CN209453566U - It is a kind of to transport fast tunnel sampling soft robot with clamping structure - Google Patents

Abstract

Fast tunnel sampling soft robot is transported with clamping structure the utility model discloses a kind of, it is related to soft robot technical field, specially skeleton and ontology, the side of the skeleton is provided through sliding slot, and the left side of skeleton is fixedly connected with buffering lamination, the sliding slot is internally provided with movable block, and the left wall of movable block is embedded with oblique pull telescopic rod, block set is provided on the outside of the upper end of the skeleton, and the left wall of block set is welded with the first telescopic rod, the second telescopic rod is mounted with above first telescopic rod, and second telescopic rod right end and block set left wall weld, the bottom end integration of the skeleton is connected with pressure control case, the right end integrated setting of the ontology has tray, this transports fast tunnel with clamping structure and samples soft robot, the supporting frame structure of entire robot is made up of skeleton, benefit With being slidably matched between movable block and sliding slot, movable block can be moved up and down on the basis of skeleton.

Description

It is a kind of to transport fast tunnel sampling soft robot with clamping structure

Technical field

The present invention relates to soft robot technical field, specially a kind of with clamping structure to transport fast tunnel sampling soft Body robot.

Background technique

Soft robot is different from mechanical robot, itself material is more slim, and elasticity is higher, and does not use mostly Mechanical control method carries out control for brake, and the design inspiration of soft robot derives from bionics, and soft robot imitates the mankind Internal structure or the shape framework of insect etc., especially the latter needs in order to realize a certain specific use in software machine Multiple and complicated gas circuits, oil circuit or circuit structure are arranged on device people, to guarantee that it is relevant that soft robot can normally complete Work, soft robot are used and are developed in terms of tunnel transport and tunnel sampling.

However existing soft robot be used for tunnel when, not only for soft robot, for big portion It is same for the tunnel robot divided, all do not have the track structure of auxiliary movement, this results in row of the robot in tunnel Dynamic actually highly unstable, robot is affected by environmental factor, is highly detrimental to the flexible control to robot System.

A kind of pipe gallery inspection machine disclosed in Chinese invention patent application prospectus CN105500337A People, this kind of pipe gallery crusing robot greatly improve robot in synthesis although using wireless bridge as communication modes Communication distance inside piping lane has used multiple gases sensor, and various gas concentrations inside pipe gallery can be monitored in real time, Cable tunnel maintenance is entered to staff and provides safety guarantee, still, the pipe gallery crusing robot, there is no solve Robot motion's track automatically supplies problem, not can guarantee the stability of robot movable, discloses in Chinese invention patent application A kind of Multi-functional transporting machine people disclosed in specification CN107244275A, although the transportation robot is in addition to can be to ground Other than the Traditional Transportation that article is pushed and pulled, it can also be lifted article, the article of certain altitude can also be transported, realize machine The multifunction of device people is transported, but when being applied to tunnel environment, and the means of transportation of the transportation robot still has can be into The improved place of row, dregs of tunnel internal etc. is in the way of described in the invention and bad is conveyed.

Summary of the invention

In view of the deficiencies of the prior art, fast tunnel sampling software machine is transported with clamping structure the present invention provides a kind of Device people, solves the problems mentioned above in the background art.

In order to achieve the above object, the present invention is achieved by the following technical programs: one kind has clamping structure transport fast Tunnel sample soft robot, including skeleton and ontology, the side of the skeleton be provided through sliding slot, and the left side of skeleton Face is fixedly connected with buffering lamination, and the sliding slot is internally provided with movable block, and the left wall of movable block is flexible embedded with oblique pull The upper end outside of bar, the skeleton is provided with block set, and the left wall of block set is welded with the first telescopic rod, first telescopic rod Top is mounted with the second telescopic rod, and the left wall of the right end of the second telescopic rod and block set is welded, the bottom end integration of the skeleton It is connected with pressure control case, and is provided with air pressure telescopic link below pressure control case, the right end integrated setting of the ontology There is tray, and the lower outer of air pressure telescopic link is arranged in ontology, the air pressure telescopic link vertically runs through from the inside of ontology.

