connected in series.

[0007] Preferably, the first moving unit comprises a first driving member, the first driving member is provided with a first moving member on its outer cover, the first driving member is connected to the first moving member, the first driving member is used to drive the first moving member to rotate, and the first moving member is provided with an external thread; The second moving unit comprises a second driving member, a second moving member is disposed on the outer cover of the second driving member, the second driving member is connected to the second moving member, the second driving member is used to drive the second moving member to rotate, and the second moving member is provided with an external thread; Both ends of the reset unit are connected to the first moving unit and the second moving unit in sequence, and the external threads on the first moving piece and the external threads on the second moving piece at the same end of the reset unit are in opposite directions.

[0008] Preferably, two adjacent robot components are directly connected; or, two adjacent robot components are rotationally connected, and the reset unit is provided between two adjacent robot components.

[0009] Preferably, the connection point between the first motion unit and the second motion unit is coaxially arranged with the reset unit; or, a plurality of reset units are arranged along the circumference of the first motion unit with the connection point between the first motion unit and the second motion unit as the center.

[0010] Preferably, the first motion unit can perform semi-sinusoidal periodic cyclic rotation. In one semi-sinusoidal rotation cycle of the first motion unit, the rotation speed of the first motion unit increases from zero to a set speed, and then decreases from the set speed to zero.

[0011] Preferably, a flexible protective cover is provided between the first motion unit and the second motion unit, and the flexible protective cover is sleeved on the outside of the reset unit; and / or the cross-sectional projection of the reset unit is located within the cross-sectional projection of the first motion unit.

[0012] Preferably, the cave denial environment bionic detection robot comprises a second controller provided on any of the robot components, the second controller being used to control the movement of each of the robot components; Alternatively, the robot assembly includes a third controller, and the third controller is used to control the movement of the first motion unit and the second motion unit; And / or, adjacent robot components are detachably connected; And / or, the robot component is provided with a wear-resistant layer; And / or, the cave denial environment bionic detection robot includes a detection component provided on the robot component, and the detection component is used to detect the posture and surrounding environment information of the robot component.

[0013] Preferably, the first motion unit includes a first shell, the first shell is provided with a plurality of outlets, a medium source is provided in the first shell, the medium source is connected with the outlets through a plurality of pipes, the pipe is provided with a valve for controlling the flow, the valve is connected to a first controller, and the first controller is used to open the valve on the corresponding pipe and control the opening degree of the corresponding valve.

[0014] In addition, the present invention provides a system of a bionic detection robot for a cave-denied environment, and the system of the bionic detection robot for a cave-denied environment includes the above-mentioned bionic detection robot for a cave-denied environment.

