A flexible caterpillar crawling robot without exogenous

Abstract

The application discloses a flexible and worm-like robot without external source, which comprises a front end module, a body module and a terminal module connected in sequence; the front end module is provided with a camera for shooting environment; the body module comprises a plurality of soft segments connected in sequence and rotating mechanisms connected between adjacent soft segments; the soft segments are filled with a plurality of inflatable air cavities, and the inflation and deflation of the plurality of air cavities are used for adjusting and controlling the bending deformation of the soft segments; the rotating mechanism is used for controlling the turning of the soft segments; and the terminal module is used for inflating and deflating the air cavities; therefore, the setting mode can make the robot cyclically transform between the arched and straightened states, realize the crawling mode like a caterpillar, and the robot can also perform a head-lifting motion at different heights and angles, so that the robot can adapt to uneven terrains and overcome obstacles, and can freely move and operate in various tasks, and the motion limitation problem of the existing robot in a complex environment is solved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a flexible caterpillar-crawling robot without external power source. Background Technology

[0002] The limited mobility of crawling robots in complex environments has always been a challenge in research and development. Traditional crawling robots often employ rigid structures and conventional wheeled or legged locomotion methods, which restrict their adaptability and maneuverability in complex environments. In recent years, soft crawling robots have emerged, but due to their large external volume and the fact that they can only crawl close to the ground, they cannot navigate in narrow spaces or adapt to uneven terrain, and they are often limited to performing specific tasks.

[0003] In summary, there is an urgent need for a crawling robot that can perform multiple tasks simultaneously, is highly flexible, and requires no external power source to solve the problem of limited movement of current crawling robots in complex environments and to improve their application potential. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible caterpillar-crawling robot without external force, so as to solve the problem of limited movement of existing robots in complex environments.

[0005] To address the aforementioned technical problems, this invention provides a flexible, caterpillar-like crawling robot without external power sources, comprising a front-end module, a body module, and an end-effector module connected in sequence. The front-end module is equipped with a camera for capturing environmental conditions. The body module includes multiple soft segments connected in sequence and a rotating mechanism connecting adjacent soft segments. Each soft segment is filled with multiple inflatable air chambers, and the inflation / deflation adjustment of these air chambers is used to control the bending deformation of the soft segments. The rotating mechanism includes a first rotating shell and a second rotating shell, with the first rotating shell rotatably mounted on the second rotating shell. The first rotating shell is connected to one of the adjacent soft segments, and the second rotating shell is connected to the other of the adjacent soft segments. The end-effector module is used to inflate and deflate the air chambers.

[0006] In one embodiment, the front-end module is provided with a controllable gripper and a nozzle for spraying liquid.

[0007] In one embodiment, the outer bottom surface of the soft segment is provided with multiple bionic feet.

[0008] In one embodiment, the software segment has two rows of air chambers arranged side by side, and each row of air chambers has an air inlet valve connected to its air exchange port; the terminal module has an air supply pump and an air extraction pump, and both the air supply pump and the air extraction pump are connected to each of the air inlet valves.

[0009] In one embodiment, the inner peripheral wall of the first rotating shell is provided with an annular gear; the second rotating shell is provided with a drive motor, the output shaft of which is connected to a gear set, which meshes with the annular gear.

[0010] In one embodiment, the gear set includes a transmission rod, a transmission worm gear, and a transmission gear; one end of the transmission rod is provided with a gear structure, which meshes with a power gear on the output shaft of the transmission motor; the other end of the transmission rod is provided with a worm structure, which is connected to the transmission worm gear; the transmission worm gear is coaxially connected to the transmission gear; and the transmission gear meshes with the annular gear.

