Reconfigurable robot with high trafficability of narrow passage
By designing multi-angle rotation track assembly, the problem of insufficient adaptability of existing robots in complex shape narrow channels is solved, high passability and obstacle crossing ability in different shape spaces are achieved, and the rescue efficiency at the disaster site is improved .
Patent Information
- Application Number
- CN202411675628.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-22
- Publication Date
- 2025-01-03
AI Technical Summary
Existing ruins search and rescue robots show limited adaptability when facing narrow passages of complex shapes, and are often blocked from outside and cannot go deep into the rescue line, limiting their application at actual disaster sites.
A reconfigurable robot with high passability of narrow passages is designed. The front and rear track components are connected by swing arms and rotary drive components to realize multi-angle rotation and combination of track components, which can adapt to narrow spaces of different shapes, including through Circular, square and irregular gaps.
It realizes the high passability of the robot in the narrow passage of complex shapes, and can flexibly shuttle into narrow spaces and cross obstacles, enhancing its application capabilities at disaster sites.
Smart Images
Figure CN119239787A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the field of robots, and in particular relates to a reconfigurable robot with high passability in narrow passages. Background Art
[0002] After a building collapses, the golden 24 hours is a critical time period for rescuing survivors. The ruins are full of dangerous and unpredictable structural changes. Rescuers not only face the limitations of hindered actions, but also have to bear huge risks to their lives. Therefore, ruins search and rescue robots have become a key force in modern rescue.
[0003] Ruin search and rescue robots are specially designed to cope with the complex environment after collapse, especially in narrow and irregular spaces. The interior of the ruins is often filled with gaps of various shapes, such as circular pipes, square frames, triangular cracks, etc. These irregular spaces are complex and changeable, which brings great difficulty to search and rescue. The robot needs to have a highly flexible structural design, which can adjust itself in real time according to the geometric shapes in the environment, flexibly shuttle through narrow circular, square or irregular gaps, and smoothly pass through debris and other obstacles.
[0004] However, the current common ruins search and rescue robots still have obvious limitations in design. Many search and rescue robots have difficulty passing through narrow and complex spaces and cannot go deep into the rescue front line. They show limited adaptability when facing narrow passages of complex shapes and are often blocked outside. For example, they cannot pass through narrow circular spaces, narrow square spaces, and cannot cross obstacles, or they cannot have the functions of passing through these different venues at the same time, which greatly limits their application in actual disaster sites. Summary of the invention
[0005] Therefore, the technical problem to be solved by the present invention is to overcome the problem that the current ruins search and rescue robots have limited adaptability when facing narrow passages with complex shapes and are often blocked outside, thus hindering the smooth implementation of ruins search and rescue work.
[0006] In order to solve the above technical problems, the present invention provides a reconfigurable robot with high passability in narrow passages, comprising an outer shell, a visual part and a moving part, wherein the moving part is mounted on the outer shell, the moving part drives the outer shell to move, and the moving part comprises a front crawler assembly and a rear crawler assembly, wherein the front crawler assembly and the rear crawler assembly are respectively arranged at the front and rear sides of the outer shell;
[0007] The front crawler assembly is connected to the outer shell through a first swing arm and a first rotation drive assembly in sequence, one end of the first swing arm is rotationally connected to the rear end of the front crawler assembly, and the other end is connected to the first rotation drive assembly, and the first rotation drive assembly is connected to the outer shell, and the first rotation drive assembly can drive the first swing arm to rotate with the X-axis direction as the rotation axis;
[0008] The rear track assembly is connected to the outer shell through a connecting piece, a second swing arm and a second rotation drive assembly in sequence. The connecting piece connects the rear track assembly and one end of the second swing arm. The other end of the second swing arm is connected to the second rotation drive assembly. The second rotation drive assembly is connected to the outer shell. The second rotation drive assembly can drive the second swing arm to rotate with the Y-axis direction as the rotation axis.
[0009] Preferably, the combination of the front crawler assembly and the rear crawler assembly comprises:
[0010] The front crawler assembly is flipped upward relative to the first swing arm with the X-axis direction as the rotation axis direction, and the rear crawler assembly is kept in a horizontal state;
[0011] or
[0012] The first swing arm forms an angle of 90 degrees with the outer shell, the front track assembly forms an angle of 180 degrees with the outer shell, and the rear track assembly remains in a horizontal state;
[0013] or
[0014] The first swing arm forms an angle of 90 degrees with the outer shell, the angle between the front track assembly and the outer shell is greater than 90 degrees and less than 180 degrees, and the two tracks of the rear track assembly are in an outward-facing "X" relationship.