[0015] Compared with the prior art, the present invention has achieved the following technical effects: The cave denial environment bionic detection robot of the present invention comprises a plurality of robot components connected in series, wherein the robot components comprise a first motion unit and a second motion unit, and both the first motion unit and the second motion unit can move in a spiral along the direction in which the adjacent robot components are connected in series, so that the cave denial environment bionic detection robot of the present invention has a strong moving power; Furthermore, in the present invention, the first motion unit is connected to the second motion unit, the first motion unit can rotate in the direction of approaching and moving away from the second motion unit, the second motion unit can rotate in the direction of approaching and moving away from the first motion unit, and the axis of rotation of the first motion unit toward the second motion unit is perpendicular to the travel direction of the first motion unit, and the axis of rotation of the second motion unit toward the first motion unit is perpendicular to the travel direction of the second motion unit, which means that the robot assembly and the cave rejection environment bionic detection robot (for the sake of simplicity of description, the cave rejection environment bionic detection robot will be referred to as the robot hereinafter) in the present invention have a certain flexibility, that is, a certain bending ability (flexibility means that the first motion unit can be relative to the second motion unit The first motion unit rotates a certain angle), so that when the robot passes through the cave road conditions such as rollover, steep slope, pit, etc., the relative angle between the first motion unit and the second motion unit in the same robot assembly can be automatically adjusted under the action of the inner wall of the cave, so as to adapt to the cave environment, maintain effective contact between the robot and the inner wall of the cave, and improve the robot's ability to pass through different cave environments. For example, when the robot passes through the cave bend, under the action of the inner wall of the cave, the first motion unit can rotate a certain angle relative to the second motion unit, so that the first motion unit and the second motion unit can maintain contact with the inner wall of the cave, so that there is sufficient motion friction between the robot assembly and the inner wall of the cave, so that the robot can smoothly pass through the cave bend; Furthermore, in the present invention, a reset unit is provided between the first motion unit and the second motion unit, and the two ends of the reset unit are respectively connected to the first motion unit and the second motion unit. When the external force acting on the reset unit, such as the constraint of the inner wall of the cave, is greater than the first force of the reset unit, i.e., the restoring force, the valve position unit undergoes deformation including compression and / or stretching and / or bending. In this way, without plastic deformation of the reset unit, under the constraint of the inner wall of the cave, the first motion unit can rotate in the direction of approaching and / or away from the second motion unit, which enables the robot to maintain good contact with the inner wall of the cave, so that there is sufficient movement friction between the robot and the inner wall of the cave, and the robot can continue to move forward even if it encounters a change in slope. The robot can automatically return to its original state after passing through obstacles such as rollover, steep slopes, pits, etc., thereby reducing the deviation in the direction of movement, thereby improving the robot's movement ability in the cave and reducing the possibility of the robot getting stuck. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1A schematic diagram of the structure of a system using a robot; Figure 2 A schematic diagram of the system omitting the spiral structure; Figure 3 It is a schematic diagram of the connection between the reset unit and the first motion unit and the second motion unit; Figure 4 is an enlarged view of the reset unit; Figure 5 is a schematic diagram of the connection of adjacent robot components; Among them, 1. observation window; 2. first baffle; 3. first spiral structure; 4. second spiral structure; 5. first flexible protective cover; 6. third spiral structure; 7. fourth spiral structure; 8. second flexible protective cover; 9. fifth spiral structure; 10. sixth spiral structure; 11. second baffle; 12. lifting ear; 13. light source; 14. first motor; 15. second motor; 16. first connecting plate; 17. second connecting plate; 18. third motor; 19. fourth motor; 20. third connecting plate; 21. fourth connecting plate; 22. fifth motor; 23. sixth motor; 24. conductive slip ring; 25. mounting bracket; 26. fifth connecting plate; 27. sixth connecting plate; 28. seventh connecting plate; 29. ​​eighth connecting plate; 30. ninth connecting plate; 31. tenth connecting plate; 32. camera; 33. reset unit; 34. fixing seat; 35. universal joint coupling. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] like Figure 1~Figure 5As shown, the present invention discloses a bionic detection robot for a cave-denying environment, the bionic detection robot for a cave-denying environment includes a plurality of robot components connected in series, the robot components include: a first motion unit and a second motion unit, the first motion unit is connected to the second motion unit, and the first motion unit can rotate in a direction close to and away from the second motion unit, the second motion unit can rotate in a direction close to and away from the first motion unit, the axis of rotation of the first motion unit toward the second motion unit is perpendicular to the travel direction of the first motion unit, the axis of rotation of the second motion unit toward the first motion unit is perpendicular to the travel direction of the second motion unit, the first motion unit and the second motion unit can both move spirally in the first direction and the second direction; the first direction and the second direction Both directions are arranged along the direction in which adjacent robot components are connected in series, and the first direction and the second direction are opposite; a reset unit 33, the reset unit 33 is located between the first motion unit and the second motion unit, and both ends of the reset unit 33 are respectively connected to the first motion unit and the second motion unit, and the connection point of the first motion unit and the second motion unit is staggered with the reset unit 33, wherein, when the external force acting on the reset unit 33 is greater than the first force of the reset unit 33 (the first force is the restoring force of the reset unit 33 itself), the reset unit 33 is deformed under the external force, and the deformation includes compression and / or stretching and / or bending; when the external force is less than the first force of the reset unit 33, the first force causes the reset unit 33 to return to its original position.

[0021] The cave denial environment bionic detection robot of the present invention comprises a plurality of robot components connected in series, wherein the robot components comprise a first motion unit and a second motion unit, wherein the first motion unit and the second motion unit are connected, and both the first motion unit and the second motion unit can move in a spiral along the direction in which the adjacent robot components are connected in series, which enables the cave denial environment bionic detection robot of the present invention to have a strong moving power; Furthermore, in the present invention, the first motion unit is connected to the second motion unit, and the first motion unit can rotate in the direction of approaching and moving away from the second motion unit, and the second motion unit can rotate in the direction of approaching and moving away from the first motion unit, the axis of rotation of the first motion unit toward the second motion unit is perpendicular to the travel direction of the first motion unit, and the axis of rotation of the second motion unit toward the first motion unit is perpendicular to the travel direction of the second motion unit (the travel direction of the first motion unit and the second unit refers to the overall travel direction of the cave rejection environment bionic detection robot in the present invention, for example, from left to right or from front to back, etc.), which means that the robot assembly and the cave rejection environment bionic detection robot (for the sake of simplicity of description, the cave rejection environment bionic detection robot will be referred to as the robot hereinafter) in the present invention have a certain flexibility. The flexibility is a certain bending ability (flexibility means that the first motion unit can rotate a certain angle relative to the second motion unit). This allows the robot to automatically adjust the relative angle between the first motion unit and the second motion unit in the same robot component under the action of the inner wall of the cave when passing through the cave road conditions such as rollover, steep slope, and pit, so as to adapt to the cave environment, maintain effective contact between the robot and the inner wall of the cave, and improve the robot's ability to pass through different cave environments. For example, when the robot passes through the cave bend, under the action of the inner wall of the cave, the first motion unit can rotate a certain angle relative to the second motion unit, so that the first motion unit and the second motion unit can maintain contact with the inner wall of the cave, so that there is sufficient motion friction between the robot component and the inner wall of the cave, so that the robot can smoothly pass through the cave bend; Furthermore, in the present invention, a reset unit 33 is provided between the first motion unit and the second motion unit, and the two ends of the reset unit 33 are respectively connected to the first motion unit and the second motion unit. When the external force acting on the reset unit 33, such as the constraint force of the inner wall of the cave, is greater than the first force of the reset unit 33, the reset unit 33 undergoes deformation including compression and / or stretching and / or bending. In this way, without plastic deformation of the reset unit 33, under the constraint of the inner wall of the cave, the first motion unit can rotate in the direction of approaching and / or away from the second motion unit, which enables the robot to maintain good contact with the inner wall of the cave, so that there is sufficient movement friction between the robot and the inner wall of the cave, and the robot can continue to move forward even if it encounters a slope change. The robot can automatically return to its original state after passing through obstacles such as rollover, steep slopes, pits, etc., reducing the deviation of the movement direction, thereby improving the robot's movement ability in the cave and reducing the possibility of the robot getting stuck.

