Flexible detection robot

Abstract

The invention discloses a flexible detection robot which comprises a first flexible body assembly and a second flexible body assembly. The second flexible body assembly and the first flexible body assembly are arranged in parallel, and the second flexible body assembly and the first flexible body assembly are connected through a connecting piece; the driving assembly drives the first flexible body assembly and / or the second flexible body assembly to deform, after the driving assembly stops driving, the first flexible body assembly and / or the second flexible body assembly recover to the initial state, and the first flexible body assembly and / or the second flexible body assembly wriggle; by controlling the driving mode that the driving assembly drives the first flexible body assembly and the second flexible body assembly, advancing, retreating and / or steering of the flexible detection robot in the wriggling process are / is achieved. The flexible detection robot can better adapt to narrow space detection targets and is used for rescue, reconnaissance and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a flexible detection robot. Background Art

[0002] Disasters and emergencies force people to be in confined spaces: the most common ones are ① earthquake building collapse; ② mudslides and collapsed buildings; ③ confined spaces caused by explosions; ④ car accidents, including deformed cars after traffic accidents; ⑤ confined spaces in coal mine accidents, etc. It is difficult to work in such a space, let alone to carry out rescue in such an environment. Countless confined space (CS) accidents have caused very tragic casualties. The fundamental reason is that the relevant personnel failed to clearly recognize the dangers or potential dangers inside or adjacent to the confined space, or the confined space itself has no major hazards, but did not consider that working in a confined space may cause environmental changes or introduce new hazards related to the work, making CS a "silent killer" one after another. The dangers of CS are very complex and real. Common dangers include hypoxia, oxygen enrichment, toxic pollutants, flammable pollutants, engulfment, entrapment or suffocation, machinery without safety devices or exposed live conductors, etc.

[0003] Due to the complex situation in narrow spaces, existing artificial detection methods or detection equipment cannot effectively detect the specific situation in narrow spaces. In view of this, the present invention proposes a robot suitable for target detection in narrow spaces. Summary of the invention

[0004] The present invention proposes a flexible detection robot that can move in a variety of ways, such as straight and turning, and can be better suited for detecting targets in narrow spaces, and can be used for rescue, reconnaissance, etc. Specifically, the following technical solutions are adopted:

[0005] A flexible detection robot, comprising:

[0006] a first flexible body component;

[0007] A second flexible body component is arranged in parallel with the first flexible body component, and the second flexible body component is connected to the first flexible body component through a connecting piece;

[0008] A driving component, wherein the driving component drives the first flexible body component and / or the second flexible body component to deform, and after the driving component stops driving, the first flexible body component and / or the second flexible body component returns to an initial state, and the first flexible body component and / or the second flexible body component creeps;

[0009] By controlling the driving mode of the driving component to drive the first flexible body component and the second flexible body component, the flexible detection robot can move forward, backward and / or turn during the creeping process.

[0010] As an optional embodiment of the present invention, the first flexible body component includes a first elastic sheet bracket, and both ends of the bottom of the first elastic sheet bracket are respectively provided with claws;

[0011] The second flexible body assembly includes a second elastic sheet bracket, and both ends of the bottom of the second elastic sheet bracket are respectively provided with claws;

[0012] The driving assembly includes a first driving component installed at the bottom of the first elastic sheet bracket and a second driving component installed at the bottom of the second elastic sheet bracket, the first driving component includes a first connecting member and a first retractable mechanism, one end of the first connecting member is fixedly connected to the bottom of one end of the first elastic sheet bracket, and the other end is connected to the first retractable mechanism, one end of the second connecting member is fixedly connected to the bottom of one end of the second elastic sheet bracket, and the other end is connected to the second retractable mechanism;

[0013] The creeping of the flexible detection robot is achieved by controlling the first retractable mechanism and the second retractable mechanism to retract / release the first connecting member and the second connecting member.

[0014] As an optional embodiment of the present invention, the first retractable mechanism is installed at the bottom of the first end of the first elastic plate bracket, one end of the first connecting member is fixedly connected to the bottom of the second end of the first elastic plate bracket, and the other end is connected to the first retractable mechanism;

[0015] The second retractable mechanism is installed at the bottom of the second end of the second elastic plate bracket, one end of the second connecting member is fixedly connected to the bottom of the first end of the second elastic plate bracket, and the other end is connected to the first retractable mechanism;

[0016] The first connecting piece is retracted / released by controlling the first retracting / releasing mechanism to realize the forward creeping movement of the flexible detection robot, and the second connecting piece is retracted / released by controlling the second retracting / releasing mechanism to realize the backward creeping movement of the flexible detection robot;

[0017] Alternatively, the first retractable mechanism is installed at the bottom of the first end of the first elastic plate bracket, one end of the first connecting member is fixedly connected to the bottom of the second end of the first elastic plate bracket, and the other end is connected to the first retractable mechanism;

[0018] The second retractable mechanism is installed at the bottom of the first end of the second elastic plate bracket, one end of the second connecting member is fixedly connected to the bottom of the second end of the second elastic plate bracket, and the other end is connected to the first retractable mechanism;

[0019] By controlling the first and second retracting mechanisms to synchronously retract / release the first and second connecting members, the flexible detection robot can move straight. By controlling the first and second retracting mechanisms to asynchronously retract / release the first and second connecting members, the flexible detection robot can turn.

[0020] As an optional embodiment of the present invention, the first flexible body component includes a first elastic sheet bracket, the first elastic sheet bracket has a first inflation channel inside, the bottom ends of the first elastic sheet bracket respectively have claws, and the first elastic sheet bracket is initially bent upward;

[0021] The second flexible body component includes a second elastic sheet bracket, the second elastic sheet bracket has a second inflation channel inside, the two ends of the bottom of the second elastic sheet bracket have claws respectively, and the second elastic sheet bracket is initially bent upward;

[0022] The driving component includes an air pump system, which is used to inflate the first inflation channel and the second inflation channel respectively. The first spring clip bracket and the second spring clip bracket are unfolded to be straight. After the inflation is stopped, the inflation channel is exhausted, and the first spring clip bracket and the second spring clip bracket move forward through the clamping claws. The air pump system controls the first inflation channel and the second inflation channel to be inflated or deflated synchronously, so as to realize the straight movement of the flexible detection robot, and controls the first inflation channel and the second inflation channel to be inflated or deflated asynchronously, so as to realize the steering of the flexible detection robot.