[0015] Preferably, the first rotation drive assembly includes a first motor, a first driving gear, a first driven gear, a first screw rod, a first flange nut and a second flange nut, the first motor is fixed to the outer shell, the first driving gear is concentrically fixed to the rotating shaft of the first motor, the first driven gear is meshed with the first driving gear, the first driven gear is sleeved and fixed on the outside of the first screw rod, the first flange nut and the second flange nut are respectively sleeved on the first screw rod near both ends, the first flange nut is fixed to one end of the first swing arm, and the second flange nut is fixed to the other end of the first swing arm.
[0016] Preferably, the second rotation drive assembly includes a second motor, a second driving gear, a second driven gear, a second screw rod, a first threaded slider and a second threaded slider, the second motor is fixed to the outer shell, the second driving gear is concentrically fixed to the rotating shaft of the second motor, the second driven gear is meshed with the second driving gear, the second driven gear is sleeved and fixed on the outside of the second screw rod, the first threaded slider and the second threaded slider are respectively sleeved on the second screw rod near both ends, the first threaded slider is fixed to one end of the second swing arm, and the second flange nut is fixed to the other end of the second swing arm.
[0017] Preferably, the first swing arm is rotatably connected to the front track assembly via a support shaft and a rotary bearing, one end of the support shaft is fixed on the front track assembly, the rotary bearing is sleeved and fixed on the outside of the other end of the support shaft, and one end of the first swing arm is sleeved and fixed outside the rotary bearing.
[0018] Preferably, a torsion spring is sleeved on the support shaft, and two hooks of the torsion spring are respectively fixed to the front track assembly and the first swing arm.
[0019] Preferably, a limit cover is fixed to one end surface of the support shaft sleeved with the rotating bearing, the limit cover is provided with an arc-shaped tail, a limit block is fixed on the first swing arm, the limit block is provided with a convex column, and the convex column can limit the arc-shaped tail.
[0020] Preferably, the visual part is a three-freedom visual gimbal, and the three-freedom visual gimbal is fixed on the outside of the outer shell.
[0021] The technical solution of the present invention has the following beneficial effects:
[0022] The present invention provides a reconfigurable robot with high passability in narrow passages, comprising a moving part that can drive the robot to move, the moving part comprising a front track assembly and a rear track assembly, the front track assembly is connected to the outer shell of the robot in sequence through a first swing arm, one end of the first swing arm is rotatably connected to the rear end of the front track assembly, and the other end of the first swing arm is rotatably connected to the outer shell, and the rear track assembly is connected to the outer shell in sequence through a connecting piece and a second swing arm, the connecting piece connects the rear track assembly and one end of the second swing arm, and the other end of the second swing arm is rotatably connected to the outer shell, so that the front track assembly and the rear track assembly can be rotated at different angles, so that the robot can be reconfigured to pass through narrow and complex spaces of different shapes. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0024] Figure 1 It is a schematic diagram of the appearance of the present invention;
[0025] Figure 2 This is a schematic diagram of the present invention with the top plate of the housing removed;
[0026] Figure 3 It is an exploded schematic diagram of the front crawler assembly and the first swing arm of the present invention;
[0027] Figure 4 This is a schematic diagram of the first embodiment of the present invention;
[0028] Figure 5 This is a schematic diagram of the state of the second embodiment of the present invention;
[0029] Figure 6 This is a schematic diagram of the third embodiment of the present invention.
[0030] Explanation of the accompanying drawings: 1. outer shell; 2. visual part; 31. front track assembly; 32. rear track assembly; 4. first swing arm; 5. first rotation drive assembly; 51. first motor; 52. first driving gear; 53. first driven gear; 54. first screw rod; 55. first flange nut; 56. second flange nut; 6. connecting piece; 7. second swing arm; 8. second rotation drive assembly; 81. second motor; 82. second driving gear; 83. second driven gear; 84. second screw rod; 85. first threaded slider; 86. second threaded slider; 9. support shaft; 10. rotation bearing; 20. torsion spring; 30. limit cover; 301. arc tail; 40. limit block; 41. boss. DETAILED DESCRIPTION
[0031] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.
[0032] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0034] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
[0035] The present invention provides a reconfigurable robot with high passability in narrow passages, comprising an outer shell 1, a visual part 2 and a moving part, wherein the moving part is mounted on the outer shell 1 and drives the outer shell 1 to move, so that the outer shell 1 can walk in ruins, thereby searching for survivors.