Optionally, size cooperates between the movable block and sliding slot, and the upper end of the oblique pull telescopic rod is set in the The outside of one telescopic rod, and there are two oblique pull telescopic rod is arranged altogether, the buffering lamination is arc-shaped rugosity structure, the gas The positioned inside of pressure control cabinet has cylinder, and the lower part connecting pin of cylinder and the upper end of air pressure telescopic link connect.

Optionally, the bottom end weldering of the air pressure telescopic link is connected with gas disk, and the lower surface integration of gas disk is connected with latch, The latch is uniformly arranged in the lower surface of gas disk, and gas disk constitutes lifting structure by air pressure telescopic link and cylinder.

Optionally, idler wheel is fitted with below the tray, the head end outside wall surface of the ontology, which runs through, port plug, described The positioned inside of ontology has rubber bag tank, and the symmetrical center line of rubber bag tank is overlapped with the symmetrical center line of ontology, the ontology Surfaces externally and internally is equidistantly fixedly installed sawtooth, and the inside of sawtooth offers slow indent.

Optionally, helically disk-like structure is arranged the ontology, and the centre of ontology is fixedly installed middle cylinder, described The inside upper left side of middle cylinder is mounted with micro air pump, and the bosom of middle cylinder is through there is shaft.

Optionally, integration is connected with support frame, and the top screw peace of support frame above the outer wall of the middle cylinder Equipped with control motor, the shaft end of the control motor is arranged with driving belt, and the lower end of driving belt and the shaft end of shaft cover It connects, and shaft constitutes drive mechanism by driving belt and control motor.

Optionally, pneumatic pull rod, and pneumatic pull rod and middle cylinder are provided through above the left wall of the middle cylinder Abutting end be spherical shape structure, the pneumatic pull rod is connected to the abutting end of middle cylinder with the connecting pin of micro air pump, and The left end of pneumatic pull rod is provided with material copy frame, and the side of material copy frame is in " L " character form structure, while on the left of the bottom surface of material copy frame It is arranged in 15 ° of tilt angles.

Optionally, the right end for being mounted with handrail, and the left end of handrail and material copy are embedded among the end face of the middle cylinder It is connected below the right side of frame, holding frame is installed, and run through to have inside the upper end of holding frame and run through on the left of the material copy frame Bar, one end of the penetrating rod are provided with deflection cylinder, and deflect cylinder and constitute deflection structure by penetrating rod and material copy frame.

Optionally, the penetrating rod runs through from the channel structure of material copy frame, and the channel structure of penetrating rod and material copy frame Between size cooperate, the holding frame front lower section integration be connected with pressure plate, the top of the material copy frame is fixed It is provided with Material collecting box for harvesting, and the inner wall integration of Material collecting box for harvesting is connected with partition, and partition is parallel etc. along the vertical direction of Material collecting box for harvesting Away from there are three settings.

Optionally, the lateral wall of the Material collecting box for harvesting is provided through suction nozzle, and is mounted with and gathers materials above Material collecting box for harvesting The lower section shaft end axis connection of motor, the motor that gathers materials has central axis, and central axis runs through from the center of partition, the central axis Outer wall be fixedly installed take material flabellum in the shape of a spiral, the front lower section of the Material collecting box for harvesting offers feed inlet.

Fast tunnel sampling soft robot is transported with clamping structure the present invention provides a kind of, is had following beneficial to effect Fruit:

1. there is clamping structure to transport fast tunnel sampling soft robot for this, the branch of entire robot is made up of skeleton Movable block can be moved up and down, tiltedly using being slidably matched between movable block and sliding slot on the basis of skeleton by supportting frame structure Drawing telescopic rod, the first telescopic rod and the second telescopic rod is Telescopic shaft type structure, and in the moving process of movable block, oblique pull is flexible Bar can accordingly stretch, and oblique pull telescopic rod mainly provides skewed horizontal load to the first telescopic rod, guarantee that robot support construction is stablized Reliably, buffering lamination is arranged using foldable structure, and buffers lamination using plastic material, therefore has good bullet Property, to impact forces caused by buffering lamination when ontology pinching can be effectively relieved, to provide good guarantor to ontology Shield.