[0023] As an optional embodiment of the present invention, the air pump system includes a main air pump, the main air pump is connected to one end of the first charging channel through a first air intake pipeline, and is connected to one end of the second charging channel through a second air intake pipeline, the connecting position of the first air intake pipeline and the first charging channel and the connecting position of the second air intake pipeline and the second charging channel are located on the same side, a first air intake control valve is arranged on the first air intake pipeline, and a second air intake control valve is arranged on the second air intake pipeline;

[0024] By controlling the first air intake control valve and the second air intake control valve to intake air synchronously or asynchronously, the flexible detection robot can move straight or turn.

[0025] Optionally, the main air pump is connected to the other end of the first charging channel through a third air intake pipeline, and is connected to the other end of the second charging channel through a fourth air intake pipeline, the connection position of the third air intake pipeline and the first charging channel, and the connection position of the fourth air intake pipeline and the second charging channel are located on the same side, and a third air intake control valve is provided on the third air intake pipeline, and a fourth air intake control valve is provided on the fourth air intake pipeline;

[0026] The main air pump is controlled to inflate the first and second air channels through the first and second air intake pipelines to one end of the first and second air intake pipelines to enable the flexible detection robot to move forward. The main air pump is controlled to inflate the other ends of the first and second air intake pipelines to enable the flexible detection robot to move backward. During the backward movement, the third and fourth air intake control valves are controlled to intake air synchronously / asynchronously to enable the flexible detection robot to move straight / turn.

[0027] As an optional embodiment of the present invention, the first flexible body assembly includes a first front airbag support, a first rear airbag support and a first telescopic airbag, and two ends of the first telescopic airbag are respectively mounted on the first front airbag support and the first rear airbag support;

[0028] The second flexible body assembly includes a second front airbag support, a second rear airbag support and a second telescopic airbag, and two ends of the second telescopic airbag are respectively mounted on the second front airbag support and the second rear airbag support;

[0029] The driving component includes an air pump system, which is connected to the first telescopic airbag and the second telescopic airbag respectively. When gas is filled into the first telescopic airbag through the air pump system, the first telescopic airbag is deployed, driving the first front airbag support or the first rear airbag support to slide and creep; and / or when gas is filled into the second telescopic airbag through the air pump system, the second telescopic airbag is deployed, driving the second front airbag support or the second rear airbag support to slide and creep.

[0030] As an optional embodiment of the present invention, the air pump system includes an air pump, a first charging and discharging pipeline and a second charging and discharging pipeline, the air pump is connected to the rear end of the first telescopic airbag through the first charging and discharging pipeline, and the air pump is connected to the rear end of the second telescopic airbag through the second charging and discharging pipeline, the rear end of the first telescopic airbag is an end connected to the first rear airbag support, and the rear end of the second telescopic airbag is an end connected to the second rear airbag support;

[0031] The air pump fills the first telescopic airbag with gas through the first inflation and deflation pipeline, the first telescopic airbag is deployed, the first rear airbag support is clamped on the support surface, the first front airbag support slides and creeps forward, after the first telescopic airbag is fully deployed, the air pump stops inflating, the gas in the first telescopic airbag is discharged through the first inflation and deflation pipeline, the first front airbag support is clamped on the support surface, and the first rear airbag support slides and creeps forward;

[0032] The air pump fills the second telescopic airbag with gas through the second inflation and deflation pipeline, the second telescopic airbag is deployed, the second rear airbag support is clamped on the support surface, and the second front airbag support slides and creeps forward. After the second telescopic airbag is fully deployed, the air pump stops inflating, the gas in the second telescopic airbag is discharged through the second inflation and deflation pipeline, the second front airbag support is clamped on the support surface, and the second rear airbag support slides and creeps forward.

[0033] Optionally, the air pump system includes a third charging and discharging pipeline and a fourth charging and discharging pipeline, the air pump is connected to the front end of the first telescopic airbag through the third charging and discharging pipeline, and the air pump is connected to the front end of the second telescopic airbag through the fourth charging and discharging pipeline, the front end of the first telescopic airbag is an end connected to the first front airbag support, and the front end of the second telescopic airbag is an end connected to the second front airbag support;

[0034] The air pump fills the first telescopic airbag with gas through the third air filling and discharging pipeline, the first telescopic airbag is deployed, the first front airbag support is stuck to the support surface, and the first rear airbag support slides and creeps backwards. After the first telescopic airbag is fully deployed, the air pump stops inflating, the gas in the first telescopic airbag is discharged through the third air filling and discharging pipeline, the first rear airbag support is stuck to the support surface, and the first front airbag support slides and creeps backwards.

[0035] The air pump fills the second telescopic airbag with gas through the fourth charging and discharging pipeline, the second telescopic airbag is deployed, the second front airbag support is stuck to the supporting surface, and the second rear airbag support slides and creeps backwards. After the second telescopic airbag is fully deployed, the air pump stops inflating, the gas in the second telescopic airbag is discharged through the fourth charging and discharging pipeline, the second rear airbag support is stuck to the supporting surface, and the second front airbag support slides and creeps backwards.