[0036] On the one hand, in order to adapt to the complex terrain in the ruins and ensure that the robot has a high off-road capability, the moving part is set as a crawler structure, and the moving part includes a front crawler assembly 31 and a rear crawler assembly 32, and the front crawler assembly 31 and the rear crawler assembly 32 are respectively arranged on the front and rear sides of the outer shell 1;
[0037] The front track assembly 31 is connected to the outer shell 1 in sequence through the first swing arm 4 and the first rotation drive assembly. One end of the first swing arm 4 is rotationally connected to the rear end of the front track assembly 31, and the other end is connected to the first rotation drive assembly. The first rotation drive assembly is connected to the outer shell 1. The first rotation drive assembly can drive the first swing arm 4 to rotate with the X-axis direction as the rotation axis. This structural design enables the front track assembly 31 to rotate at a changing angle relative to the first swing arm 4, and the first swing arm 4 can also rotate at a changing angle relative to the outer shell 1.
[0038] The rear crawler assembly 32 is connected to the outer shell 1 through the connecting member 6, the second swing arm 7 and the second rotation drive assembly in sequence. The connecting member 6 connects the rear crawler assembly 32 and one end of the second swing arm 7. The other end of the second swing arm 7 is connected to the second rotation drive assembly. The second rotation drive assembly is connected to the outer shell 1. The second rotation drive assembly can drive the second swing arm 7 to rotate with the Y axis as the rotation axis. This structural design makes the two crawlers of the rear crawler assembly 32 in an outward-facing eight-shaped shape.
[0039] The combination of the front crawler assembly 31 and the rear crawler assembly 32 includes:
[0040] Example 1
[0041] When the robot needs to overcome an obstacle, the first rotary drive assembly drives the first swing arm 4 to lift up (rotate in the X-axis direction), so that the front track assembly 31 is also lifted up (rotate in the X-axis direction). When the front end bottom surface of the front track assembly 31 is above the obstacle, the rear track assembly 32 moves forward. After the rear track assembly 32 has walked for a period of time, the front track assembly 31 has completely overcome the obstacle successfully and is flat on the top surface of the obstacle. Then the front track assembly 31 walks on top of the obstacle. After the front track assembly 31 has walked on top of the obstacle for a period of time, the rear track assembly 32 is also brought to the top surface of the obstacle, and finally the robot completes the obstacle crossing.
[0042] Example 2
[0043] When the robot needs to pass through a narrow square space, the first rotary drive assembly first drives the first swing arm 4 to lift up (until it forms a 90-degree angle with the outer shell 1). During this process, the front track assembly 31 is limited by the square space and forms an angle of 180 degrees with the outer shell 1, so that the robot can pass through the narrow square space.
[0044] Example 3
[0045] When the robot needs to pass through a narrow circular space, first the first rotary drive assembly drives the first swing arm 4 to lift up (until it forms a 90-degree angle with the outer shell 1). During this process, the front track assembly 31 is limited by the circular space and forms a certain angle of 90 degrees with the outer shell 1 (greater than 90 degrees and less than 180 degrees), and the front end of the front track assembly 31 abuts against the inner wall of the circular space. In addition, the second rotary drive assembly drives the second swing arm 7 to rotate (with the Y-axis direction as the rotation axis), so that the two tracks of the rear track assembly 32 are in an outward eight-character relationship, and the rear track assembly 32 also abuts against the inner wall of the circular space. The front track assembly 31 and the rear track assembly 32 together form a wall support structure, which provides driving force and friction for the movement of the robot in the narrow circular space to prevent slipping. The two tracks of the rear track assembly 32 of the robot rotate in an outward eight-character relationship, which can better fit on the inner wall of the narrow circular space.
[0046] The first rotation drive assembly includes a first motor 51, a first driving gear 52, a first driven gear 53, a first screw rod 54, a first flange nut 55 and a second flange nut 56. The first motor 51 is fixed to the outer shell 1, the first driving gear 52 is concentrically fixed to the rotating axis of the first motor 51, the first driven gear 53 is meshed with the first driving gear 52, the first driven gear 53 is sleeved and fixed on the outside of the first screw rod 54, the first flange nut 55 and the second flange nut 56 are respectively sleeved on the first screw rod 54 near both ends, the first flange nut 55 is fixed to one end of the first swing arm 4, and the second flange nut 56 is fixed to the other end of the first swing arm 4.
