Snake-like crawling robot

Abstract

The invention discloses a snake-like crawling robot, belongs to the technical field of mechanical structures and robots, and can adapt to more complex environments due to the characteristics of small size, light weight and inflatable type. The device comprises a bending module, a winding module, a connecting device and a driving device; the bending module is connected with the two winding modules front and back through two connecting devices, and air holes are formed in the bending module and the winding modules; the driving device controls inflation and deflation of the bending module and the winding module through opening and closing of an air channel, advancing and retreating of the robot are achieved, and a reset spring is installed on the bending module and used for supporting a rubber pipe so that the rubber pipe can quickly restore to the original shape from the bending state after inflation is stopped.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical structure and robot, and in particular relates to a snake-like crawling robot. Background Art

[0002] With the deepening of human exploration of space and the rapid development of aerospace technology, spacecraft on-orbit service technology has gradually become an important research direction in the aerospace field. As a key component of this field, spacecraft on-orbit service robot technology aims to provide on-orbit spacecraft with a variety of services such as on-orbit assembly and maintenance, space debris capture and processing, on-orbit transportation and deployment, on-orbit observation and scientific experiments, environmental monitoring and protection, emergency rescue and troubleshooting through robot systems. Robots can perform tasks in extreme, dangerous or difficult-to-reach space environments, reducing the need for astronauts to be directly exposed to high-risk environments. Their automation and remote control characteristics make mission execution safer and avoid potential life threats. Moreover, robots can work continuously without being subject to human physiological limitations, such as fatigue and sleep needs, thereby improving the continuity and efficiency of mission execution. Robots are able to perform high-precision and high-repetitive tasks, such as the handling, installation and debugging of precision instruments, ensuring the high-quality completion of missions. Compared with manned space missions, robots can stay in space for a long time to provide on-orbit services, providing continuous maintenance and support services for spacecraft such as satellites and space stations. This long-term on-orbit support capability helps to extend the service life of spacecraft and improve its economy and reliability.

[0003] Traditional robotic arm robots have many limitations in on-orbit space services. For example, their rigid structure makes them easily damaged when transporting precision instruments or grasping objects of unknown shapes, limiting their flexibility in application. Faced with complex environments and irregular terrain, their fixed-track movement and operation methods are unable to cope with the demands and are easily damaged due to lack of adaptability. These shortcomings significantly reduce the efficiency and success rate of mission execution and cannot meet the growing diversity and high requirements of space missions. Summary of the invention

[0004] The present invention provides a snake-like crawling robot, which can adapt to complex and irregular terrains and has obvious advantages in on-orbit assembly, on-orbit transportation, scene exploration, rescue and other tasks.

[0005] To achieve the above objectives, the present invention adopts the following technical solutions: A snake-like crawling robot comprises: a bending module, a winding module, a connecting device and a control device; two ends of the bending module are respectively connected to the winding module through the connecting devices, and the control device is respectively connected to the bending module and the winding module.