[0036] As an optional embodiment of the present invention, the first flexible body assembly includes a first flexible telescopic body having a gas chamber inside, a first front support body located at one end of the first flexible telescopic body, and a first rear support body located at the other end of the first flexible telescopic body, a plurality of first annular claws are distributed axially on the outer periphery of the first flexible telescopic body, and the first annular claws are hollow inside and communicated with the gas chamber of the first flexible telescopic body;

[0037] The second flexible body assembly includes a second flexible telescopic body having a gas chamber therein, a second front support body located at one end of the second flexible telescopic body, and a second rear support body located at the other end of the second flexible telescopic body, a plurality of second annular claws are distributed axially on the outer periphery of the second flexible telescopic body, and the second annular claws are hollow inside and communicated with the gas chamber of the second flexible telescopic body;

[0038] The driving assembly includes an air pump system, and the air pump system is respectively connected to the gas chambers inside the first flexible telescopic body and the second flexible telescopic body;

[0039] The air pump system fills the air chamber of the first flexible telescopic body with air, the first annular edge claw is inflated and stretched to support on the support surface, the first front support body and the first rear support body are separated from the support surface, and the first flexible telescopic body stretches, slides and creeps; the air pump system stops inflating, the air in the gas chamber is discharged, the first annular edge claw is exhausted and retracted, and the first front support body and the first rear support body are supported on the support surface;

[0040] The air pump system fills the air chamber of the second flexible telescopic body with air, the second annular edge claw is inflated and stretched to support on the support surface, the second front support body and the second rear support body are separated from the support surface, and the second flexible telescopic body stretches, slides and creeps; the air pump system stops inflating, the air in the gas chamber is discharged, the second annular edge claw is exhausted and retracted, and the second front support body and the second rear support body are supported on the support surface;

[0041] By controlling the air pump system to inflate the first flexible telescopic body and / or the second telescopic body, the flexible detection robot can move forward, backward and / or turn during its creeping process.

[0042] As an optional embodiment of the present invention, the first flexible body component includes a first elastic bending body, which has a gas chamber inside, the first elastic bending body is originally curved in an arc shape, and the bottom of the first elastic bending body has a telescopic support foot, and the interior of the telescopic support foot is hollow and communicated with the gas chamber;

[0043] The second flexible body assembly includes a second elastic bending body, which has a gas chamber inside. The second elastic bending body is originally curved in an arc shape. The bottom of the second elastic bending body has a telescopic support foot, and the interior of the telescopic support foot is hollow and communicates with the gas chamber.

[0044] The driving assembly includes an air pump system, which is connected to the gas chamber inside the first elastic bending body. The air pump system inflates the gas chamber of the first elastic bending body, the telescopic support legs are extended and supported on the support surface, at least one end of the first elastic bending body leaves the support surface, and the first elastic bending body is extended from an arc-shaped curved shape to a straight shape. The air pump system stops inflating, the gas in the gas chamber inside the first elastic bending body is discharged, the telescopic support legs are retracted, the two ends of the first elastic bending body are supported on the support surface, and the first elastic bending body is restored from a straight shape to an arc-shaped curved shape, thereby realizing forward sliding creeping;

[0045] The air pump system is connected to the gas chamber inside the second elastic curved body, and the air pump system inflates the gas chamber of the second elastic curved body, the telescopic supporting legs are stretched and supported on the supporting surface, at least one end of the second elastic curved body leaves the supporting surface, and the second elastic curved body stretches from an arc-shaped curved state to a straight state. The air pump system stops inflating, the gas in the gas chamber inside the second elastic curved body is discharged, the telescopic supporting legs are retracted, the two ends of the second elastic curved body are supported on the supporting surface, and the second elastic curved body recovers from a straight state to an arc-shaped curved state, thereby realizing backward sliding creep.

[0046] As an optional embodiment of the present invention, the first flexible body component includes a first elastic body, which is in an arc-shaped curved shape in an initial state, and the first elastic body has a first memory alloy body extending along the first elastic body inside, and the first memory alloy body is in an arc-shaped curved shape under the action of the first elastic body at room temperature;

[0047] The second flexible body assembly includes a second elastic body, which is in an arc-shaped bending shape in an initial state, and has a second memory alloy body extending along the second elastic body inside the second elastic body, and the second memory alloy body is in an arc-shaped bending shape under the action of the second elastic body at room temperature, and the second elastic body is arranged in parallel with the first elastic body and connected by an elastic connecting piece;

[0048] The driving assembly includes an electrically controlled heating system, including a first heating resistance wire and a second heating resistance wire, the first heating resistance wire is wound around the first memory alloy body, and the second heating resistance wire is wound around the second memory alloy body;

[0049] The electrically-controlled heating system controls the first heating resistor wire to be energized, and the first heating resistor wire is energized to heat the first memory alloy body. The first memory alloy body is heated and stretched from a curved state to a straight state, while driving the first elastic body to stretch and perform sliding creeping. And / or the electrically-controlled heating system controls the second heating resistor wire to be energized, and the second heating resistor wire is energized to heat the second memory alloy body. The second memory alloy body is heated and stretched from a curved state to a straight state, while driving the second elastic body to stretch and perform sliding creeping.

[0050] Compared with the prior art, the present invention has the following beneficial effects:

[0051] A flexible detection robot of the present invention has a first flexible body component and a second flexible body component that are deformable. The first flexible body component and / or the second flexible body component are driven to deform by controlling the driving component. The first flexible body component and / or the second flexible body component continuously deform and recover, thereby realizing the creeping of the flexible detection robot. The robot can better adapt to detecting targets in narrow spaces and be used for rescue, reconnaissance, etc.

[0052] A flexible detection robot of the present invention drives the driving mode of the first flexible body component and the second flexible body component by controlling the driving component, specifically including controlling the deformation position and / or deformation timing of the first flexible body component and the second flexible body component. Due to the asynchronization of the deformation / recovery position and timing of the first flexible body component and the second flexible body component, the flexible detection robot can move forward and backward and / or turn during the creeping process. Therefore, a flexible detection robot of the present invention has more diverse movement forms, can better adapt to the detection of targets in narrow spaces, and can be used for rescue, reconnaissance, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A top view of a flexible detection robot in Embodiment 1 of the present invention;

[0054] Figure 2 A flexible detection robot according to a first embodiment of the present invention Figure 1 Cross-section of the middle AA surface;

[0055] Figure 3 A flexible detection robot according to a first embodiment of the present invention Figure 1 Sectional view of the middle BB surface;

[0056] Figure 4 A schematic diagram of the motion logic of a flexible detection robot in Embodiment 1 of the present invention;

[0057] Figure 5 A schematic diagram of the three-dimensional structure of a first flexible body component or a second flexible body component of a flexible detection robot in Embodiment 1 of the present invention;

[0058] Figure 6 A front view (initial state) of a flexible detection robot in Embodiment 2 of the present invention;

[0059] Figure 7 A front view of a flexible detection robot in Embodiment 2 of the present invention (in a flattened state);

[0060] Figure 8 A right side view of a flexible detection robot in Embodiment 2 of the present invention;