[0047] After the first motor 51 is started, it drives the first driving gear 52 to rotate, and then drives the first driven gear 53 to rotate, and then drives the first screw rod 54 to rotate, so that the first flange nut 55 and the second flange nut 56 move toward each other on the first screw rod 54 along the length direction of the screw rod, that is, they both move to both sides. When the first flange nut 55 and the second flange nut 56 move toward each other, the width of the first swing arm 4 will be reduced until the two crawlers of the front crawler assembly 31 are combined together; when the two crawlers of the front crawler assembly 31 are combined together, since the first flange nut 55 and the second flange nut 56 respectively contact the two end faces of the first driven gear 53, they can no longer move, and the first screw rod 54, the first flange nut 55 and the second flange nut 56 become a whole. When the first screw rod 54 rotates, it drives the flange nut and the first swing arm 4 to rotate together, so that the first swing arm 4 can rotate. The two tracks of the front track assembly 31 and the first swing arm 4 are rotated by the first rotary drive assembly. One drive assembly realizes two actions. It is an under-driven design, which can reduce cost, reduce weight and enhance system flexibility.
[0048] The second rotation driving assembly includes a second motor 81, a second driving gear 82, a second driven gear 83, a second screw rod 84, a first threaded slider 85 and a second threaded slider 86. The second motor 81 is fixed to the outer shell 1, the second driving gear 82 is fixed concentrically with the rotating axis of the second motor 81, the second driven gear 83 is meshed with the second driving gear 82, the second driven gear 83 is sleeved and fixed on the outside of the second screw rod 84, the first threaded slider 85 and the second threaded slider 86 are respectively sleeved on the positions near the two ends of the second screw rod 84, the first threaded slider 85 is fixed to one end of the second swing arm 7, and the second flange nut 56 is fixed to the other end of the second swing arm 7.
[0049] After the second motor 81 is started, it drives the second driving gear 82 to rotate, and then drives the second driven gear 83 to rotate, thereby driving the second screw rod 84 to rotate. The rotation of the second screw rod 84 causes the first threaded slider 85 and the second threaded slider 86 to move toward each other on the second screw rod 84 along the length direction of the second screw rod 84, so that the two tracks of the rear track assembly 32 are in an outward eight-shaped shape.
[0050] The first swing arm 4 is rotatably connected to the front track assembly 31 through the support shaft 9 and the rotary bearing 10. Specifically, one end of the support shaft 9 is fixed to the front track assembly 31, the rotary bearing 10 is sleeved and fixed outside the other end of the support shaft 9, and one end of the first swing arm 4 is sleeved and fixed outside the rotary bearing 10. That is, the inner ring of the rotary bearing 10 is fixed to the front track assembly 31, and the first swing arm 4 is fixed to the outer ring of the rotary bearing 10, thereby realizing the rotatable connection between the first swing arm 4 and the front track assembly 31.
[0051] The support shaft 9 is sleeved with a torsion spring 20, and two hooks of the torsion spring 20 are respectively fixed to the front track assembly 31 and the first swing arm 4. The installation of the torsion spring 20 can provide a certain passive adaptive function for the rotation of the front track assembly 31 as a wall support structure.
[0052] In order to limit the front crawler assembly 31 from flipping downward, a limit cover 30 is fixed to the end face of one end of the support shaft 9 that is sleeved on the rotating bearing 10. The limit cover 30 is provided with an arc-shaped tail 301. A limit block 40 is fixed on the first swing arm 4. The limit block 40 is provided with a convex column 41. The convex column 41 can limit the arc-shaped tail 301, thereby preventing the front crawler assembly 31 from rotating downward relative to the first swing arm 4 when the first swing arm 4 is lifted upward.
[0053] The visual part 2 is a three-freedom visual gimbal, which is fixed on the outside of the outer shell 1. The three-freedom visual gimbal can rotate in the front, left and right directions to provide the robot with visual information in three directions.
[0054] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.
