Environment sensing structure for snakelike robot head

Abstract

The utility model provides an environment sensing structure for a snakelike robot head, which comprises a carrier mounting plate, a support base, a stretching seat, a bottom connecting seat, a stretching neck, a top end connecting seat, a swing base and a snakelike sensing head, and is characterized in that the carrier mounting plate is fixedly mounted at the top end of a snakelike carrier, and the support base is fixedly mounted on the surface of the carrier mounting plate; the bottom connecting seats are rotationally mounted on the two sides of the extension seat; the stretching neck is fixedly installed above the bottom connecting base, the top end connecting base is fixedly installed at the top end of the stretching neck, and the swing base table is rotationally installed on the inner side of the top end connecting base. The snakelike sensing head is rotationally mounted at the front end of the swinging base station; due to the arrangement of the supporting base and the snakelike sensing head, the sensing range is large, the environmental adaptability is high, and the protective capability is high.

Description

Technical Field

[0001] This utility model relates to the field of snake robot technology, and in particular to an environmental perception structure for the head of a snake robot. Background Technology

[0002] With the rapid development of robotics technology, snake-like robots, as a type of biomimetic robot, have shown great application potential in fields such as rescue, exploration, and industrial inspection due to their unique locomotion and ability to adapt to complex environments. Snake-like robots can move flexibly in narrow, rugged, or dangerous environments by mimicking the movement of snakes, accomplishing tasks that are difficult for traditional wheeled or tracked robots. However, existing technologies still have limitations.

[0003] 1. Limited sensing range: Traditional sensing structures typically use fixed sensor layouts, which are difficult to cover the all-round sensing needs in complex environments.

[0004] 2. Insufficient environmental adaptability: In harsh environments, the reliability and durability of sensors are often difficult to guarantee.

[0005] 3. Inadequate protection: Sensors are susceptible to external impacts or interference from debris in complex environments, which can lead to performance degradation or damage.

[0006] Therefore, it is essential to invent an environmental perception structure for the head of a snake-like robot. Utility Model Content

[0007] To address the aforementioned technical problems, this utility model provides an environmental sensing structure for the head of a snake-like robot, solving the issues of limited sensing range, insufficient environmental adaptability, and inadequate protective performance inherent in existing snake-like robot structures. The environmental sensing structure for the head of a snake-like robot includes a carrier mounting plate, a support base, an extension seat, a bottom connecting seat, an extension neck, a top connecting seat, a swinging base, and a snake-shaped sensor head. The carrier mounting plate is fixedly mounted on the top of the snake-like carrier, and the support base is fixedly mounted on the surface of the carrier mounting plate. The bottom connecting seat is rotatably mounted on both sides of the extension seat. The extension neck is fixedly mounted above the bottom connecting seat, and the top connecting seat is fixedly mounted on the top of the extension neck. The swinging base is rotatably mounted inside the top connecting seat. The snake-shaped sensor head is rotatably mounted on the front end of the swinging base.

[0008] The support base includes a horizontal rotary table, a controller, a circuit connection port, and a connecting seat. The horizontal rotary table is fixedly mounted on the surface of the carrier mounting plate, and the controller is fixedly mounted on the rear end of the horizontal rotary table. The circuit connection port is fixedly mounted on the rear end of the controller, and the connecting seat is rotatably mounted on the top of the horizontal rotary table. An extension seat is fixedly mounted on the connecting seat.

[0009] The snake-shaped sensor head includes a connecting base, a support frame, a sensing structure, a vision structure, a protective top cover, and a protective lower jaw. The connecting base is rotatably mounted on the front end of the swing base, and the support frame is fixedly mounted on the front end of the connecting base. The sensing structure is rotatably mounted on the front end of the support frame, and the vision structure is fixedly mounted on the front end of the sensing structure. The protective top cover and the protective lower jaw are rotatably mounted on the outer side of the rear end of the support frame.

[0010] The support base can be fixedly installed on the front end of the snake-shaped robot carrier via the carrier mounting plate, and the horizontal rotary table adopts a set of horizontally rotating servo motors, which can drive all the structures above it to rotate in the vertical direction; the circuit connection port is connected to the snake-shaped robot carrier via signal lines and power lines, and the connection base can rotate with the rotation of the output shaft of the horizontal rotary table.

[0011] The serpentine sensor head can swing along with the swinging base, and the supporting frame uses two sets of aluminum alloy metal brackets. The supporting frame can be rotated by the swinging base through the support of the connecting base. The sensing structure can be flipped at the front end of the supporting frame, and an ultrasonic sensor, an infrared sensor, and an environmental sensor are fixedly installed at the rear end of the sensing structure. The sensing structure can swap the positions of the rear sensors with the front vision structure by rotating itself. The protective cover and protective jaw can open or close. When the protective cover and protective jaw are closed, they can enclose the internal sensing structure. When the protective cover and protective jaw are open, they can push away surrounding debris.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The support base of this utility model provides stable support and flexible movement capability for the sensing structure. The support base is fixed to the top of the snake-like vehicle via a carrier mounting plate and integrates a horizontal rotary table, a controller, circuit connection ports, and a connecting seat. The horizontal rotary table uses a servo motor to achieve horizontal rotation, expanding the sensing range; the controller is responsible for motion control and data processing; the circuit connection ports enable signal transmission and power supply; and the connecting seat connects to the extension seat, transmitting motion and supporting the upper structure. The support base features high flexibility, integration, and stability, making it suitable for scenarios such as complex environment detection, autonomous navigation, and environmental monitoring, and is a key support for the sensing function of the snake robot.