[0061] Fig. 9 A motion logic diagram of a flexible detection robot in Example 2 of the present invention (an implementation method);

[0062] Fig.10 A motion logic diagram of a flexible detection robot in Embodiment 2 of the present invention (another implementation mode);

[0063] Fig.11 A motion logic diagram of a flexible detection robot in Embodiment 2 of the present invention (another implementation mode);

[0064] Fig.12 A top view of a flexible detection robot in Embodiment 3 of the present invention;

[0065] Fig.13 A front view of a flexible detection robot in Embodiment 3 of the present invention;

[0066] Fig.14 A front view of a flexible detection robot in Embodiment 3 of the present invention (in a forward stretching motion state);

[0067] Fig.15 A top view of a flexible detection robot in Embodiment 4 of the present invention (Implementation Method 1);

[0068] Fig.16 A top view of a flexible detection robot in Embodiment 4 of the present invention (Implementation Method 2);

[0069] Fig.17 A front view of a flexible detection robot in Embodiment 4 of the present invention;

[0070] Fig.18 A flexible detection robot according to a fourth embodiment of the present invention Fig.17 Cross-section of the middle AA surface;

[0071] Fig.19 A schematic diagram of the motion logic of a flexible detection robot in Embodiment 4 of the present invention;

[0072] Fig. 20 A front view of a flexible detection robot in Embodiment 5 of the present invention;

[0073] Fig.21 A top view of a flexible detection robot in Embodiment 5 of the present invention;

[0074] Fig. 22 A left side view of a flexible detection robot in Embodiment 5 of the present invention;

[0075] Fig.23 A flexible detection robot according to a fifth embodiment of the present invention Fig. 20 Partial cross-sectional view of the middle AA surface;

[0076] Fig.24 A schematic diagram of the motion principle of a flexible detection robot in Embodiment 5 of the present invention;

[0077] Fig.25 A front view (initial state) of a flexible detection robot in Embodiment 6 of the present invention;

[0078] Fig.26 A front view of a flexible detection robot in Embodiment 6 of the present invention (in extended state);

[0079] Fig. 27 A top view of a flexible detection robot in Embodiment 6 of the present invention;

[0080] Fig.28 A flexible detection robot according to a sixth embodiment of the present invention Fig. 27 Cross-section view of the AA surface in the middle. DETAILED DESCRIPTION

[0081] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0082] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention claimed for protection, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0083] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0084] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0085] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invention product is usually placed when in use, or the orientation or positional relationship commonly understood by those skilled in the art. Such terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element 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", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0086] A flexible detection robot of this embodiment includes:

[0087] a first flexible body component;

[0088] A second flexible body component is arranged in parallel with the first flexible body component, and the second flexible body component is connected to the first flexible body component through a connecting piece;

[0089] A driving component, wherein the driving component drives the first flexible body component and / or the second flexible body component to deform, and after the driving component stops driving, the first flexible body component and / or the second flexible body component returns to an initial state, and the first flexible body component and / or the second flexible body component creeps;

[0090] By controlling the driving mode of the driving component to drive the first flexible body component and the second flexible body component, the flexible detection robot can move forward, backward and / or turn during the creeping process.

[0091] A flexible detection robot of this embodiment has a first flexible body component and a second flexible body component that are deformable. The first flexible body component and / or the second flexible body component are driven to deform by controlling the driving component. The first flexible body component and / or the second flexible body component continuously deform and recover, thereby realizing the creeping of the flexible detection robot. The flexible detection robot can better adapt to detecting targets in narrow spaces and be used for rescue, reconnaissance, etc.

[0092] A flexible detection robot of this embodiment drives the driving mode of the first flexible body component and the second flexible body component by controlling the driving component, specifically including controlling the deformation position and / or deformation timing of the first flexible body component and the second flexible body component. Due to the asynchronization of the deformation / recovery position and timing of the first flexible body component and the second flexible body component, the flexible detection robot can move forward and backward and / or turn during the creeping process. Therefore, a flexible detection robot of this embodiment has more diverse movement forms, can better adapt to the detection of targets in narrow spaces, and can be used for rescue, reconnaissance, etc.

[0093] Embodiment 1

[0094] See also Figure 1-Figure 5 As shown, this embodiment is a flexible detection robot, the first flexible body component includes a first spring bracket 100A, and the two ends of the bottom of the first spring bracket 100A respectively have claws (101, 102);

[0095] The second flexible body assembly includes a second spring bracket 100B, which is arranged in parallel with the first spring bracket 100A. The second spring bracket 100B is connected to the first spring bracket 100A through a flexible connector 300. The bottom ends of the second spring bracket 100B are respectively provided with claws (101, 102);

[0096] A driving component, comprising a first driving component installed at the bottom of the first elastic fragment bracket 100A and a second driving component installed at the bottom of the second elastic fragment bracket 100B, wherein the first driving component comprises a first connecting member 203A and a first retractable mechanism, wherein one end of the first connecting member 203A is fixedly connected to the bottom of one end of the first elastic fragment bracket 100A, and the other end is connected to the first retractable mechanism, and one end of the second connecting member 203B is fixedly connected to the bottom of one end of the second elastic fragment bracket 100B, and the other end is connected to the second retractable mechanism;

[0097] The movement of the flexible detection robot is achieved by controlling the first retractable mechanism and the second retractable mechanism to retract / release the first connecting member 203A and the second connecting member 203B.

[0098] A flexible detection robot in this embodiment, the specific motion logic includes:

[0099] Accumulation stage: The first retractable mechanism retracts the first connecting member 203A, and the second retractable mechanism retracts the second connecting member 203B. The first connecting member 203A and the second connecting member 203B are tightened and shortened, thereby pulling one end of the first spring clip bracket 100A and the second spring clip bracket 100B to bend and deform. The front claws 101 of the first spring clip bracket 100A and the second spring clip bracket 100B are stuck to the ground, and the rear claws 102 are separated from the ground. The first spring clip bracket 100A and the second spring clip bracket 100B are deformed to generate elastic potential energy. When the first spring clip bracket 100A and the second spring clip bracket 100B are deformed to a certain extent, the first retractable mechanism stops retracting.