[0006] The bending module and the winding module are both composed of a rubber tube, a braided mesh tube, a nylon wire, a plug with pores, and a plug without pores, wherein the bending module also includes a spring; one end of the rubber tube is connected to a plug with pores, and the other end is connected to a plug without pores, the plug with pores is located at the connection joint between the bending module and the winding module to prevent deformation of both ends and entanglement of the inflatable tube, the pores of the plug with pores are connected to a control device, and the control device inflates the rubber tube through an air tube to expand the rubber tube; the braided mesh tube is sleeved on the outside of the rubber tube, and the two ends are fixed on the two ends of the rubber tube to limit the radial expansion of the rubber tube, so that when the rubber tube is inflated, only axial expansion occurs; the nylon wire is used as a limiting wire and is woven into the braided mesh tube to limit the elongation of the rubber tube on the side woven with the nylon wire, so that when the rubber tube expands, it generates bending or spiral deformation toward the limiting wire side; the spring is placed inside the rubber tube of the bending module to support the rubber tube, and the elastic potential energy of the spring is used to quickly restore the rubber tube from a bent state after the rubber tube stops inflating; One end of the plug with pores and the plug without pores is designed with a pagoda head and is bonded to the rubber tube to ensure the air tightness of the rubber tube; the other end is respectively connected to the connecting device for connecting the bending module and the winding module; The control device is composed of an air compressor, a controller, a relay group, a one-way valve, a pressure regulating valve, a solenoid valve group, and a throttle valve group; the air outlet of the air compressor is connected to one end of the one-way valve, the other end of the one-way valve is connected to the pressure regulating valve, the other end of the pressure regulating valve is connected to one end of the solenoid valve, and the other end of the solenoid valve is connected to the air holes with air hole plugs in the bending module and the winding module; the one-way valve only allows air flow to pass in one direction, and the pressure regulating valve is a device for realizing stable control of fluid pressure. The one-way valve and the pressure regulating valve are combined to realize independent control of the air pressure of each air path. After the fluid flows through the pressure regulating valve, it flows through the solenoid valve to the air holes with air hole plugs in the bending module and the winding module to inflate the bending module and the winding module; The controller is connected to the relay assembly through an electrical circuit, and transmits a signal to the relay assembly. The relay assembly is then connected to the three-position two-way solenoid valve through the electrical circuit. The signal of the controller changes the power on and off conditions of different circuits, controls the closing of different air holes of the three-position two-way solenoid valve, and realizes the inflation of the bending module and the winding module according to the established program. The connecting device is a 3D-printed cubic connecting structure, and the six faces of the cubic connecting structure can be connected to the bending or winding modules. In the present invention, the two ends of the bending module are respectively connected to a cubic connecting structure, and the two cubic connecting structures are connected to the adjacent faces of the bending module and then to the winding modules respectively, so as to form a robot with a crawling function; the cubic connecting structure enables the robot to flexibly add, delete or replace modules, thereby increasing the function of the robot and reducing the maintenance and upgrade costs of the robot.

[0007] Beneficial effects: The present invention provides a snake-like crawling robot, which utilizes the inflatable deformation characteristics of soft materials to restrict them. Through regular inflation and deflation, the winding module plays an anchoring role, and the bending module serves as a driving device of the robot to realize the crawling function of the robot. It can adapt to complex and irregular terrain, especially complex columnar terrain. The robot of the present invention is small in size and light in weight, and its inflatable characteristics can adapt to more complex environments. It has obvious advantages in on-orbit assembly, on-orbit transportation, scene exploration, rescue and other tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 3. It is a three-view drawing of a single tube of a module in an embodiment of the present invention; Figure 2 Schematic diagram of single tubes of different modules in the snake-like crawling robot according to an embodiment of the present invention, wherein (a) is a bending module and (b) is a winding module; Figure 3 Schematic diagrams of the structures of (a) a snake-like crawling robot with a pore plug and (b) a snake-like crawling robot without a pore plug in an embodiment of the present invention; Figure 4 Schematic diagram of a cubic three-dimensional connection device in a snake-like crawling robot according to an embodiment of the present invention; Figure 5 is a schematic diagram of a control device in a snake-like crawling robot according to an embodiment of the present invention; Figure 6 1 is a schematic diagram of the overall structure of the bending module of the snake-like crawling robot when inflated in an embodiment of the present invention; Figure 7 1 is a schematic diagram of the overall structure of the bending module of the snake-like crawling robot in an embodiment of the present invention when it is not inflated; Figure 8 It is a schematic diagram of the structure of the connection between the cubic connection and the two ends of the bending module or the winding module in an embodiment of the present invention; Fig. 9 Schematic diagram of the structure in which a module has an air hole plug connected to a three-position two-way solenoid valve in an embodiment of the present invention; In the figure, A, C-winding module, B-bending module, 1-fuselage, 2-without air hole plug, 3-with air hole plug, 4-connecting device, 5-nylon wire, 6-reset spring, 7-air compressor, 8, 9, 10-check valve, 11, 12, 13-pressure regulating valve, 14, 15, 16, 17, 18-three-position two-way solenoid valve, 19-controller, 20-optical coupler relay, 21, 22-throttle valve. DETAILED DESCRIPTION

[0009] The present invention is described in detail below through the accompanying drawings and specific embodiments.