[0011] The beneficial effects of this invention are as follows:

[0012] Because the main body module includes multiple soft segments connected in sequence and a rotating mechanism connecting adjacent soft segments, and the soft segments are filled with multiple inflatable air chambers, the inflation and deflation of the multiple air chambers are used to control the bending deformation of the soft segments. Therefore, this configuration allows the robot to cycle between arched and straightened states, achieving a caterpillar-like crawling motion. Moreover, this robot can also perform head-raising movements at different heights and angles, enabling it to adapt to uneven terrain and overcome obstacles. It can move and operate freely in various tasks, effectively solving the problem of limited movement of existing robots in complex environments. Attached Figure Description

[0013] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the structure provided in an embodiment of the present invention;

[0015] Figure 2 yes Figure 1 A schematic diagram of the front-end module structure;

[0016] Figure 3 yes Figure 1 A schematic diagram of the end module structure;

[0017] Figure 4 yes Figure 1 A schematic diagram of the disassembled structure;

[0018] Figure 5 yes Figure 1 schematic diagram of the rotating mechanism Figure 1 ;

[0019] Figure 6 yes Figure 1 schematic diagram of the rotating mechanism Figure 2 ;

[0020] Figure 7 This is the motion state of the flexible caterpillar-crawling robot provided in the embodiments of the present invention. Figure 1 ;

[0021] Figure 8 This is the motion state of the flexible caterpillar-crawling robot provided in the embodiments of the present invention. Figure 2 ;

[0022] Figure 9 This is the motion state of the flexible caterpillar-crawling robot provided in the embodiments of the present invention. Figure 3 ;

[0023] Figure 10 This is the motion state of the flexible caterpillar-crawling robot provided in the embodiments of the present invention. Figure 4 .

[0024] The attached figures are labeled as follows:

[0025] 10. Front-end module; 11. Camera; 12. Gripper; 13. Nozzle;

[0026] 20. Main body module; 21. Soft section; 22. Air chamber; 23. Air intake valve; 24. Bionic foot; 25. Rotation mechanism; 251. First rotating shell; 252. Second rotating shell; 253. Ring gear; 254. Drive motor; 255. Gear set; 2551. Drive rod; 2552. Drive worm gear; 2553. Drive gear; 2554. Gear structure; 2555. Power gear; 2556. Worm structure;

[0027] 30. Terminal module; 31. Air supply pump; 32. Air extraction pump; 33. Control circuit. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0029] This invention provides a flexible, non-external caterpillar-crawling robot, the implementation of which is as follows: Figure 1 As shown, it includes a front-end module 10, a body module 20, and an end module 30 connected in sequence.

[0030] Regarding the aforementioned front-end module 10, as Figure 1 and Figure 2As shown, the front-end module 10 is equipped with a camera 11 for capturing environmental conditions. The shooting direction of the camera 11 can be set to face the forward direction of the flexible caterpillar crawling robot, so that the environmental information of the forward direction can be sent to the central processing unit of the end module 30 for analysis in a timely manner, and then the optimal movement route can be obtained, thereby realizing the optimal movement path selection of the flexible caterpillar crawling robot.

[0031] In addition, this embodiment also includes a controllable gripper 12 and a nozzle 13 for spraying liquid in the front-end module 10. For example, the gripper 12 can be rotated using a servo motor, that is, the opening and closing of the gripper 12 is controlled by the rotation of the servo motor to grasp the object. The nozzle 13 can be used to spray cleaning fluid or corrosive liquid. For example, if the nozzle 13 is used to spray cleaning fluid, cleaning operation can be achieved. If the nozzle 13 is used to spray corrosive liquid, the corrosive liquid can be used to destroy obstacles in the direction of movement of the flexible caterpillar crawling robot. Therefore, the application can be selected according to the specific application scenario.

[0032] Of course, multiple liquid storage chambers can also be set in the front-end module 10 to store liquids with different application functions at the same time, and nozzles 13 can be set to switch and select to spray liquids in different liquid storage chambers to meet the usage needs in different scenarios.

[0033] Regarding the aforementioned body module 20, as Figure 1 ,as well as Figures 3 to 6 As shown, the main body module 20 includes two software segments 21 connected in sequence, and a rotation mechanism 25 connected between the two adjacent software segments 21. Of course, the number of software segments 21 is not limited to two. If there are multiple software segments 21, it is only necessary to ensure that there is a rotation mechanism 25 between any adjacent software segments 21 so that the connection between adjacent software segments 21 can be achieved by using the rotation mechanism 25.