[0100] Release stage: the first retractable mechanism releases the first connecting member 203A, the second retractable mechanism releases the second connecting member 203B, the first spring clip bracket 100A and the second spring clip bracket 100B need to return to their original state due to elastic potential energy, the rear claw 102 is stuck to the ground, the front claw 101 is separated from the ground, and the flexible detection robot moves forward.

[0101] Therefore, a flexible detection robot of the present embodiment can drive the first spring clip bracket 100A and the second spring clip bracket 100B to creep through the first driving component and the second driving component, and at the same time, by respectively controlling the first driving component and the second driving component, the flexible detection robot can move forward, backward and turn. It can be applied to more complex terrain environments, and can be used to detect targets in a small space, for rescue, reconnaissance, etc.

[0102] As an optional implementation of this embodiment, the claws (101, 102) at both ends of the bottom of the first spring clip bracket 100A of this embodiment can be driven by a first claw driving device to rotate and change the tilt direction and tilt angle. The claws (101, 102) at both ends of the bottom of the second spring clip bracket 100B of this embodiment can be driven by a second claw driving device to rotate and change the tilt direction and tilt angle, and cooperate with the first retracting mechanism and the second retracting mechanism to realize the forward and backward movement of the double spring clip type flexible robot.

[0103] It should be understood by those skilled in the art that the claws (101, 102) can also be set as vertical claws, and the double-shrapnel flexible robot can be moved forward and backward in coordination with the first and second retracting mechanisms without changing the inclination angle.

[0104] As an optional implementation of this embodiment, see Figure 1-Figure 3 As shown, in a flexible detection robot of this embodiment, the first retractable mechanism is installed at the bottom of the first end of the first elastic bracket 100A, one end of the first connecting member 203A is fixedly connected to the bottom of the second end of the first elastic bracket 100A, and the other end is connected to the first retractable mechanism;

[0105] The second retractable mechanism is installed at the bottom of the first end of the second elastic bracket 100B, one end of the second connecting member 203B is fixedly connected to the bottom of the second end of the second elastic bracket 100B, and the other end is connected to the first retractable mechanism;

[0106] By controlling the first and second retracting mechanisms to synchronously retract / release the first connecting member 203A and the second connecting member 203B, the flexible detection robot can move straight. By controlling the first and second retracting mechanisms to asynchronously retract / release the first and second connecting members 203A and 203B, the flexible detection robot can turn.

[0107] The first retractable mechanism and the second retractable mechanism of this embodiment are located on the same side and are installed side by side. In this way, by controlling the first retractable mechanism and the second retractable mechanism to asynchronously retract / release the first connecting member 203A and the second connecting member 203B, the first spring clip bracket 100A and the second spring clip bracket 100B of the flexible detection robot are bent and deformed successively to realize the turning of the flexible detection robot.

[0108] As an optional implementation of this embodiment, in a flexible detection robot of this embodiment, the first retractable mechanism is installed at the bottom of the first end of the first elastic bracket 100A, one end of the first connecting member 203A is fixedly connected to the bottom of the second end of the first elastic bracket 100A, and the other end is connected to the first retractable mechanism;

[0109] The second retractable mechanism is installed at the bottom of the second end of the second elastic bracket 100B, one end of the second connecting member 203B is fixedly connected to the bottom of the first end of the second elastic bracket 100B, and the other end is connected to the first retractable mechanism;

[0110] By controlling the first retractable mechanism to retract / release the first connecting member 203A, the flexible detection robot can move forward, and by controlling the second retractable mechanism to retract / release the second connecting member 203B, the flexible detection robot can move backward. In this embodiment, the first retractable mechanism and the second retractable mechanism are located on opposite sides, and by controlling the first retractable mechanism to retract / release the first connecting member 203A, the flexible detection robot can move forward, and by controlling the second retractable mechanism to retract / release the second connecting member 203B, the flexible detection robot can move backward.

[0111] Specifically, the first retractable mechanism of this embodiment includes a first drive motor 201A and a first rotating member 202A. The first rotating member 202A is rotatably installed at the bottom of the first spring bracket 100A. The other end of the first connecting member 203A is fixedly connected to the outer peripheral wall of the first rotating member 202A. The first drive motor 201A is connected to the rotation center of the first rotating member 202A.

[0112] The first retractable mechanism of this embodiment rotates through the first driving motor 201A, driving the first rotating member 202A to retract the first connecting member 203A.

[0113] In this embodiment, the second retracting and extending mechanism includes a second driving motor 201B and a second rotating member 202B. The second rotating member 202B is rotatably installed at the bottom of the second elastic clip bracket 100B. The other end of the second connecting member 203B is fixedly connected to the outer peripheral wall of the second rotating member 202B. The second driving motor 201B is connected to the rotation center of the second rotating member 202B.

[0114] The second retractable mechanism of this embodiment is driven by the second driving motor 201B to rotate, thereby driving the second rotating member 202B to retract the second connecting member 203B.

[0115] In order to realize the rotatable installation of the first rotating member 202A and the second rotating member 202B, in this embodiment, the first spring clip bracket 100A and the second spring clip bracket 100B are respectively arranged at the bottom of the first support block 105A and the second support block 105B, the first rotating member 202A and the second rotating member 202B are respectively arranged between the first support block 105A and the second support block 105B, the first rotating member 202A and the second rotating member 202B include a rotating wheel and a rotating support shaft 207, one end of the rotating support shaft 207 is fixedly connected to the rotation center of one side of the rotating wheel, and the other end of the rotating support shaft 207 is rotatably installed on the first support block 105A, and the first drive motor 201A and the second drive motor 201A are respectively connected to the rotation center of the other side of the rotating wheel through the connecting shaft.

[0116] At the same time, in order to ensure that when the first drive motor 201A and the second drive motor 201B stop working, the rotary wheel can smoothly rotate to recycle the first connecting member 203A and the second connecting member 203B, the following implementation method is specifically adopted:

[0117] Mode 1: One end of the connecting shaft in this embodiment is fixedly connected to the rotation center of the other side of the rotating wheel, and the motor shafts of the first drive motor 201A and the second drive motor 201B are fixedly connected to the other end of the connecting shaft. The first drive motor 201A and the second drive motor 201B are powered on and turned on, and the motor shaft drives the rotating wheel to rotate through the connecting shaft. The first drive motor 201A and the second drive motor 201B are powered off and turned off, and the motor shaft stops rotating and is in a free state, and the rotating wheel rotates in the reverse direction. After the first drive motor 201A and the second drive motor 201B in this embodiment are powered off, the motor shafts are in a free state and do not interfere with the reverse rotation of the rotating wheel.