2. there is clamping structure, which to transport fast tunnel sampling soft robot, for this constitutes software machine by the setting of ontology The body structure portion of device people has the sawtooth realization of setting to the zigzag shape pinching mesh of ontology using body outer wall and inner wall , when ontology expansion when, then the part that ontology is paved naturally has become the action track structure of ontology, using sawtooth it Between intermeshing cooperation so that the expansion of ontology and pinching process action are quick, and stable equilibrium, in ontology pinching or expansion During, the first telescopic rod and the second telescopic rod accordingly stretch therewith, to meet the structure change requirement of entire robot, this Filled with air inside the rubber bag tank being arranged in body, so that rubber bag tank itself has good structural elasticity and structural strength, to protect Card ontology can be strutted quickly, and ontology itself is also made to have collapsible structural flexibility.

3. there is clamping structure to transport fast tunnel sampling soft robot for this, ontology carries out spiral around middle cylinder Wire type winding controls electric motor starting wherein the shaft of portion's setting is connect by driving belt with control motor in middle cylinder Afterwards, shaft rotation is driven by driving belt, so that winding or the relieving movement for entire ontology provide machine power support, made Ontology winding and relieving movement more quickly, it is smooth and stablize, the micro air pump inside middle cylinder utilizes pump function, The inner cavity air pressure that pneumatic pull rod can be increased or reduced, when pneumatic pull rod air pressure inside increases, then pneumatic pull rod extends, on the contrary Then pneumatic pull rod shortens, and pneumatic pull rod pulls material copy frame, is changed using the length of pneumatic pull rod, adjusts the inclination angle of material copy frame Size is spent, handrail is supported for providing material copy frame with bottom.

4. there is clamping structure to transport fast tunnel sampling soft robot for this, convenient by the setting of tray and idler wheel Soft robot is horizontally moved, cylinder can be under gas pressure, and control pressure telescopic rod is flexible, so that gas disk be sent To the ground, or far from ground, when gas disk ground proximity, the latch of bottom surface can increase the friction between gas disk and ground Power carries out the fixed purpose in position to entire soft robot to realize, the preformed hole of port plug on the body is used for this Internal portion is filled with compressed gas, and ontology is made to trail under gas pressure, delays the setting of indent, it is therefore an objective to make empty inside sawtooth The heart makes sawtooth have better bearing capacity, drives penetrating rod deflection by deflection cylinder, makes holding frame that angle accordingly occur inclined Turn, so as to pull down holding frame, shovel can be carried out to the tunnel dregs on material copy frame inclined-plane using pressure plate It blocks, is conducive to dregs and is smoothly introduced into Material collecting box for harvesting.

5. there is clamping structure to transport fast tunnel sampling soft robot for this, dregs are collected by Material collecting box for harvesting, On Material collecting box for harvesting, by gathering materials, motor drives center axis rotation, makes to take and expects that flabellum rotates with, and takes material flabellum in the shape of a spiral The dregs entered inside Material collecting box for harvesting by feed inlet are had the function of above mentioning, dregs can above be mentioned, rest on dregs by rotation On each partition, and pile up on partition, can be taken out the dregs piled up on each layer partition using suction nozzle, thus real Now to the sampling purpose of tunnel internal dregs.

Detailed description of the invention

Fig. 1 is schematic structural view of the invention；

Fig. 2 is pressure control box structure schematic diagram of the present invention；

Fig. 3 is body construction schematic diagram of the present invention；

Fig. 4 is enlarged structure schematic diagram at A in Fig. 3 of the present invention；

Fig. 5 is broached-tooth design schematic diagram of the present invention；

Fig. 6 is holding frame structural schematic diagram of the present invention；

Fig. 7 is Material collecting box for harvesting structural schematic diagram of the present invention.