[0034] The soft segment 21 is made of a flexible material, such as common soft rubber, silicone rubber, PDMS, or bendable plastic. By controlling the bending deformation of each soft segment 21, the crawling motion of a caterpillar can be simulated, thus enabling the crawling of a flexible caterpillar-crawling robot. Therefore, in order to control the deformation of the soft segment 21, this embodiment fills the soft segment 21 with multiple inflatable and deflated air cavities 22. The inflation and deflation of the multiple air cavities 22 are used to regulate the bending deformation of the soft segment 21.

[0035] For example, when the two air chambers 22 within the same soft segment 21 are simultaneously inflated and deflated, the soft segment 21 will cycle between arched and straightened states. This morphological change is consistent with the crawling posture of a caterpillar, thus achieving biomimetic movement consistent with the caterpillar's movement. Specifically, the arched state diagram of the flexible caterpillar crawling robot is shown below. Figure 10As shown, the robot is now arched at both ends, a posture that closely resembles the actual wriggling posture of a caterpillar.

[0036] In order to ensure more precise control over the bending degree of the soft segment 21, this embodiment has two rows of air chambers 22 arranged side by side in the soft segment 21. Each row of air chambers 22 has an air inlet valve 23 connected to its air exchange port. The end module 30 is equipped with an air supply pump 31 and an air extraction pump 32, both of which are connected to the air inlet valves 23.

[0037] from Figure 4 As can be seen, each row of air chambers 22 is provided with multiple air chambers 22, which are arranged sequentially in one direction and connected in series. Only the air chamber 22 at the beginning of the arrangement is provided with an air exchange port, so that multiple air chambers 22 can be connected to the air inlet valve 23 through a single air exchange port. The air supply pump 31 and the air extraction pump 32 are respectively connected to multiple air inlet valves 23. When the air supply pump 31 is working, it can inflate the air chamber 22 to make the air chamber 22 expand. When the air extraction pump 32 is working, it can extract the air from the air chamber 22 to make the air chamber 22 contract.

[0038] Therefore, by adopting the above setting, the inflation and deflation of each row of air chambers 22 can be adjusted to different degrees by adjusting the opening of each air intake valve 23. For example, if one row of air chambers 22 is inflated and the other row is deflated, the expansion degree of the two rows of air chambers 22 will be different, which will cause the soft segment 21 wrapped around the two rows of air chambers 22 to bend and deform, thus realizing the control of the left and right bending deformation of the soft segment 21.

[0039] It should also be noted that this embodiment also has a plurality of biomimetic feet 24 in the shape of Norfolk Island pine on the outer bottom surface of the soft segment 21, so as to improve the crawling efficiency of the flexible caterpillar crawling robot by utilizing the shape characteristics of Norfolk Island pine; of course, the biomimetic feet 24 do not necessarily have to be designed based on Norfolk Island pine, and other structures that can achieve similar functions can be used as design references.

[0040] In addition, such as Figure 1 , Figure 5 and Figure 6As shown, the rotating mechanism 25 includes a first rotating shell 251 and a second rotating shell 252 in annular shape. The first rotating shell 251 is rotatably mounted on the second rotating shell 252 in the same axial manner, so that the first rotating shell 251 can be controlled to rotate axially. The first rotating shell 251 is connected to the end of one soft segment 21, and the second rotating shell 252 is connected to the end of another soft segment 21, so as to achieve the purpose of connecting two soft segments 21 into one unit using the rotating mechanism 25. Of course, if there are more than two soft segments 21, it is only necessary to set a rotating mechanism 25 corresponding to the number of segments, and ensure that the first rotating shell 251 is connected to one of the adjacent soft segments 21, and the second rotating shell 252 is connected to the other of the adjacent soft segments 21, so as to achieve the purpose of connecting multiple soft segments 21 into one unit using the rotating mechanism 25.