[0118] Method 2, see Figure 2 As shown, the connecting shaft described in this embodiment includes a cylindrical shaft body 205 and a polygonal shaft body 206, one end of the cylindrical shaft body 205 is fixedly connected to the motor shafts of the first drive motor 201A and the second drive motor 201B, the other end of the cylindrical shaft body 205 passes through the second support block 105B and is fixedly connected to one end of the polygonal shaft body 206, and the other end of the polygonal shaft body 206 can be inserted into the polygonal hole opened at the rotation center on the other side of the rotating wheel, and the polygonal hole matches the polygonal shaft body 206.

[0119] The driving component of this embodiment includes a first push-pull motor 204A and a second push-pull motor 204B. The output end of the first push-pull motor 204A is connected to the first drive motor 201A, and the output end of the second push-pull motor 204B is connected to the second drive motor 201B. The first drive motor 201A and the second drive motor 201B are in an initial position. The other end of the polygonal shaft 206 is inserted into the polygonal hole of the rotating wheel. The first drive motor 201A and the second drive motor 201B are connected to the first drive motor 201A and the second drive motor 201B through the circular The column shaft 205 and the polygonal shaft 206 are connected to the rotating wheel, the first drive motor 201A and the second drive motor 201B are powered on and turned on, and the motor shaft drives the rotating wheel to rotate, the first drive motor 201A and the second drive motor 201B are powered off and turned off, the first push-pull motor 204A pulls the first drive motor 201A axially outward, and the second push-pull motor 204B pulls the second drive motor 201B axially outward until the polygonal shaft 206 is disengaged from the polygonal hole of the rotating wheel 202, and the rotating wheel rotates in the opposite direction.

[0120] In this embodiment, the first drive motor 201A and the second drive motor 201B are powered off, the first push-pull motor 204A and the second push-pull motor 204B separate the rotating wheel and the polygonal shaft 206, and the first spring bracket 100A and the second spring bracket 100B release potential energy. When power storage is required, the first push-pull motor 204A and the second push-pull motor 204B push the two to assemble and combine. To ensure that the positions of the two are just matched, while the first push-pull motor 204A and the second push-pull motor 204B push, the first drive motor 201A and the second drive motor 201B are powered on and slightly moved until the two are just matched, the first drive motor 201A and the second drive motor 201B stop moving, push into place, and finally the first drive motor 201A and the second drive motor 201B continue to be powered on and move.

[0121] Furthermore, the rotary support shaft 207 of this embodiment is rotatably mounted on the first support block 105B via a rotary bearing, so that even when the polygonal shaft body 206 is separated from the rotary wheel, the rotary support shaft 207 can effectively support the rotary wheel.

[0122] In addition, the rotary wheel may be arranged as close to the first support block 105A as possible to ensure effective support of the rotary wheel by the rotary support shaft 207 .

[0123] As an optional implementation of this embodiment, in this embodiment, the first rotating member 202A and the second rotating member 202B both include a rotating wheel, and the outer peripheral wall of the rotating wheel has a rotating groove, and the first connecting member 203A and the second connecting member 203B are respectively connected to the bottom wall of the rotating groove.

[0124] As an optional implementation of this embodiment, in this embodiment, the first connecting member 203A and the second connecting member 203B are both rigid connecting ropes.

[0125] Furthermore, a flexible detection robot of this embodiment includes a main controller, and the main controller is communicatively connected to the first driving component and the second driving component respectively.

[0126] As an optional implementation of this embodiment, in this embodiment, a first detection probe 501 is set on the first spring bracket 100A, and a second detection probe 502 is set on the second spring bracket 100B. The first detection probe 501 and the second detection probe 502 are both communicatively connected to the main controller.

[0127] As an optional implementation of this embodiment, the flexible connector 300 of this embodiment is a rubber cylinder, and the first spring clip bracket 100A and the second spring clip bracket 100B are respectively fixedly connected to the rubber cylinder 300. Specifically, the first spring clip bracket 100A is fixedly connected to the rubber cylinder through the first connector 402, and the second spring clip bracket 100B is fixedly connected to the rubber cylinder through the second connector 401.

[0128] A flexible detection robot according to this embodiment includes a power module electrically connected to the main controller.

[0129] In a flexible detection robot of this embodiment, the main controller sends the detection target information photographed by the detection probe to the intelligent terminal through the wireless communication module. In this way, the intelligent terminal can remotely control the flexible detection robot through the communication module and observe the detection results of the flexible detection robot.

[0130] Embodiment 2

[0131] See also Figure 6-Figure 11 As shown, in a flexible detection robot of this embodiment, the first flexible body component includes a first spring bracket 100A, the first spring bracket 100A has a first inflation channel 103A inside, and the bottom ends of the first spring bracket 100A respectively have claws (101, 102), and the first spring bracket 100A is initially bent upward;

[0132] The second flexible body component comprises a second elastic sheet bracket 100B, the second elastic sheet bracket 100B has a second inflation channel 103B inside, the bottom ends of the second elastic sheet bracket 100B respectively have claws (101, 102), and the second elastic sheet bracket 100B is initially bent upward;

[0133] The driving component comprises an air pump system, which is used to inflate the first inflation channel 103A and the second inflation channel 103B respectively, so that the first spring clip bracket and the second spring clip bracket are unfolded to be straight, and the inflation channel is exhausted after the inflation is stopped, and the first spring clip bracket 100A and the second spring clip bracket 100B move forward and creep through the claws (101, 102); the air pump system controls the first inflation channel 103A and the second inflation channel 103B to be inflated or deflated synchronously respectively, so as to realize the straight movement of the flexible detection robot, and controls the first inflation channel 103A and the second inflation channel 103B to be inflated or deflated asynchronously, so as to realize the steering of the flexible detection robot.