In figure: 1, skeleton；2, sliding slot；3, lamination is buffered；4, movable block；5, oblique pull telescopic rod；6, block set；7, first is flexible Bar；8, the second telescopic rod；9, pressure control case；10, cylinder；11, air pressure telescopic link；12, gas disk；13, latch；14, ontology； 15, tray；16, idler wheel；17, port plug；18, rubber bag tank；19, sawtooth；20, delay indent；21, middle cylinder；22, miniature gas Pump；23, shaft；24, support frame；25, motor is controlled；26, driving belt；27, pneumatic pull rod；28, handrail；29, material copy frame； 30, holding frame；31, penetrating rod；32, cylinder is deflected；33, pressure plate；34, Material collecting box for harvesting；35, partition；36, suction nozzle；37, collect Expect motor；38, central axis；39, material flabellum is taken；40, feed inlet.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.

In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ", The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " is It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair Limitation of the invention, in addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or Imply relative importance.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine Tool connection, is also possible to be electrically connected；It can be directly connected, it can also indirectly connected through an intermediary, for this field For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.

Fig. 1 to Fig. 7 is please referred to, the present invention provides a kind of technical solution: a kind of to transport fast tunnel with clamping structure and adopt Sample soft robot, including skeleton 1 and ontology 14, the side of skeleton 1 is provided through sliding slot 2, and the left side of skeleton 1 is fixed It is connected with buffering lamination 3, sliding slot 2 is internally provided with movable block 4, and the left wall of movable block 4 is embedded with oblique pull telescopic rod 5, bone Block set 6 is provided on the outside of the upper end of frame 1, and the left wall of block set 6 is welded with the first telescopic rod 7, the top placement of the first telescopic rod 7 There is the second telescopic rod 8, and the left wall of the right end of the second telescopic rod 8 and block set 6 is welded, the bottom end integration of skeleton 1 is connected with gas Control cabinet 9 is pressed, and the lower section of pressure control case 9 is provided with air pressure telescopic link 11, size phase interworking between movable block 4 and sliding slot 2 It closes, the upper end of oblique pull telescopic rod 5 is set in the outside of the first telescopic rod 7, and there are two the total settings of oblique pull telescopic rod 5, buffering is folded Plate 3 is arc-shaped rugosity structure, and the positioned inside of pressure control case 9 has cylinder 10, and the lower part connecting pin of cylinder 10 and gas The upper end connection for pressing telescopic rod 11 can be on the basis of skeleton 1 up and down using being slidably matched between movable block 4 and sliding slot 2 Mobile movable block 4, oblique pull telescopic rod 5, the first telescopic rod 7 and the second telescopic rod 8 are Telescopic shaft type structure, in movable block 4 In moving process, oblique pull telescopic rod 5 can accordingly stretch, and oblique pull telescopic rod 5 mainly provides skewed horizontal load to the first telescopic rod 7, Guarantee that robot support construction is reliable and stable, buffering lamination 3 is arranged using foldable structure, and buffers lamination 3 using modeling Expect material, therefore there is good elasticity；