[0022] Among them, the cave denial environment refers to a cave environment that is not conducive to entry and has strong obstacles to detection or passage. Bionics means that the appearance of the robot in the present invention is similar to that of snakes, and the movement mode is similar to that of snakes. The robot in the present invention can also be called a snake-like robot. The rotation axis of the first motion unit is perpendicular to the travel direction of the first motion unit, and the rotation axis of the second motion unit is perpendicular to the travel direction of the second motion unit. This means that the first motion unit can rotate in the direction of approaching and moving away from the second motion unit, and the second motion unit can also rotate in the direction of approaching and moving away from the first motion unit. The connection point of the first motion unit and the second motion unit is staggered with the reset unit 33, which means that the first motion unit and the second motion unit are rotatably connected, and the setting of the reset unit 33 does not interfere with each other, and their respective functions can be smoothly realized. The first force refers to the restoring force of the reset unit 33 itself, which can be understood as elastic force; return refers to the reset unit 33 returning to the deformed state under the first force.

[0023] The first motion unit and the second motion unit have a variety of settings. For example, the first motion unit includes a first driving member, the first driving member is provided with a first moving member on the outer sleeve, the first driving member is fixedly connected to the first moving member, such as by screws, the first driving member is connected to the first moving member, the first driving member is used to drive the first moving member to rotate, and the first moving member is provided with an external thread; because the first moving member is provided with an external thread, and the first driving member can drive the first moving member to rotate, the first motion unit can achieve spiral travel. This allows the robot to obtain a larger axial travel power through a smaller rotational torque. On the other hand, on a steep slope, the spiral structure, i.e., the first moving member, can be firmly stuck in the soil layer of the badger hole with the help of the robot's own weight, providing the robot with a larger resistance to slipping. At the same time, the spiral structure has good adaptability to the depressions, protrusions, tree roots, hard soil layers, and soft soil layers in the badger hole, solving the problem of traditional wheeled robots and tracked robots getting stuck. The first driving member can be a motor or other structure that can drive the first moving member to rotate. Specifically, a hollow brushless motor can be used. The first moving member can be a cylindrical structure with an external thread on the outside (this form of the first moving member is referred to as a spiral structure); by arranging the first moving member outside the first driving member, the overall diameter of the robot assembly and the robot is reduced, so that the robot can better match and adapt to small-sized caves. For example, the diameter of the robot of the present invention is about 11 cm, which is much smaller than the diameter of a general badger hole of 20 cm to 80 cm, so that the robot can run in most badger holes. When the first moving member is a cylindrical structure, the direction in which adjacent robot assemblies are connected in series is the axial direction of the first moving unit. The first moving member is not limited to a cylindrical structure, as long as the first moving member can achieve spiral travel under the action of the first driving member.

[0024] Alternatively, the first motion unit may not adopt the above structure. In this case, the first motion unit includes a first shell, a plurality of outlets are provided on the first shell, a medium source is provided in the first shell, the medium source is connected to the outlets through a plurality of pipes, a valve for controlling the flow is provided on the pipe, the valve is connected to a first controller, the first controller is used to open the valve on the corresponding pipe, and control the opening of the corresponding valve; the first controller controls the opening of the pipe and the opening of the valve, so that the first shell moves in a spiral. The medium source is specifically a storage tank storing gas or liquid. By arranging a delivery pump on the pipe, the gas or liquid in the medium source is delivered to the pipe, and then the spiral movement of the first shell is realized.