[0014] 2. This utility model's snake-shaped sensor head integrates an ultrasonic sensor, an infrared sensor, an environmental sensor, and a vision structure. It is used to detect the physical and chemical parameters of the surrounding environment in real time, enabling functions such as target recognition, scene analysis, obstacle avoidance navigation, and environmental monitoring. Its components include a connecting base, a supporting frame, a sensor structure, a vision structure, and a protective top cover and a protective lower jaw. The sensor structure can be flipped to adjust the sensor position, the vision structure provides image acquisition capabilities, and the protective top cover and lower jaw protect the internal sensors from damage. Furthermore, when environmental detection is required, the protective top cover and lower jaw can push away external debris, providing a better working environment for the sensors. The snake-shaped sensor head features multi-functional integration, high flexibility, and strong protection, making it suitable for complex environment detection, autonomous navigation, and environmental monitoring scenarios. It is a key component for the intelligent perception of snake-like robots. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model in its open state.

[0016] Figure 2 This is a schematic diagram of the closed-state structure of this utility model.

[0017] Figure 3 This is an enlarged view of point A of this utility model.

[0018] Figure 4 This is an enlarged view of section B of this utility model.

[0019] In the picture:

[0020] 1. Vehicle mounting plate, 2. Support base, 21. Horizontal rotary table, 22. Controller, 23. Circuit connection port, 24. Connecting seat, 3. Extension seat, 4. Bottom connecting seat, 5. Extension neck, 6. Top connecting seat, 7. Swinging base, 8. Snake-shaped sensor head, 81. Connecting base, 82. Support frame, 83. Sensing structure, 84. Vision structure, 85. Protective top cover, 86. Protective lower jaw. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0022] As attached Figure 1 To be continued Figure 4 As shown.

[0023] This utility model provides an environmental perception structure for the head of a snake-like robot, comprising a carrier mounting plate 1, a support base 2, an extension base 3, a bottom connecting base 4, an extension neck 5, a top connecting base 6, a swinging base 7, and a snake-like sensor head 8. The carrier mounting plate 1 is fixedly mounted on the top of the snake-like carrier, and the support base 2 is fixedly mounted on the surface of the carrier mounting plate 1. The bottom connecting base 4 is rotatably mounted on both sides of the extension base 3. The extension neck 5 is fixedly mounted above the bottom connecting base 4, and the top connecting base 6 is fixedly mounted on the top of the extension neck 5. The swinging base 7 is rotatably mounted inside the top connecting base 6. The snake-like sensor head 8 is rotatably mounted on the front end of the swinging base 7.

[0024] The support base 2 includes a horizontal rotary table 21, a controller 22, a circuit connection port 23, and a connecting seat 24. The horizontal rotary table 21 is fixedly installed on the surface of the carrier mounting plate 1, and the controller 22 is fixedly installed at the rear end of the horizontal rotary table 21. The circuit connection port 23 is fixedly installed at the rear end of the controller 22, and the connecting seat 24 is rotatably installed on the top of the horizontal rotary table 21. An extension seat 3 is fixedly installed on the connecting seat 24.

[0025] The snake-shaped sensor head 8 includes a connecting base 81, a support frame 82, a sensing structure 83, a vision structure 84, a protective top cover 85, and a protective lower jaw 86. The connecting base 81 is rotatably mounted on the front end of the swing base 7, and the support frame 82 is fixedly mounted on the front end of the connecting base 81. The sensing structure 83 is rotatably mounted on the front end of the support frame 82, and the vision structure 84 is fixedly mounted on the front end of the sensing structure 83. The protective top cover 85 and the protective lower jaw 86 are respectively rotatably mounted on the outer side of the rear end of the support frame 82.

[0026] The support base 2 can be fixedly installed at the front end of the snake-shaped robot carrier via the carrier mounting plate 1. The horizontal rotary table 21 adopts a set of horizontally rotating servo motors, which can drive all the structures above it to rotate in the vertical direction. The circuit connection port 23 is connected to the snake-shaped robot carrier via signal lines and power lines, and the connection seat 24 can rotate with the rotation of the output shaft of the horizontal rotary table 21.