Claims
1. A reconfigurable robot with high passability in narrow passages, comprising an outer shell (1), a visual part (2) and a moving part, wherein the moving part is mounted on the outer shell (1) and drives the outer shell (1) to move, characterized in that: The moving part comprises a front crawler assembly (31) and a rear crawler assembly (32), wherein the front crawler assembly (31) and the rear crawler assembly (32) are respectively arranged on the front and rear sides of the outer shell (1); The front crawler assembly (31) is connected to the outer shell (1) in sequence through a first swing arm (4) and a first rotation drive assembly, one end of the first swing arm (4) is rotationally connected to the rear end of the front crawler assembly (31), and the other end is connected to the first rotation drive assembly, and the first rotation drive assembly is connected to the outer shell (1), and the first rotation drive assembly can drive the first swing arm (4) to rotate with the X-axis direction as the rotation axis; The rear crawler assembly (32) is connected to the outer shell (1) in sequence through a connecting piece (6), a second swing arm (7) and a second rotation drive assembly; the connecting piece (6) connects the rear crawler assembly (32) and one end of the second swing arm (7); the other end of the second swing arm (7) is connected to the second rotation drive assembly; the second rotation drive assembly is connected to the outer shell (1); and the second rotation drive assembly can drive the second swing arm (7) to rotate with the Y-axis direction as the rotation axis.
2. A reconfigurable robot with high passability in narrow passages according to claim 1, characterized in that: The combination of the front crawler assembly (31) and the rear crawler assembly (32) comprises: The front crawler assembly (31) is turned upward relative to the first swing arm (4) with the X-axis direction as the rotation axis direction, and the rear crawler assembly (32) is kept in a horizontal state; or The first swing arm (4) forms an angle of 90 degrees with the outer shell (1), the front crawler assembly (31) forms an angle of 180 degrees with the outer shell (1), and the rear crawler assembly (32) maintains a horizontal state; or The first swing arm (4) forms an angle of 90 degrees with the outer shell (1), the angle between the front crawler assembly (31) and the outer shell (1) is greater than 90 degrees and less than 180 degrees, and the two crawlers of the rear crawler assembly (32) are in an outward-facing "X" relationship.
3. The reconfigurable robot with high passability in narrow passages according to claim 1, characterized in that: The first rotary drive assembly comprises a first motor (51), a first driving gear (52), a first driven gear (53), a first screw rod (54), a first flange nut (55) and a second flange nut (56); the first motor (51) is fixed to the outer shell (1); the first driving gear (52) is fixed concentrically with the rotating shaft of the first motor (51); the first driven gear (53) is meshed with the first driving gear (52); the first driven gear (53) is sleeved and fixed on the outside of the first screw rod (54); the first flange nut (55) and the second flange nut (56) are sleeved on positions close to both ends of the first screw rod (54) respectively; the first flange nut (55) is fixed to one end of the first swing arm (4); and the second flange nut (56) is fixed to the other end of the first swing arm (4).
4. The reconfigurable robot with high passability in narrow passages according to claim 1, characterized in that: The second rotation driving assembly comprises a second motor (81), a second driving gear (82), a second driven gear (83), a second screw rod (84), a first threaded slider (85) and a second threaded slider (86); the second motor (81) is fixed to the outer shell (1); the second driving gear (82) is fixed concentrically with the rotation axis of the second motor (81); the second driven gear (83) is meshed with the second driving gear (82); the second driven gear (83) is sleeved and fixed on the outside of the second screw rod (84); the first threaded slider (85) and the second threaded slider (86) are respectively sleeved on positions close to both ends of the second screw rod (84); the first threaded slider (85) is fixed to one end of the second swing arm (7); and the second flange nut (56) is fixed to the other end of the second swing arm (7).
5. The reconfigurable robot with high passability in narrow passages according to claim 1, characterized in that: The first swing arm (4) is rotatably connected to the front track assembly (31) via a support shaft (9) and a rotary bearing (10); one end of the support shaft (9) is fixed to the front track assembly (31); the rotary bearing (10) is sleeved and fixed to the outside of the other end of the support shaft (9); and one end of the first swing arm (4) is sleeved and fixed to the outside of the rotary bearing (10).
6. The reconfigurable robot with high passability in narrow passages according to claim 5, characterized in that: A torsion spring (20) is sleeved on the support shaft (9), and two hooks of the torsion spring (20) are respectively fixed to the front crawler assembly (31) and the first swing arm (4).
7. The reconfigurable robot with high passability in narrow passages according to claim 5, characterized in that: A limiting cover (30) is fixed to one end surface of the support shaft (9) sleeved with the rotary bearing (10), and the limiting cover (30) is provided with an arc-shaped tail (301). A limiting block (40) is fixed to the first swing arm (4), and a convex column (41) is provided on the limiting block (40), and the convex column (41) can limit the arc-shaped tail (301).
8. The reconfigurable robot with high passability in narrow passages according to claim 1, characterized in that: The visual part (2) is a three-freedom visual platform, and the three-freedom visual platform is fixed on the outside of the outer shell (1).