[0025] Similarly, the second motion unit may also adopt the corresponding structure of the above-mentioned first motion unit; for example, the second motion unit includes a second driving member, a second moving member is disposed on the outer sleeve of the second driving member, the second driving member and the second moving member are fixedly connected, for example, by screws, the second driving member is connected to the second moving member, the second driving member is used to drive the second moving member to rotate, and the second moving member is provided with an external thread; because the second moving member is provided with an external thread, and the second driving member can drive the second moving member to rotate, this enables the second motion unit to achieve spiral movement, and the second driving member can specifically be a structure such as a motor that can drive the second moving member to rotate, and specifically a hollow brushless motor can be adopted, and the second moving member can specifically be a cylindrical structure with an external thread on the outside (the second moving member at this time is a cylindrical structure with an external thread, which can also be called a spiral structure).

[0026] When the first moving unit includes a first driving member and a first moving member, the first moving unit has two moving modes. For example, when the external thread on the first moving member rotates to the left, the first driving member can drive the first moving member to rotate counterclockwise and clockwise. When the first driving member drives the first moving member to rotate counterclockwise, the first moving unit advances axially. When the first driving member drives the first moving member to rotate clockwise, the first moving unit retreats axially. Similarly, when the external thread on the second moving member rotates to the right, the second driving member can drive the second moving member to rotate counterclockwise and clockwise. When the second driving member drives the second moving member to rotate counterclockwise, the second moving unit retreats axially. When the second driving member drives the second moving member to rotate clockwise, the second moving unit advances axially. Based on this, when the outer screw thread of the first moving part is left-handed and the outer screw thread of the second moving part is right-handed, the first motor 14 and the second motor 15 rotate in opposite directions at the same speed, so that the robot assembly can move forward or backward along the axial direction; when the first motor 14 and the second motor 15 rotate in opposite directions at a differential speed, the robot assembly can rotate and swing to the left or right, and when the first motor 14 and the second motor 15 rotate in the same direction at the same speed, the robot assembly can roll. The oppositely-handed screw threads of the first moving part and the second moving part can reduce the lateral torque during the movement of the robot and ensure the stability of the robot movement.

[0027] The reset unit 33 may be a spring or other elastic member that can be deformed and then restored under external forces within a certain range. In the present invention, the reset unit 33 may be a tension spring. According to actual measurements, the reset unit 33 enables the robot to adapt to a 90° sharp bend under the constraint of the cave wall when traveling in a spiral. The reset unit 33 has a variety of settings. For example, the connection point of the first motion unit and the second motion unit and the reset unit 33 are coaxially arranged, and the reset unit 33 is sleeved on the outside of the connection point of the first motion unit and the second motion unit, which makes the structure of the robot more compact, thereby reducing the vibration of the universal joint coupling 35 caused by the angle offset; or, with the connection point of the first motion unit and the second motion unit as the center, a plurality of reset units 33 are arranged along the circumference of the first unit, so that the reset unit 33 can compensate for asymmetric loads: when the reset unit 33 on one side is compressed or pulled under external forces, the reset units 33 on the other sides can pull the side unit back to achieve self-correction.

[0028] In the present invention, at least one first motion unit and at least one second motion unit are connected to each end of the reset unit 33, and the first motion unit and the second motion unit located at the same end of the reset unit 33 are connected in the direction in which adjacent robot components are connected in series. This means that no matter whether the robot component moves forward or backward, the areas at both ends of the reset unit 33 can provide corresponding power, which improves the robot's ability to move. This principle can be referred to the comparison between a four-wheel drive car and a front-wheel drive car. The front and rear of a four-wheel drive car have the ability to move, so the four-wheel drive car has a stronger ability to move than a front-wheel drive car.

[0029] Furthermore, both ends of the reset unit 33 are connected with the first motion unit and the second motion unit in sequence, and the external threads on the first motion piece and the external threads on the second motion piece at the same end of the reset unit 33 are in opposite directions, so that the robot assembly forms a spiral structure of symmetrical rotational motion based on the reset unit 33. By controlling the first motion unit and the second motion unit at both ends of the reset unit 33, the robot can adapt to complex environments such as steep slopes, slippery, soft, hard, and tree roots in caves such as badger holes (for specific adaptation, please refer to the functional description of the rotational connection between the reset unit 33, the first motion unit and the second motion unit above), and has multiple motion states such as forward, backward, overall clockwise rotation, overall counterclockwise rotation, head left turn, head right turn, tail left turn, tail right turn, rolling, and swinging forward (the front refers to the end of the robot close to the inside of the cave, the back refers to the end of the robot close to the external environment, the head refers to the end of the robot close to the cave, the tail refers to the end of the robot close to the external environment, and the left and right are the two sides when the robot is placed horizontally or vertically), which alleviates the problem of limited terrain adaptability of existing wheeled robots and tracked robots.