[0027] The serpentine sensor head 8 can swing along with the swinging base 7, and the support frame 82 uses two sets of aluminum alloy metal brackets. The support frame 82 can be driven to rotate by the swinging base 7 through the support of the connecting base 81. The sensing structure 83 can be flipped at the front end of the support frame 82, and an ultrasonic sensor, an infrared sensor, and an environmental sensor are fixedly installed at the rear end of the sensing structure 83. The sensing structure 83 can swap the positions of the rear sensor and the front vision structure 84 through its own rotation. The protective cover 85 and the protective jaw 86 can be opened or closed. When the protective cover 85 and the protective jaw 86 are closed, they can wrap the internal sensing structure inside. When the protective cover 85 and the protective jaw 86 are open, they can push away surrounding debris.

[0028] This device achieves comprehensive perception of the surrounding environment through multi-degree-of-freedom motion and multi-sensor fusion technology. Its core working principle includes: a horizontal rotating platform 21 in the support base 2 drives the upper structure to rotate, expanding the perception range; a swinging base 7 drives the serpentine sensor head 8 to swing, adjusting the perception angle; the sensing structure 83 can be flipped to adjust the positions of the ultrasonic sensor, infrared sensor, and environmental sensor, working in conjunction with the vision structure 84 for target recognition and scene analysis. A controller 22 processes sensor data and controls the motion, while a circuit connection port 23 enables data transmission and power supply. A protective cover 85 and a protective chin 86 protect the sensors from damage and provide a suitable detection environment. Through horizontal rotation, swinging, flipping, and data acquisition, the device completes tasks such as environmental perception, obstacle avoidance navigation, and environmental monitoring, making it suitable for intelligent applications in complex environments.

[0029] Any technical solution that achieves the above-mentioned technical effects by utilizing the technical solution described in this utility model, or by designing a similar technical solution inspired by the technical solution described in this utility model, falls within the protection scope of this utility model.

Claims

1. An environment sensing structure for a snake robot head, characterized by: The utility model provides a kind of snake-like sensor head, including carrier mounting plate (1), support pedestal (2), stretch seat (3), bottom connecting seat (4), stretch neck (5), top end connecting seat (6), swing base (7) and snake-like sensor head (8), wherein: carrier mounting plate (1) is fixedly installed at the top of snake-like carrier, and support pedestal (2) is fixedly installed on the surface of carrier mounting plate (1), and the bottom connecting seat (4) is rotatably installed on the both sides of stretch seat (3);The stretch neck (5) is fixedly installed above bottom connecting seat (4), and top end connecting seat (6) is fixedly installed at the top of stretch neck (5), and swing base (7) is rotatably installed on the inside of top end connecting seat (6);The snake-like sensor head (8) is rotatably installed at the front end of swing base (7).

2. The environment sensing structure for a snake robot head according to claim 1, wherein: The support pedestal (2) includes horizontal rotary table (21), controller (22), circuit connection port (23) and connecting seat (24), and horizontal rotary table (21) is fixedly installed on the surface of carrier mounting plate (1), and controller (22) is fixedly installed at the rear end of horizontal rotary table (21);The circuit connection port (23) is fixedly installed at the rear end of controller (22), and connecting seat (24) is rotatably installed on the top of horizontal rotary table (21), and connecting seat (24) is fixedly installed with stretch seat (3).

3. The environment sensing structure for a snake robot head according to claim 1, wherein: The snake-like sensor head (8) includes link base (81), support framework (82), sensing structure (83), visual structure (84), protective upper cover (85) and protective lower jaw (86), and link base (81) is rotatably installed at the front end of swing base (7), and support framework (82) is fixedly installed at the front end of link base (81);The sensing structure (83) is rotatably installed at the front end of support framework (82), and visual structure (84) is fixedly installed at the front end of sensing structure (83), and protective upper cover (85) and protective lower jaw (86) are rotatably installed on the outside of the rear end of support framework (82) respectively.

4. The environment sensing structure for a snake robot head according to claim 2, wherein: The support pedestal (2) can be fixedly installed at the front end of snake-like robot snake-like carrier by carrier mounting plate (1), and horizontal rotary table (21) adopts a group of horizontal rotary servo motors, and the horizontal rotary table (21) can drive all structures above it to rotate in vertical direction;The circuit connection port (23) is connected with snake-like robot snake-like carrier by signal line and power line, and connecting seat (24) can rotate with the rotation of the output shaft of horizontal rotary table (21).

5. The environment sensing structure for a snake robot head according to claim 3, wherein: The serpentine sensor head (8) can swing as a whole following the swing of the swing base (7), and the supporting framework (82) adopts two groups of metal supports made of aluminum alloy, which can be driven to rotate by the swing base (7) through the support of the connecting base (81); the sensing structure (83) can be flipped at the front end of the supporting framework (82), and the rear end of the sensing structure (83) is fixedly installed with an ultrasonic sensor, an infrared sensor and an environmental sensor, which can exchange positions with the visual structure (84) at the front end through the rotation of the sensing structure (83); the protective upper cover (85) and the protective lower jaw (86) can be opened or closed from the middle, and when the protective upper cover (85) and the protective lower jaw (86) are closed, the sensing structure inside can be wrapped inside, and when the protective upper cover (85) and the protective lower jaw (86) are opened, the surrounding sundries can be pushed outwards.

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