The bottom end weldering of air pressure telescopic link 11 is connected with gas disk 12, and the lower surface integration of gas disk 12 is connected with latch 13, card Tooth 13 is uniformly arranged in the lower surface of gas disk 12, and gas disk 12 constitutes lifting structure, gas by air pressure telescopic link 11 and cylinder 10 Cylinder 10 can be under gas pressure, and control pressure telescopic rod 11 is flexible, so that gas disk 12 is sent to ground, or separate ground, when When gas 12 ground proximity of disk, the latch 13 of bottom surface can increase the frictional force between gas disk 12 and ground, to realize to whole A soft robot carries out the fixed purpose in position, and the right end integrated setting of ontology 14 has tray 15, and the setting of ontology 14 exists The lower outer of air pressure telescopic link 11, air pressure telescopic link 11 vertically run through from the inside of ontology 14, and the lower section of tray 15 is fitted with Idler wheel 16, for the head end outside wall surface of ontology 14 through there is port plug 17, the positioned inside of ontology 14 has rubber bag tank 18, and rubber bag tank 18 Symmetrical center line be overlapped with the symmetrical center line of ontology 14, the surfaces externally and internally of ontology 14 is equidistantly fixedly installed sawtooth 19, And the inside of sawtooth 19 offers slow indent 20, it is convenient that water is carried out to soft robot by the setting of tray 15 and idler wheel 16 Translation is dynamic, and port plug 17 is used to be filled with compressed gas to the inside of ontology 14 in the preformed hole on ontology 14, makes ontology 14 in air pressure It trails under effect, delays the setting of indent 20, it is therefore an objective to make 19 boring of sawtooth, enable sawtooth 19 that there is better pressure-bearing Power；

Helically disk-like structure is arranged ontology 14, and the centre of ontology 14 is fixedly installed middle cylinder 21, middle cylinder 21 inside upper left side is mounted with micro air pump 22, and the bosom of middle cylinder 21, through there is shaft 23, ontology 14 surrounds Middle cylinder 21 carry out spiral form winding, integration is connected with support frame 24 above the outer wall of middle cylinder 21, and supports The top screw of frame 24 is equipped with control motor 25, and the shaft end of control motor 25 is arranged with driving belt 26, and driving belt 26 Lower end and shaft 23 shaft end be socketed, and shaft 23 by driving belt 26 and control motor 25 constitute drive mechanism, turn Axis 23 is connect by driving belt 26 with control motor 25, after control motor 25 starts, drives shaft 23 by driving belt 26 Rotation, so that winding or the relieving movement for entire ontology 14 provide machine power support, so that the winding and relieving of ontology 14 Movement is more quick, smooth and stable, is provided through pneumatic pull rod 27, and pneumatic pull rod 27 above the left wall of middle cylinder 21 Abutting end with middle cylinder 21 is spherical shape structure, the abutting end and micro air pump 22 of pneumatic pull rod 27 and middle cylinder 21 Connecting pin connection, and the left end of pneumatic pull rod 27 is provided with material copy frame 29, and the side of material copy frame 29 is in " L " character form structure, Simultaneously in 15 ° of tilt angle settings on the left of the bottom surface of material copy frame 29, micro air pump 22 utilizes pump function, can increase or reduce The inner cavity air pressure of pneumatic pull rod 27, when 27 air pressure inside of pneumatic pull rod increases, then pneumatic pull rod 27 extends, on the contrary then pneumatic drawing Bar 27 shortens, and pneumatic pull rod 27 pulls material copy frame 29, is changed using the length of pneumatic pull rod 27, adjusts the inclination of material copy frame 29 Angular dimension；