[0134] A flexible detection robot in this embodiment, the specific motion logic includes:

[0135] Accumulation stage: the first spring clip bracket 100A and the second spring clip bracket 100B are initially bent upward, and the air pump system inflates the first inflation channel 103A and the second inflation channel 103B respectively. During the inflation process, the rear claws 101 of the first spring clip bracket 100A and the second spring clip bracket 100B clamp the surface of the support body, and the front claws 102 extend forward. The first spring clip bracket 100A and the second spring clip bracket 100B unfold and deform into a straight shape, generating elastic potential energy.

[0136] Release phase: the air pump system stops inflating, the first inflation channel 103A and the second inflation channel 103B are exhausted, and due to the existence of elastic potential energy, the first spring clip bracket 100A and the second spring clip bracket 100B need to return to their original state, the front claw 102 is stuck to the ground, the rear claw 101 is separated from the ground, and the flexible detection robot moves forward.

[0137] In addition, in a flexible detection robot of the present embodiment, the air pump system controls the synchronous inflation or deflation of the first inflation channel 103A and the second inflation channel 103B, thereby realizing the straight movement of the flexible detection robot; and controls the asynchronous inflation or deflation of the first inflation channel 103A and the second inflation channel 103B, so that the first elastic clip bracket 100A and the second elastic clip bracket 100B are deformed asynchronously, thereby realizing the turning of the flexible detection robot.

[0138] Therefore, a flexible detection robot of this embodiment can drive the first spring clip bracket 100A and the second spring clip bracket 100B to move straight or turn through the air pump system. It can be applied to more complex terrain environments, and can be used to detect targets in a small space for rescue, reconnaissance, etc.

[0139] As an optional implementation of this embodiment, the air pump system described in this embodiment includes a first air pump 600A installed on a first spring bracket 100A and a second air pump 600B installed on a second spring bracket 100B, the first air pump 600A and the second air pump 600B are located on the same side, the first air pump 600A is connected to one end of the first inflation channel 103A, and the second air pump 600B is connected to one end of the second inflation channel 103B; by controlling the first air pump 600A to inflate the first inflation channel 103A and the second air pump 600B to inflate the second inflation channel 103B synchronously / asynchronously, the straight moving / turning of the flexible detection robot can be realized.

[0140] Further, as an optional implementation of this embodiment, in this embodiment, the rated power of the first air pump 600A and the second air pump 600B are the same, and the first air pump 600A is inflated to the first inflation channel 103A, and the second air pump 600B is inflated to the second inflation channel 103B synchronously / asynchronously by controlling the order in which the first air pump 600A and the second air pump 600B are turned on. In this way, the first air pump 600A inflates the first inflation channel 103A, and the second air pump 600B inflates the second inflation channel 103B synchronously, the first shrapnel bracket 100A and the second shrapnel bracket 100B are deformed synchronously, and the flexible detection robot performs straight creeping, the first air pump 600A inflates the first inflation channel 103A, and the second air pump 600B inflates the second inflation channel 103B asynchronously, the first shrapnel bracket 100A and the second shrapnel bracket 100B are deformed asynchronously, and the flexible detection robot performs turning creeping.

[0141] Furthermore, as another optional implementation manner of the present embodiment, at least one of the first air pump 600A and the second air pump 600B has an adjustable working power, and the first air pump 600A and the second air pump 600B are turned on at the same time. By controlling and adjusting the working power of the first air pump 600A or the second air pump 600B, synchronous / asynchronous inflation of the first air pump 600A into the first inflation channel 103A and the second air pump 600B into the second inflation channel 103B are achieved. In this way, the first air pump 600A is turned on to the first inflation channel 103A, and the second air pump 600B is turned on to the second inflation channel 103B at the same time and with the same working power, the deformation of the first spring clip bracket 100A and the second spring clip bracket 100B are synchronized, and the flexible detection robot performs straight-moving creeping. The first air pump 600A is turned on to the first inflation channel 103A, and the second air pump 600B is turned on to the second inflation channel 103B at the same time but with different working powers, the deformation of the first spring clip bracket 100A and the second spring clip bracket 100B are asynchronous, and the flexible detection robot performs turning creeping.

[0142] As an optional implementation of this embodiment, the air pump system described in this embodiment includes a first exhaust control valve 603A installed on the other end of the first inflation channel 103A, and a second exhaust control valve 603B installed on the other end of the second inflation channel 103B; by controlling the first exhaust control valve 603A and the second exhaust control valve 603B to deflate synchronously / asynchronously, the straight movement / turning of the flexible detection robot can be realized.

[0143] As an optional implementation of this embodiment, see Fig.10 As shown, the air pump system described in this embodiment includes a main air pump 604, which is connected to one end of the first inflation channel 103A through a first air intake pipe 601A, and is connected to one end of the second inflation channel 103B through a second air intake pipe 601B. The connecting position of the first air intake pipe 601A and the first inflation channel 103A, and the connecting position of the second air intake pipe 601B and the second inflation channel 103B are located on the same side. A first air intake control valve is arranged on the first air intake pipe 601A, and a second air intake control valve is arranged on the second air intake pipe 601B. By controlling the synchronous / asynchronous air intake of the first air intake control valve and the second air intake control valve, the straight moving / turning of the flexible detection robot can be realized.

[0144] Further, see Fig.11 As shown, the main air pump 604 of this embodiment is connected with the other end of the first charging channel 103A through the third air intake pipeline 601C, and is connected with the other end of the second charging channel 103B through the fourth air intake pipeline 601D. The connection position of the third air intake pipeline 601C and the first charging channel 103A, and the connection position of the fourth air intake pipeline 601D and the second charging channel 103B are located on the same side. The third air intake pipeline 601C is provided with a third air intake control valve, and the fourth air intake pipeline 601D is provided with a fourth air intake control valve; the main air pump 604 is controlled The first air inlet pipeline 601A and the second air inlet pipeline 601B are used to inflate one end of the first air inlet channel 103A and the second air inlet channel 103B, so that the flexible detection robot can move forward. The main air pump 604 is controlled to inflate the other end of the first air inlet channel 103A and the second air inlet channel 103B through the third air inlet pipeline 601C and the fourth air inlet pipeline 601D, so that the flexible detection robot can move backward. During the backward movement, the third air inlet control valve and the fourth air inlet control valve are controlled to synchronously / asynchronously inflate, so that the flexible detection robot can move straight / turn.