[0041] The purpose of adopting the above configuration is to realize the steering control of the flexible caterpillar crawling robot. For example, when the first rotating shell 251 rotates, the soft segment 21 connected to it will also rotate, thereby changing the orientation of the bottom surface of the soft segment 21, that is, changing the direction of the crawling force of the soft segment 21, thus realizing steering control.

[0042] In order to achieve rotation control of the first rotating shell 251, a corresponding motor can be set to apply transmission power to it. For example, in this embodiment, an annular gear 253 is provided on the inner peripheral wall of the first rotating shell 251, and a transmission motor 254 is provided in the second rotating shell 252. The output shaft of the transmission motor 254 is connected to a gear set 255, and the gear set 255 meshes with the annular gear 253.

[0043] Therefore, when the drive motor 254 is working, the gear set 255 can apply force to the ring gear 253, thereby causing the first rotating shell 251 to rotate, thus realizing the steering control of the flexible caterpillar crawling robot; wherein, in order to realize the power output of the drive motor 254 to the ring gear 253 using the gear set 255, such as Figure 6As shown, this embodiment of the gear set 255 includes a transmission rod 2551, a transmission worm gear 2552, and a transmission gear 2553. One end of the transmission rod 2551 is provided with a gear structure 2554, which meshes with a power gear 2555 on the output shaft of the transmission motor 254. The other end of the transmission rod 2551 is provided with a worm structure 2556, which is connected to the transmission worm gear 2552. Therefore, when the transmission motor 254 is working, the power generated by the transmission motor 254 can be used by the power gear 2553. The gear structure 2554 on the drive rod 2551 rotates, thereby driving the drive rod 2551 to drive the transmission worm wheel 2552 to rotate via the worm structure 2556. The transmission worm wheel 2552 is coaxially connected to the transmission gear 2553, so when the transmission worm wheel 2552 rotates, the transmission gear 2553 can be synchronously transmitted and controlled. Finally, by meshing the transmission gear 2553 with the ring gear 253, the ring gear 253 can be driven to rotate, thereby realizing the steering control of the flexible caterpillar crawling robot.

[0044] Regarding the terminal module 30, as Figure 1 , Figure 3 and Figure 4 As shown, the end module 30 is equipped with a control circuit 33, an air supply pump 31, and an air extraction pump 32. The control circuit 33 can realize various operation controls of the flexible caterpillar crawling robot, while the air supply pump 31 and the air extraction pump 32 ensure that the end module 30 can be used to inflate and deflate the air chamber 22.

[0045] like Figures 7 to 9 As shown, the above-mentioned flexible caterpillar crawling robot can perform movements in various states. Therefore, in order to better understand the working principle of the present invention, several application scenarios will be provided below for explanation.

[0046] Scene 1

[0047] This flexible caterpillar crawling robot can observe its surrounding environment through camera 11 and issue commands for its direction of travel. For example, after observing its surrounding environment through camera 11 and transmitting the captured environmental information back to the end module 30 for analysis and processing, the flexible caterpillar crawling robot can calculate the optimal path on its own or receive commands from the operator to move forward.

[0048] Scene 2

[0049] This flexible caterpillar-like crawling robot intelligently selects the optimal path, extending and retracting its drive air chamber 22 in conjunction with its biomimetic legs 24, inspired by Norfolk Island pine trees, to move forward. When encountering obstacles, it rotates its soft body segment 21 via a rotating mechanism 25 to change its direction of travel. Simultaneously, the drive air pump 32 creates a pressure difference, causing the front end to lift, thus enabling it to overcome obstacles. Figure 9 As shown, once the flexible caterpillar-like crawling robot transforms into this state, it will be able to traverse narrow spaces, adapt to uneven terrain, and overcome obstacles, enabling it to move and operate freely in various tasks.

[0050] Scene 3

[0051] This flexible caterpillar crawling robot identifies objects through the camera 11 in the front-end module 10. When it moves to the confirmed target object, the camera 11 completes the identification of the target object and controls the gripper 12 to grasp and transport it.

[0052] Furthermore, the internal motor of the gripper 12 rotates, causing the gripper 12 to grasp the object. After reaching the destination, the motor rotates to release the object, completing the object handling.