Insertion is mounted with the right end of handrail 28, and the left end of handrail 28 and material copy frame 29 among the end face of middle cylinder 21 Connection below right side, the left side of material copy frame 29 are equipped with holding frame 30, and through there is penetrating rod inside the upper end of holding frame 30 31, one end of penetrating rod 31 is provided with deflection cylinder 32, and deflects cylinder 32 and deflected by penetrating rod 31 and the composition of material copy frame 29 Structure, handrail 28 are supported for providing material copy frame 29 with bottom, are driven penetrating rod 31 to deflect by deflection cylinder 32, are made holding frame 30 corresponding generation angular deflections, so as to pull down holding frame 30, penetrating rod 31 is from the channel structure of material copy frame 29 Run through, and size cooperates between penetrating rod 31 and the channel structure of material copy frame 29, the front lower section integration of holding frame 30 It is connected with pressure plate 33, the top of material copy frame 29 is fixedly installed Material collecting box for harvesting 34, and the inner wall integration of Material collecting box for harvesting 34 is connected with Partition 35, and partition 35 along Material collecting box for harvesting 34 vertical direction parallel equidistant setting there are three, can be to shovel using pressure plate 33 To blocking to the tunnel dregs on 29 inclined-plane of material copy frame, dregs are collected by Material collecting box for harvesting 34, outside Material collecting box for harvesting 34 Side wall is provided through suction nozzle 36, and the top of Material collecting box for harvesting 34 is mounted with the motor 37 that gathers materials, the lower square shaft for the motor 37 that gathers materials End axis connection has central axis 38, and central axis 38 runs through from the center of partition 35, and fixation is set the outer wall of central axis 38 in the shape of a spiral It is equipped with and takes material flabellum 39, the front lower section of Material collecting box for harvesting 34 offers feed inlet 40, on Material collecting box for harvesting 34, passes through 37 band of motor that gathers materials Dynamic central axis 38 rotates, and makes to take material flabellum 39 and rotates with, and takes material flabellum 39 and rotate in the shape of a spiral, to by feed inlet 40 into Entering the dregs inside Material collecting box for harvesting 34 has the function of above mentioning, and dregs can above be mentioned, rest on dregs on each partition 35, and Pile up on partition 35, can be taken out the dregs piled up on each layer partition 35 using suction nozzle 36, to realize to tunnel The sampling purpose of dregs inside road.

To sum up, there is clamping structure to transport fast tunnel sampling soft robot for this, in use, the soft robot is put It sets in place, starts the cylinder 10 of model CDU10, under gas pressure, extend air pressure telescopic link 11, by gas Disk 12 pushs towards ground, and the latch 13 and ground face contact of 12 bottom surface of disk that makes to bring about the desired sensation increase frictional force, thus by the head end of ontology 14 It is fixed on certain, it is on the contrary then gas disk 12 can be pulled away from ground, it can be by ontology 14 using the idler wheel 16 of 15 lower section of tray Head end is moved, and after soft robot is fixed, pulls up port plug 17, and a gas plastic pipe is connected to port plug 17 and is existed In preformed hole on ontology 14, it is filled with air inside Xiang Benti 14, makes 14 inside of ontology because air pressure increases, and can be to outreach It opens, ontology 14 itself is helically linear pinching in the initial state, therefore when ontology 14 is unfolded, the expansion side of ontology 14 To being to roll expansion to the left, in this course, the length of ontology 14 is constantly elongated, and the middle cylinder 21 at 14 center of ontology is high Degree constantly decline, the slide downward under the mating reaction with sliding slot 2, continuous with 14 length of run of ontology add block set 6 immediately Long, the first telescopic rod 7 and the second telescopic rod 8 are stretched out therewith, concurrently be that oblique pull telescopic rod 5 pulls open immediately, and can drag The upper cunning in sliding slot 2 of movable block 4 is moved to open up to guarantee that oblique pull telescopic rod 5 supports stablizing for the first telescopic rod 7 in ontology 14 During opening, the sawtooth 19 of 14 inner wall of sawtooth 19 and ontology of 14 outside wall surface of ontology is cooperated to from original engagement gradually to be divided It opens, after 14 outside wall surface of ontology gradually flattens, sawtooth 19 thereon with ground face contact, is set immediately using the structure of sawtooth 19 itself It sets, helps to catch earth's surface, improve the stability that ontology 14 moves, the part that ontology 14 is unfolded in a disguised form becomes ontology 14 and takes action Track, the clever structure of ontology 14 is separated to a part to realize rail effect, it is after ontology 14 is unfolded, material copy frame 29 is whole It is a to be transported to tunnel internal, realize the rapid of transport, the micro air pump of 050 series of starting 21 inside model of middle cylinder 22, under pump function, air-flow is extracted from pneumatic pull rod 27, is reduced the air pressure size inside pneumatic pull rod 27, is made pneumatically to draw 27 length of bar shortens, and pneumatic pull rod 27 pulls material copy frame 29 and tilt to the right, material copy frame 29 during ontology 14 is unfolded, It is arranged by the oblique angle of 29 bottom surface of material copy frame, the dregs material for taking tunnel internal can be shoveled, and is changed when by above-mentioned adjusting Afterwards, 29 bottom surface of material copy frame upwarps, and is conducive to tunnel dregs and slides into feed inlet 40, starts the motor that gathers materials of model YS6312 37, by drive central axis 38 rotate so that take material flabellum 39 spin to rotation, to the dregs entered in Material collecting box for harvesting 34 It carries out spiral above to mention, and dregs is deposited on each layer partition 35, suction nozzle 36 is recycled to extract the slag on each layer partition 35 Soil, to complete the sampling purpose to tunnel internal dregs, during material copy frame 29 is pushed with horizontality, Ke Yiqi The deflection cylinder 32 of dynamic model MSQB-20A, rotates penetrating rod 31, and rotates with holding frame 30, and holding frame 30 is downward Rotation enables the pressure plate 33 on holding frame 30 to shovel to blocking to the tunnel dregs on 29 inclined-plane of material copy frame, favorably It is smoothly introduced into Material collecting box for harvesting 34 in dregs, when retracting the soft robot, can star the control of model Y-160M1-2 Motor 25 processed drives shaft 23 to rotate using driving belt 26, while 17 position of port plug starts to deflate, 14 air pressure inside of ontology It reduces, and ability is wound to the rotation of ontology 14 by control motor 25, ontology 14 is quickly wound with zigzag shape, The sawtooth 19 of 14 inner wall of sawtooth 19 and ontology of 14 outside wall surface of ontology engages again, and the length of run of ontology 14 is gradually shortened, Material copy frame 29 is pulled out by ontology 14 toward tunnel face direction immediately, and during the expansion of ontology 14 and pinching, gas disk 12 supports always Tightly in earth's surface, by the effect of frictional force, ontology 14 is clamped in certain, avoids 14 position of ontology mobile, when ontology 14 is fast After speed is withdrawn, it can be contacted with buffering lamination 3, so that the buffering lamination 3 being folded with is shunk, alleviate momentum effect, to avoid Ontology 14 finally clashes on skeleton 1 and by accidental injury.