[0030] The first motion unit and the second motion unit are rotationally connected, and the first motion unit and the second motion unit can be rotationally connected specifically through a ball joint structure or a universal coupling. Through the rotational connection of the first motion unit and the second motion unit, the variable angle transmission of different spiral structures in the same robot component and different spiral structures in different robot components can be realized, and the self-returning function of the robot can be realized through the reset unit 33, which ensures that when the robot encounters a sharp bend in a cave such as a badger hole, under the joint action of the reset unit 33, the first motion unit and the second motion unit rotational connection setting, the spiral structure of the robot can effectively press the inner wall of the cave, providing sufficient movement friction for the robot; and after the robot passes over a sharp bend, a pit, a protrusion and other mechanisms, the robot can realize self-return under the action of the reset unit 33, the first motion unit and the second motion unit rotational connection setting, so that the axis of the multiple sets of spiral structures of the robot approximately coincides, ensuring that the movement direction of the robot is in the specified movement direction without deviation.

[0031] Moreover, when the first moving unit includes the first driving member and the first moving member, and the second moving unit includes the second driving member and the second moving member, the robot assembly of the present invention is based on the reset unit 33, and two spiral structures are symmetrically distributed, that is, the first moving member and the second moving member are symmetrically distributed based on the reset unit 33, and the first moving member and the second moving member can both perform semi-sinusoidal periodic cyclic motion. In a semi-sinusoidal rotation cycle of the first moving unit or the second moving unit, the rotation speed of the first moving unit and the second moving unit rises from zero to the set speed, that is, the maximum speed that the first moving member and the second moving member can reach, and then drops from the maximum speed to zero. In this way, the speed is always in the same direction, which enables the robot to generate variable speed and force, and improves the robot's obstacle crossing ability on uneven roads. This solves the problem that the robot's partial spiral structure is stuck in a complex environment, causing the robot's partial spiral structure to continue to rotate and cannot move. At the same time, this control method also avoids the step-type change of the speed of the spiral structure driven by the robot motor, and prolongs the service life of the first driving member, the second driving member and the spiral structure.

[0032] Furthermore, two adjacent robot components are directly connected, such as fixedly connected, which improves the integrity of the robot and makes the robot less likely to break during movement; or, two adjacent robot components are rotationally connected, and a reset unit 33 is provided between the two adjacent robot components, and the two ends of the reset unit 33 are respectively connected to the two robot components, which enables the robot to have not only high flexibility between the same robot components (flexibility means that the first motion unit in the same robot component can rotate relative to the second motion unit), but also high flexibility between adjacent robot components (flexibility here means that adjacent robot components can rotate relative to each other), thereby enabling the robot to adapt to more complex cave environments and further improving the robot's ability to move in the cave.

[0033] The present invention proposes a symmetrical spiral structure imitating a flexible body of a snake (the symmetrical spiral structure is a plurality of first motion units and a plurality of second motion units symmetrically arranged at both ends of the reset unit 33 in the robot assembly with the reset unit 33 as the reference), replacing the traditional inchworm-type multi-segment alternating motion form, while improving the robot's body motion and detection efficiency, effectively improving the robot's motion environment for sharp bends, steep slopes and other large inclinations inside the badger hole. The tooth shape of the spiral structure, i.e., the external thread, can be embedded in the soil layer of the badger hole under the action of the robot's body weight, giving the robot a greater friction with the ground, so that the robot has a greater grip, while overcoming the steep slope resistance, and also giving the robot a greater drag force, so that it can move a longer distance inside the badger hole in a cable environment. At the same time, the flexible hinge connection structure between the spiral structures enables the robot to adapt to the sharp bend structure inside the badger hole, solving the problem that the traditional robot is stuck when entering the badger hole.

[0034] A flexible protective cover is provided between the first motion unit and the second motion unit. The flexible protective cover is sleeved on the outer side of the reset unit 33. The reset unit 33 is protected by the flexible protective cover. The flexible protective cover can adopt a corrugated structure, or a DLMA brand protective cover produced by Deli Company. The flexible protective cover needs to adapt to the stretching and compression of the reset unit 33, and can be made of flexible materials such as TPU (TPU refers to thermoplastic polyurethane elastomer, also known as thermoplastic polyurethane rubber); and / or, the cross-sectional projection of the reset unit 33 is located within the cross-sectional projection of the first motion unit, which means that the reset unit 33 does not protrude from the first motion unit or the second motion unit, which reduces the collision between the inner wall of the cave and the reset unit 33.