[0010] like Figure 7As shown, a snake-like crawling robot includes a body 1 mainly composed of a rubber tube and a braided mesh tube, the body 1 includes a middle bending module B and a winding module A and a winding module C connected at both ends of the bending module B, both ends of the bending module and the winding module are respectively connected to a plug without pores 2 and a plug with pores 3, the plug without pores 2 of the bending module B and the plug with pores 3 of the winding module C, and the plug with pores 3 of the bending module B and the plug with pores 3 of the winding module A are all connected through a connecting device 4.

[0011] Figure 1 It is a single tube of the bending module and the winding module in the embodiment of the present invention, wherein the length of the single tube of the bending module is 300mm, the length of the single tube of the winding module is 400mm, the inner diameter of the internal rubber tube is 18mm, the outer diameter is 22mm, and the diameter of the external braided mesh tube is 22mm; the braided mesh tube in the fuselage 1 is sleeved on the outer surface of the rubber tube, and the two ends are fixed on the two ends of the rubber tube to limit the radial expansion of the rubber tube, so that when the rubber tube is inflated, only axial expansion occurs; the nylon line 5 is used as a limiting line, woven into the braided mesh tube, and used to limit the axial expansion position of the rubber tube. Different winding methods correspond to different deformations. Wrapped on the same side of the braided mesh tube, the single tube is bent and deformed to achieve the bending function, and spirally wound on the outside of the braided mesh tube, the single tube is spirally deformed to achieve the winding function. A reset spring 6 is arranged in the bending module B, and the reset spring 6 can increase the pulling force to reset it, thereby optimizing the movement gait and improving the efficiency and stability of the entire flexible soft robot movement.

[0012] like Figure 5 As shown, the control device is composed of an air compressor 7, a controller 19, an optical coupling relay 20, a one-way valve 8, 9, 10, a pressure regulating valve 11, 12, 13, a three-position two-way solenoid valve 14, 15, 16, 17, 18, and a throttle valve 21, 22; the air outlet of the air compressor 7 is respectively connected to one end of the one-way valve 8, 9, 10, the other end of the one-way valve 8, 9, 10 is respectively connected to one end of the pressure regulating valve 11, 12, 13, the other end of the pressure regulating valve 11, 12, 13 is respectively connected to the three-position two-way solenoid valve 1 4, 15, 16, 17, 18 are connected at one end, and the other end of the three-position two-way solenoid valve 14, 15, 16, 17, 18 is connected to the air hole with air hole plug 3 of the bending module B and the winding module A, C; the one-way valve only allows air flow to pass in one direction, the pressure regulating valve is a device for realizing stable control of fluid pressure, and the three-position two-way solenoid valve controls the switching and on-off functions of the air circuit; after the fluid flows through the pressure regulating valve, it flows through the solenoid valve to the air holes with air hole plugs of the bending module and the winding module to inflate the bending module and the winding module.

[0013] The controller 19 is connected to the optocoupler relay 20 through an electrical circuit and transmits a signal to the optocoupler relay 20. The optocoupler relay 20 is then connected to the three-position two-way solenoid valves 14, 15, 16, 17, and 18 through the electrical circuit. The signal of the controller 19 changes the power-on and power-off conditions of different circuits, controls the closing of different air holes of the three-position two-way solenoid valves 14, 15, 16, 17, and 18, and realizes inflation of the bending module and the winding module according to a predetermined procedure; in actual control, the controller 19 sends an instruction to the optocoupler relay 20, and then the optocoupler relay 20 controls the reversing of the three-position two-way solenoid valve to realize the connectivity control of the gas circuit and the charging and discharging of the actuator; the pressure regulating valve is used to adjust the upper limit of the gas pressure in the gas circuit, and the function of the throttle valve is to reduce the flow rate of the gas. In the initial state, the air compressor 7 is turned on, and the three-position two-way solenoid valves 15 and 18 are opened through the controller 19 at the same time. At this time, the robot head (winding module A) and tail (winding module C) are inflated at the same time, so that the robot head and tail are spirally deformed to grasp the crawling pipe; the three-position two-way solenoid valve 15 is closed, and the three-position two-way solenoid valve 14 is opened after a delay of 1 second. At this time, the tail is deflated to release the crawling pipe, and the three-position two-way solenoid valve 16 is opened at the same time. The robot body part (bending module B) is inflated to produce bending deformation to drive the tail forward; the three-position two-way solenoid valve 15 is opened, and the three-position two-way solenoid valve 18 is closed. The head is deflated to release the crawling pipe, and the tail is inflated to tightly wrap around the crawling pipe. After a delay of 1 second, the three-position two-way solenoid valve 16 is closed, and the body returns to its original state. At the same time, the restoring force provided by the bending module reset spring 6 is used to push the head forward, thereby realizing the movement of the robot.