[0053] Scene 4

[0054] In the military field, portable and flexible robots are needed for combat operations abroad. Therefore, this flexible caterpillar-like crawling robot can complete many military tasks, such as destroying enemy communication devices, thanks to its non-external characteristics.

[0055] Furthermore, after the flexible caterpillar-like crawling robot reaches its destination, it identifies the target object and destroys it, for example, by using its grippers 12 to cut the wire and its nozzles 13 to spray out corrosive liquid to destroy it.

[0056] Scene 5

[0057] The flexible caterpillar-like crawling robot can perform environmental monitoring in confined spaces, such as inspecting pipes, ventilation ducts, and mines. By adding sensors for gas, temperature, and other parameters to the front-end module 10 and the body module 20, the sensors transmit monitoring data back to the control unit of the end module 30 after the flexible caterpillar-like crawling robot reaches the target space, enabling back-end personnel to obtain data and provide real-time information about the environment.

[0058] Scene Six

[0059] When carrying out rescue missions, the flexible caterpillar-like crawling robot can intelligently select the optimal path, allowing it to traverse narrow spaces, search for trapped individuals, and carry rescue equipment into disaster sites to assist rescuers in finding survivors.

[0060] Scene 7

[0061] When performing pipeline inspection, if a branch or connection is encountered, the rotating mechanism 25 drives the soft section 21 to rotate through the rotating gear, enabling the robot to adjust its direction, inspect the branch pipeline, and achieve comprehensive coverage of the pipeline interior.

[0062] In summary, this invention overcomes some limitations of traditional crawling robots. For example, this robot does not require an external power supply and can move independently without an external battery or power source. This autonomous movement capability allows the robot to work continuously for extended periods and over long distances, without energy limitations, thus improving the robot's reliability and durability. Secondly, the flexible caterpillar-like crawling robot has a multi-functional front end, enabling it to flexibly adapt to the needs of different tasks. It can also perform head-raising movements, integrated with the front end module 10, and possesses an adjustable mechanism. This mechanism allows the robot to raise its head at different heights and angles, enabling it to adapt to uneven terrain and overcome obstacles, allowing it to move and operate freely in various tasks.

[0063] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A flexible, non-external caterpillar-crawling robot, characterized in that, This includes a front-end module, a body module, and an end module connected in sequence; The front-end module is equipped with a camera to capture the environmental conditions; The main body module includes multiple sequentially connected soft segments and a rotating mechanism connected between adjacent soft segments; each soft segment is filled with multiple inflatable and deflated air chambers, and the inflation and deflation adjustment of the multiple air chambers is used to control the bending deformation of the soft segment; the rotating mechanism includes a first rotating shell and a second rotating shell, the first rotating shell is rotatably mounted on the second rotating shell, the first rotating shell is connected to one of the adjacent soft segments, and the second rotating shell is connected to the other of the adjacent soft segments; The end module is used to inflate and deflate the air chamber; The soft segment is provided with two rows of air chambers arranged side by side, and each row of air chambers is connected to an air inlet valve at its air exchange port. The terminal module is equipped with an air supply pump and an air extraction pump, both of which are connected to the respective air inlet valves. The inner peripheral wall of the first rotating shell is provided with an annular gear; The second rotating housing is equipped with a drive motor, and the output shaft of the drive motor is connected to a gear set, which meshes with the ring gear. The gear set includes a transmission rod, a transmission worm gear, and a transmission gear; One end of the transmission rod is provided with a gear structure, which meshes with the power gear on the output shaft of the transmission motor; the other end of the transmission rod is provided with a worm gear structure, which is connected to the transmission worm wheel. The transmission worm gear is coaxially connected to the transmission gear. The transmission gear meshes with the ring gear.

2. The flexible caterpillar-crawling robot according to claim 1, characterized in that, The front-end module is equipped with a controllable gripper and a nozzle for spraying liquid.

3. The flexible caterpillar-crawling robot according to claim 1, characterized in that, The bottom surface of the soft segment is provided with multiple bionic feet.

Images