The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.

Claims (10)

1. a kind of transport fast tunnel sampling soft robot, including skeleton (1) and ontology (14), feature with clamping structure Be: the side of the skeleton (1) is provided through sliding slot (2), and the left side of skeleton (1) is fixedly connected with buffering lamination (3), the sliding slot (2) is internally provided with movable block (4), and the left wall of movable block (4) is embedded with oblique pull telescopic rod (5), institute It states and is provided with block set (6) on the outside of the upper end of skeleton (1), and the left wall of block set (6) is welded with the first telescopic rod (7), described first It is mounted with above telescopic rod (7) the second telescopic rod (8), and the left wall of the right end of the second telescopic rod (8) and block set (6) is welded, The bottom end integration of the skeleton (1) is connected with pressure control case (9), and is provided with air pressure below pressure control case (9) and is stretched The right end integrated setting of contracting bar (11), the ontology (14) has tray (15), and ontology (14) is arranged in air pressure telescopic link (11) lower outer, the air pressure telescopic link (11) are vertically run through from the inside of ontology (14).

2. it is according to claim 1 it is a kind of transport fast tunnel with clamping structure and sample soft robot, feature exists In: size cooperates between the movable block (4) and sliding slot (2), and the upper end of the oblique pull telescopic rod (5) is set in first and stretches The outside of contracting bar (7), and there are two the total settings of oblique pull telescopic rod (5), the buffering lamination (3) is arc-shaped rugosity structure, The positioned inside of the pressure control case (9) has cylinder (10), and the lower part connecting pin of cylinder (10) and air pressure telescopic link (11) Upper end connection.

3. it is according to claim 2 it is a kind of transport fast tunnel with clamping structure and sample soft robot, feature exists In: the bottom end weldering of the air pressure telescopic link (11) is connected with gas disk (12), and the lower surface integration of gas disk (12) is connected with latch (13), the latch (13) is uniformly arranged in the lower surface of gas disk (12), and gas disk (12) passes through air pressure telescopic link (11) and gas Cylinder (10) constitutes lifting structure.