[0035] The cave denial environment bionic detection robot includes a second controller provided on any robot component, the second controller is used to control the movement of each robot component, and one-to-many control is achieved by setting the second controller, making the control more convenient; or, the robot component includes a third controller, the third controller is used to control the movement of the first motion unit and the second motion unit, so that the activity of each robot component can be controlled independently, the movement of the robot is more flexible, and after the third controller of a robot component is damaged, the movement of other robot components can be controlled by the remaining third controllers; and / or, adjacent robot components are detachably connected, so that the robot can flexibly increase or decrease the number of robot components and adjust the length of the robot according to working conditions; and / or, the robot component is provided with a wear-resistant layer, and the wear-resistant layer can be specifically made of melamine resin or high-strength alloy; and / or, the cave denial environment bionic detection robot includes a detection component provided on the robot component, the detection component is used to detect the posture and surrounding environment information of the robot component, and the detection component can specifically be a camera 32, an ultrasonic sensor, a position sensor and other equipment that can detect the posture and surrounding environment information of the robot component.

[0036] like Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of the robot in the present invention having two robot components connected in series, wherein a first cover 2 is provided on a side of a second moving unit in one of the robot components away from another robot component, and this side can be used as the head of the robot, and the internal image acquisition component is protected and fixed by the first cover 2, and the first cover 2 is fixedly connected to the second moving part, such as by bolts, and an external thread in the same direction as the second moving part is also provided on the outside of the first cover 2, and the two rotate synchronously, so the first cover 2 needs to be aligned with the thread line of the second moving part before being installed and fixed.

[0037] At the same time, a second cover 11 is provided on the side of the second motion unit near the tail of the robot away from the head. The second cover 11 is provided with an external thread in the same direction as the second motion unit. The second cover 11 can be fixedly connected to the second motion unit by means of screws or bolts. Since the second cover 11 needs to rotate synchronously with the second motion unit, the threads of the second cover 11 and the second motion unit need to be aligned before being fixed. A lifting lug 12 is installed on the side of the second cover 11 away from the robot assembly. The lifting lug 12 is used for the installation of cables so that the robot can be handled in an emergency in case of an accident. A manual or electric cable reel can be used to reel in and out the cable. The lifting ear 12 is located at the center of the robot's rotation axis. The cable is used for emergency pulling when it cannot be taken out in an unexpected situation. The cable is installed on the lifting ear 12 and rotates around the central axis, and is consistent with the rotation direction and angle of the camera 32. The small number of turns of cable rotation caused by the movement of the robot will not have a significant impact on the movement of the robot. At the same time, the image status of the camera 32 can be judged to control the reverse movement of the robot's partial spiral to untie the entanglement; manual intervention is required when the cable is retracted and released to judge the cable tension and avoid excessive release of the cable.

[0038] The first cover 2 is provided with an observation window 1 on the side away from the robot assembly. The observation window 1 serves as an observation and collection window for the camera 32. The observation window 1 can be fixed to the inner side of the first cover 2 by UV curing UV glue. The observation window 1 can be made of transparent glass. Figure 2 As shown, a ring-shaped light source 13 is provided at the head of the robot, i.e., the first cover 2 , and an embedded camera 32 can be installed inside the ring-shaped light source 13 .

[0039] like Figure 2As shown, a first motor 14 for driving the first spiral structure 3 to rotate is provided in the first spiral structure 3, the stator of the first motor 14 is installed on the tenth connecting plate 31, the rotor is fixed to the first spiral structure 3, the tenth connecting plate 31 is fixedly connected to the ninth connecting plate 30 back to back, and can be fixedly connected by screws; a second motor 15 for driving the second spiral structure 4 to rotate is provided in the second spiral structure 4, the stator of the second motor 15 is installed on the ninth connecting plate 30, the rotor of the second motor 15 is fixedly connected to the second spiral structure 4, and the two ends of one of the reset units 33 are respectively connected to the first connecting plate 16 and the second connecting plate 17, the first connecting plate 16 is coaxially arranged with the ninth connecting plate 30, and is fixedly connected to the central axis of the ninth connecting plate 30. A third motor 18 is provided in the third spiral structure 6 to drive the third spiral structure 6 to rotate, and the stator of the third motor 18 is mounted on the eighth connecting plate 29, and the rotor of the third motor 18 is fixedly connected to the third spiral structure 6; a fourth motor 19 is provided in the fourth spiral structure 7 to drive the fourth spiral structure 7 to rotate, and the stator of the fourth motor 19 is mounted on the seventh connecting plate 28, and the rotor of the fourth motor 19 is fixedly connected to the fourth spiral structure 7, and the eighth connecting plate 29 and the seventh connecting plate 28 are fixedly connected back to back and can be fixedly connected by screws; the other two ends of the reset unit 33 are respectively connected to the third connecting plate 20 and the fourth connecting plate 21, and the third connecting plate 20 and the seventh connecting plate 28 are coaxially arranged, and The fifth connecting plate 21 is coaxially arranged with the sixth connecting plate 27 and is fixedly connected with the central axis of the sixth connecting plate 27; the fifth helical structure 9 is provided with a fifth motor 22 for driving the fifth helical structure 9 to rotate, the stator of the fifth motor 22 is mounted on the sixth connecting plate 27, the rotor of the fifth motor 22 is fixedly connected with the fifth helical structure 9, the sixth helical structure 10 is provided with a sixth motor 23 for driving the sixth helical structure 10 to rotate, the stator of the sixth motor 23 is mounted on the fifth connecting plate 26, the rotor of the sixth motor 23 is fixedly connected with the sixth helical structure 10, and the fifth connecting plate 26 and the sixth connecting plate 27 are fixedly connected back to back by means of screws or the like. The central axis of the fifth connecting plate 26 is provided with a mounting bracket 25, and a conductive slip ring 24 is fixedly arranged on the outer side of the mounting bracket 25, one end of the conductive slip ring 24 is connected with an external cable, and the other end is connected with the first motor to the sixth motor, the camera 32 and other components inside the robot, and the conductive slip ring 24 can prevent the cable from rotating synchronously and being entangled and damaged when the central axis of the robot rotates. The first to sixth motors communicate and are controlled via the CAN bus. The power line, the CAN bus and the data line of the camera 32 are connected to the conductive slip ring 24 and then led out by the conductive slip ring 24.