[0014] The above embodiments are only preferred embodiments of the present invention, which are only used to illustrate the technical solutions of the present invention rather than to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can still be modified or replaced by equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A snake-like crawling robot, characterized in that: include: A bending module, a winding module, a connecting device, and a control device; both ends of the bending module are connected to the winding module via connecting devices, and the control device is connected to the bending module and the winding module respectively, and is used to control the movement of the bending module and the winding module.

2. The snake-like crawling robot according to claim 1, characterized in that: The bending module and the winding module both include an elastic inner tube, a limiting tube, a limiting wire, a plug with pores, and a plug without pores; the limiting tube is sleeved on the outside of the elastic inner tube to limit the radial expansion of the elastic inner tube; the limiting wire is woven into the limiting tube to limit the deformation direction of the elastic inner tube; one end of the elastic inner tube is connected to the plug with pores, and the other end is connected to the plug without pores, and the plug with pores is located at the connection joint between the bending module and the winding module.

3. The snake-like crawling robot according to claim 2, characterized in that: The air hole with the air hole plug is connected to a control device, and the control device inflates the rubber tube through an air pipe to expand the elastic inner tube.

4. The snake-like crawling robot according to claim 2, characterized in that: The restriction wire is arranged on the same side of the restriction tube, so that the single tube is bent and deformed to achieve a bending function; the restriction wire is spirally wound around the outer side of the restriction tube, so that the single tube is spirally deformed to achieve a winding function.

5. The snake-like crawling robot according to claim 1 or 2, characterized in that: The bending module comprises a spring; the spring is arranged inside the elastic inner tube of the bending module and is used for supporting the elastic inner tube.

6. The snake-like crawling robot according to claim 2 or 3, characterized in that: One end of the plug with air holes and the plug without air holes adopts a pagoda head design and is bonded to the rubber tube, and the other end is connected to the connecting device.

7. The snake-like crawling robot according to claim 1 or 3, characterized in that: The control device comprises an air compressor, a controller, a relay group, a one-way valve, a pressure regulating valve, and a solenoid valve group; the air outlet of the air compressor is connected to one end of the one-way valve, the other end of the one-way valve is connected to the pressure regulating valve, the other end of the pressure regulating valve is connected to one end of the solenoid valve, and the other end of the solenoid valve is connected to the air holes with air hole plugs of the bending module and the winding module; the one-way valve only allows air flow to pass in one direction, the pressure regulating valve is a device for realizing stable control of fluid pressure, and the one-way valve and the pressure regulating valve are combined to realize independent control of air pressure of each air path; after the fluid flows through the pressure regulating valve, it flows to the air holes with air hole plugs of the bending module and the winding module through the solenoid valve to inflate the bending module and the winding module; the controller is connected to the relay group through an electrical circuit to transmit a signal to the relay group, and the relay group is connected to the three-position two-way solenoid valve through the electrical circuit, and the power-on and power-off conditions of different circuits are changed by the signal of the controller to control the closing of different air holes of the three-position two-way solenoid valve, so as to realize the inflation of the bending module and the winding module according to a predetermined procedure.

8. The snake-like crawling robot according to claim 6, characterized in that: The connecting device is a 3D-printed cubic connecting structure, and all six faces of the cubic connecting structure can be connected to a bending module or a winding module.

9. The snake-like crawling robot according to claim 8, characterized in that: Two ends of the bending module are respectively connected to a cubic connection structure, and two cubic connection structures are connected to adjacent surfaces of the bending module and then respectively connected to the winding modules.

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