4. it is according to claim 1 it is a kind of transport fast tunnel with clamping structure and sample soft robot, feature exists In: it is fitted with idler wheel (16) below the tray (15), the head end outside wall surface of the ontology (14), which runs through, port plug (17), The positioned inside of the ontology (14) has rubber bag tank (18), and the symmetrical center line of rubber bag tank (18) and ontology (14) it is symmetrical in Heart line is overlapped, and the surfaces externally and internally of the ontology (14) is equidistantly fixedly installed sawtooth (19), and the inside of sawtooth (19) opens up There are slow indent (20).

5. it is according to claim 4 it is a kind of transport fast tunnel with clamping structure and sample soft robot, feature exists In: helically disk-like structure is arranged the ontology (14), and the centre of ontology (14) is fixedly installed middle cylinder (21), described The inside upper left side of middle cylinder (21) is mounted with micro air pump (22), and the bosom of middle cylinder (21) is through there is shaft (23).

6. it is according to claim 5 it is a kind of transport fast tunnel with clamping structure and sample soft robot, feature exists In: integration is connected with support frame (24) above the outer wall of the middle cylinder (21), and the top screw peace of support frame (24) Equipped with control motor (25), the shaft end of control motor (25) is arranged with driving belt (26), and under driving belt (26) The shaft end at end and shaft (23) is socketed, and shaft (23) constitutes transmission knot by driving belt (26) and control motor (25) Structure.

7. it is according to claim 5 it is a kind of transport fast tunnel with clamping structure and sample soft robot, feature exists In: it is provided through pneumatic pull rod (27) above the left wall of the middle cylinder (21), and pneumatic pull rod (27) and middle cylinder (21) abutting end is spherical shape structure, the abutting end and micro air pump (22) of the pneumatic pull rod (27) and middle cylinder (21) Connecting pin connection, and the left end of pneumatic pull rod (27) is provided with material copy frame (29), and the side of material copy frame (29) is in " L " word Shape structure, while in 15 ° of tilt angle settings on the left of the bottom surface of material copy frame (29).

8. it is according to claim 5 it is a kind of transport fast tunnel with clamping structure and sample soft robot, feature exists In: insertion is mounted with the right end of handrail (28), and the left end of handrail (28) and material copy among the end face of the middle cylinder (21) It connects, is equipped with holding frame (30) on the left of the material copy frame (29), and holding frame (30) is upper below the right side of frame (29) End is internal through having penetrating rod (31), and one end of the penetrating rod (31) is provided with deflection cylinder (32), and deflects cylinder (32) Deflection structure is constituted by penetrating rod (31) and material copy frame (29).

9. it is according to claim 8 it is a kind of transport fast tunnel with clamping structure and sample soft robot, feature exists In: the penetrating rod (31) is run through from the channel structure of material copy frame (29), and the conduit of penetrating rod (31) and material copy frame (29) Size cooperates between structure, and the front lower section integration of the holding frame (30) is connected with pressure plate (33), the material copy It is fixedly installed above frame (29) Material collecting box for harvesting (34), and the inner wall integration of Material collecting box for harvesting (34) is connected with partition (35), and Partition (35) along Material collecting box for harvesting (34) vertical direction parallel equidistant setting there are three.

10. it is according to claim 9 it is a kind of transport fast tunnel with clamping structure and sample soft robot, feature exists In: the lateral wall of the Material collecting box for harvesting (34) is provided through suction nozzle (36), and is mounted with and is gathered materials above Material collecting box for harvesting (34) The lower section shaft end axis connection of motor (37), the motor that gathers materials (37) has central axis (38), and central axis (38) is from partition (35) Center run through, the outer wall of the central axis (38) be fixedly installed in the shape of a spiral takes material flabellum (39), the Material collecting box for harvesting (34) Front lower section offer feed inlet (40).