[0040] like Figure 3 , Figure 4 , Figure 5As shown, six groups of fixed seats 34 are provided on the first connecting plate 16 and the second connecting plate 17, and each group of fixed seats 34 includes a fixed seat 34 arranged on the side of the first connecting plate 16 facing the second connecting plate 17, and a fixed seat 34 arranged on the side of the second connecting plate 17 facing the first connecting plate 16, corresponding to the fixed seat 34 on the first connecting plate 16, and the two ends of the tension spring are respectively connected to the fixed seat 34, and the balance of the forces of the tension springs in various directions ensures that the reset unit 33 can achieve self-correction; at this time, the reset unit 33 includes six groups of tension springs. The middle axes of the eighth connecting plate 29 and the ninth connecting plate 30 are respectively fixedly connected to the two ends of the universal joint coupling 35, and the universal joint coupling 35 ensures the stability of the central axis of the robot during normal movement, and can achieve rotation in all directions, providing the reset unit 33 with sufficient flexibility.

[0041] Among them, from the head of the robot to the tail of the robot, the first cover 2, the first spiral structure 3, the robot component, the robot component, the sixth spiral structure 10, and the second cover 11 are connected in sequence, wherein the robot component close to the first cover 2 includes a second spiral structure 4, a reset unit 33, and a third spiral structure 6 connected in sequence, the first spiral structure 3 and the second spiral structure 4 have opposite rotation directions, the second spiral structure 4 and the third spiral structure 6 have the same rotation direction, and the second spiral structure 4 can be a right-handed external thread. The robot component close to the second cover 11 includes a fourth spiral structure 7, a reset unit 33, and a fifth spiral structure 9 connected in sequence. The third spiral structure 6 and the fourth spiral structure 7 have opposite rotation directions, the fourth spiral structure 7 and the fifth spiral structure 9 have the same rotation direction, and the fifth spiral structure 9 and the sixth spiral structure 10 have opposite rotation directions; the above-mentioned first spiral structure 3 to sixth spiral structure 10 are the same as the spiral structures mentioned above, and the size and pitch of the spiral structures are the same. Through the cooperation between the first spiral structure 3 and the second spiral structure 4, the cooperation between the third spiral structure 6 and the fourth spiral structure 7, and the cooperation between the fifth spiral structure 9 and the sixth spiral structure 10, the lateral torque of the robot can be reduced and the movement can be kept stable. The first spiral structure 3 to the sixth spiral structure 10 can be made of wear-resistant engineering plastics such as nylon and POM, and can be adapted to spiral structures of different thread sizes according to the size of the cave, soil conditions, humidity conditions, distribution of stone obstacles, vegetation conditions, etc. on site. The robot can realize any movement such as forward, backward, left turn, right turn, roll, left front swing, right front swing, left rear swing, right rear swing, etc. by controlling the forward and reverse rotation and speed of the above spiral structure. At the same time, the movement mode of the spiral structure can overcome the influence of most road obstacles. A first flexible protective cover 5 is provided on the outer cover of the reset unit 33 near the head, and a second flexible protective cover 8 is provided on the outer cover of the reset unit 33 near the tail. The first flexible protective cover 5 and the second flexible protective cover 8 have the same structure as the above flexible protective cover. The reset unit 33 at the corresponding position is protected by the first flexible protective cover 5 and the second flexible protective cover 8 respectively. The first flexible protective cover 5 can be fixedly connected with the first moving part and the second moving part respectively by screws or the like through the flange structure on both sides.

[0042] In addition, the present invention also discloses a system of a bionic detection robot for a cave denial environment, which includes the above-mentioned bionic detection robot for a cave denial environment, and also includes a retractable device, a remote control device, etc. equipped with the robot.

