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Robot imitating earthworm to penetrate into earth

A robot and ground-drilling technology, which is applied in the field of bionic robots, can solve the problems of high manufacturing cost, complex robot structure, and unsuitability for mass production applications, and achieve the effects of low implementation cost, elimination of frictional resistance, and simple overall mechanism

Inactive Publication Date: 2012-06-13
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The United States invented a self-propelled deep-hole drilling equipment, which is divided into front and rear sections, imitating inchworm drilling and crawling, and is mainly used for surface detection of extraterrestrial planets. However, the robot has a complex structure and high manufacturing cost, and is not suitable for large mass production applications

Method used

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  • Robot imitating earthworm to penetrate into earth
  • Robot imitating earthworm to penetrate into earth
  • Robot imitating earthworm to penetrate into earth

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Embodiment Construction

[0029] The present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

[0030] see Figure 1-9 , the imitation earthworm earth-boring robot in the present invention is an axisymmetric structure, and is positioned by the supporting feet 6,11 that are evenly distributed on the front and rear body segments 4,10.

[0031] The above-mentioned imitation earthworm earth-boring robot consists of a head ( image 3 ), the front body segment 4, the rear body segment 10, and the screw rod 8 are composed of four parts, including three modules of drilling, soil removal, driving, detection and control. The drilling and soil-discharging modules realize the cutting and conveying of soil; the driving module realizes the movement of the body, including two actions of forward and turning; the detection and control module realizes the detection of the surrounding environment of the robot and controls the driving module, so as to reali...

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Abstract

The invention provides a robot imitating an earthworm to penetrate into the earth, which can creep in the soil. The robot imitating the earthworm to penetrate into the earth structurally comprises a head portion drilling the soil, a front body segment, a rear body segment and a spiral rod for internally discharging the soil, wherein the front body segment and the rear body segment can move forwards and perform turning. The circumferences of the body segments are respectively provided with 3 support feet in an evenly-distributed mode, and the body segments are connected with each other through a pair of lead screw nut mechanisms. Driven by a motor, the support feet and the lead screw nut mechanisms are matched with each other to enable the robot to imitate the earthworm to creep. In addition, the robot is provided with a detection device, a gyroscope and a circuit board, and a combined cable is used to transmit power and information, thereby being favorable for remote real-time control by operators. The robot imitating the earthworm to penetrate into the earth has the advantages of being designed by adopting a biomimetic theory, imitating the earthworm to dig and creep, and being high in earth-penetrating efficiency, simple in structure, low in construction cost and the like. The robot imitating the earthworm to penetrate into the earth can move forwards and perform free turning, and is suitable for underground mineral reserve exploration, geological exploration, earthquake and mining accident rescue and the like.

Description

technical field [0001] The invention belongs to the field of bionic robots, and relates to an earth-drilling robot capable of crawling in mud. Background technique [0002] Mineral forecasting, mineral census, geological survey, etc. are important basis for land development, improvement and planning. At present, the above-mentioned work is mainly completed by building a large drilling tower for drilling. This method requires large-scale equipment and the cost of geological survey is high. On the other hand, my country is an earthquake-prone country. Especially in recent years, we have suffered many strong earthquakes, which have caused huge losses to our lives and properties. Current earthquake search and rescue mainly rely on sound waves (vibration), radar microwave life detectors, search and rescue dogs, etc., but the effect of search and rescue is not very satisfactory. Furthermore, mine accidents happen from time to time in my country. In the past, we rescued undergro...

Claims

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Application Information

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IPC IPC(8): E21B7/00E21B4/02E21B17/22
Inventor 简小刚王叶锋杨鹏春黄江昕李晓华
Owner TONGJI UNIV
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