[0043] In this article, "and / or" means that the text content before and / or and the text content after and / or can exist at the same time or separately; for example, "A and / or B" includes the situation where only A or B exists, and the situation where both A and B exist at the same time. "and / or" has the same meaning as "and / or", which will not be repeated here.

[0044] The present invention discloses multiple technical features, but does not provide any contrary technical implications.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0046] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A bionic detection robot for cave denial environment, characterized in that: The cave denial environment bionic detection robot comprises a plurality of robot components connected in series, wherein the robot components comprise: A first motion unit and a second motion unit, wherein the first motion unit is connected to the second motion unit, and the first motion unit can rotate toward and away from the second motion unit, and the second motion unit can rotate toward and away from the first motion unit, and both the first motion unit and the second motion unit can spirally move in the direction in which the adjacent robot components are connected in series, and the axis of rotation of the first motion unit toward the second motion unit is perpendicular to the moving direction of the first motion unit, and the axis of rotation of the second motion unit toward the first motion unit is perpendicular to the moving direction of the second motion unit; A reset unit, the reset unit is located between the first motion unit and the second motion unit, two ends of the reset unit are connected to the first motion unit and the second motion unit respectively, and a connection point between the first motion unit and the second motion unit is staggered with the reset unit; When the external force acting on the reset unit is greater than the first force of the reset unit, the reset unit is deformed; when the external force is less than the first force of the reset unit, the first force causes the reset unit to return to its original position; the deformation includes compression and / or stretching and / or bending.

2. The cave denial environment bionic detection robot according to claim 1, characterized in that: Each end of the reset unit is connected to at least one of the first motion units and at least one of the second motion units, and the first motion units and the second motion units located at the same end of the reset unit are connected in a direction in which adjacent robot components are connected in series.

3. The cave denial environment bionic detection robot according to claim 2, characterized in that: The first moving unit comprises a first driving member, a first moving member is disposed on the outer cover of the first driving member, the first driving member is connected to the first moving member, the first driving member is used to drive the first moving member to rotate, and the first moving member is provided with an external thread; The second moving unit comprises a second driving member, a second moving member is disposed on the outer cover of the second driving member, the second driving member is connected to the second moving member, the second driving member is used to drive the second moving member to rotate, and the second moving member is provided with an external thread; Both ends of the reset unit are connected to the first moving unit and the second moving unit in sequence, and the external threads on the first moving piece and the external threads on the second moving piece at the same end of the reset unit are in opposite directions.

4. The cave denial environment bionic detection robot according to claim 1, characterized in that: Two adjacent robot components are directly connected; or, two adjacent robot components are rotationally connected, and the reset unit is provided between the two adjacent robot components.

5. The cave denial environment bionic detection robot according to claim 1, characterized in that: The connection point between the first motion unit and the second motion unit is coaxially arranged with the reset unit; or, with the connection point between the first motion unit and the second motion unit as the center, a plurality of reset units are arranged along the circumference of the first motion unit.

6. The cave denial environment bionic detection robot according to claim 1, characterized in that: The first motion unit can perform semi-sinusoidal periodic cyclic rotation. In one semi-sinusoidal rotation cycle of the first motion unit, the rotation speed of the first motion unit increases from zero to a set speed, and then decreases from the set speed to zero.

7. The cave denial environment bionic detection robot according to claim 1, characterized in that: A flexible protective cover is provided between the first motion unit and the second motion unit, and the flexible protective cover is sleeved on the outer side of the reset unit; and / or a cross-sectional projection of the reset unit is located within a cross-sectional projection of the first motion unit.

8. The cave denial environment bionic detection robot according to claim 1, characterized in that: The cave denial environment bionic detection robot comprises a second controller provided on any of the robot components, the second controller being used to control the movement of each of the robot components; Alternatively, the robot assembly includes a third controller, and the third controller is used to control the movement of the first motion unit and the second motion unit; And / or, adjacent robot components are detachably connected; And / or, the robot component is provided with a wear-resistant layer; And / or, the cave denial environment bionic detection robot includes a detection component provided on the robot component, and the detection component is used to detect the posture and surrounding environment information of the robot component.

9. The cave denial environment bionic detection robot according to claim 1, characterized in that: The first motion unit includes a first shell, a plurality of outlets are provided on the first shell, a medium source is provided in the first shell, the medium source is connected with the outlets through a plurality of pipes, a valve for controlling flow is provided on the pipe, the valve is connected to a first controller, and the first controller is used to open the valve on the corresponding pipe and control the opening degree of the corresponding valve.

10. A system of a bionic detection robot for a cave denial environment, characterized in that: The system of the cave-denied environment bionic detection robot comprises the cave-denied environment bionic detection robot described in any one of claims 1-9.

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