[0145] Furthermore, in order to cooperate in realizing the forward and backward bidirectional movement of the dual pneumatic flexible robot, the claws (101, 102) at the two ends of the bottom of the first spring clip bracket 100A of this embodiment can be driven by the first claw driving device to rotate and change the tilt direction and tilt angle. The claws (101, 102) at the two ends of the bottom of the second spring clip bracket 100B of this embodiment can be driven by the second claw driving device to rotate and change the tilt direction and tilt angle, and cooperate with the inflation and deflation of the first inflation channel 103A and the second inflation channel 103B to realize forward and backward movement.

[0146] It should be understood by those skilled in the art that the claws 101 and 102 may also be set as vertical claws, and the forward and backward movements can be achieved by cooperating with the inflation and deflation of the first inflation channel 103A and the second inflation channel 103B without changing the inclination angle.

[0147] Specifically, the main air pump 604 in this embodiment is installed on the flexible connector 300, or the first elastic clip bracket 100A, or the second elastic clip bracket 100B.

[0148] At the same time, the air pump system described in this embodiment includes a first exhaust control valve 603A installed on the first inflation channel 103A, and a second exhaust control valve 603B installed on the second inflation channel 103B; by controlling the first exhaust control valve 603A and the second exhaust control valve 603B to deflate synchronously / asynchronously, the flexible detection robot can move straight / turn.

[0149] As an optional implementation of this embodiment, the flexible connector 300 of this embodiment is a rubber cylinder, and the first spring clip bracket 100A and the second spring clip bracket 100B are fixedly connected to the rubber cylinder respectively. Specifically, the first spring clip bracket 100A is fixedly connected to the rubber cylinder through the first connector 402, and the second spring clip bracket 100B is fixedly connected to the rubber cylinder through the second connector 401.

[0150] As an optional implementation of this embodiment, in a flexible detection robot of this embodiment, a shooting probe 500 is provided at one end of the flexible connecting member 300. In this way, the flexible detection robot of this embodiment respectively shoots detection target information through the shooting probe 500.

[0151] Furthermore, a flexible detection robot of this embodiment includes a central processor, which is connected to the shooting probe 500 through a communication cable, and the central processor sends the detection target information captured by the first shooting probe and the second shooting probe to the smart terminal through the wireless communication module. In this way, the smart terminal can remotely control the pneumatic flexible robot through the communication module and observe the detection results of the pneumatic flexible robot.

[0152] A flexible detection robot according to this embodiment includes a power module electrically connected to the central processing unit.

[0153] As an optional implementation of this embodiment, in a flexible detection robot of this embodiment, the first spring clip bracket 100A and the second spring clip bracket 100B are elastic non-metallic sheets or elastic metal sheets. Specifically, the first spring clip bracket 100A and the second spring clip bracket 100B of this embodiment can be elastic metal sheets with a memory function so that their initial state remains bent upward.

[0154] Embodiment 3

[0155] See also Figure 12-14 As shown, in this embodiment of a flexible detection robot, the first flexible body component includes a first front airbag support 802, a first rear airbag support 803 and a first telescopic airbag 801, and both ends of the first telescopic airbag 801 are respectively mounted on the first front airbag support 802 and the first rear airbag support 803;

[0156] The second flexible body assembly includes a second front airbag support 902, a second rear airbag support 903 and a second telescopic airbag 901, and both ends of the second telescopic airbag 901 are respectively mounted on the second front airbag support 902 and the second rear airbag support 903;

[0157] The driving component includes an air pump system, which is connected to the first telescopic airbag 801 and the second telescopic airbag 901 respectively. The first telescopic airbag 801 is filled with gas through the air pump system, and the first telescopic airbag 801 is deployed, driving the first front airbag support 802 or the first rear airbag support 803 to slide and creep; and / or the second telescopic airbag 901 is filled with gas through the air pump system, and the second telescopic airbag 901 is deployed, driving the second front airbag support 902 or the second rear airbag support 903 to slide and creep.

[0158] A flexible detection robot in this embodiment can inflate and deflate the first telescopic airbag 801 and / or the second telescopic airbag 901 through an air pump assembly, and the first telescopic airbag 801 / the second telescopic airbag 901 can perform telescopic movement to achieve sliding creeping of the flexible detection robot.

[0159] Specifically, the air pump assembly of the present embodiment inflates and deflates air on the same side of the first telescopic airbag 801 and the second telescopic airbag 901, so that the flexible detection robot can slide and wriggle in one direction. However, the air pump assembly controls the asynchronous inflation of the first telescopic airbag 801 and the second telescopic airbag 901. In this way, the first telescopic airbag 801 and the second telescopic airbag 901 do not telescope synchronously, so that the flexible detection robot can be turned.

[0160] And / or, the air pump assembly of this embodiment inflates and deflates the two sides of the first telescopic airbag 801 and the second telescopic airbag 901 respectively, and the air pump assembly controls the inflation and deflation of the first telescopic airbag 801 or the second telescopic airbag 901, and the first telescopic airbag 801 or the second telescopic airbag 901 telescopic movement can realize the forward or backward movement of the flexible detection robot. As an optional implementation of this embodiment, the air pump assembly of this embodiment includes a main air pump 604, a first inflation and deflation pipeline 605, and a second inflation and deflation pipeline 607, the main air pump 604 is connected to the rear end of the first telescopic airbag 801 through the first inflation and deflation pipeline 605, the main air pump 604 is connected to the rear end of the second telescopic airbag 901 through the second inflation and deflation pipeline 607, the rear end of the first telescopic airbag 801 is connected to the first rear airbag support 803, and the rear end of the second telescopic airbag 901 is connected to the second rear airbag support 903. Therefore, the main air pump 604 of this embodiment is connected to the same side of the first and second telescopic airbags 801 , 901 through the first and second telescopic airbags 605 , 607 for inflation and deflation.

[0161] Based on the above-mentioned connection method between the main air pump 604 and the first telescopic airbag 801 and the second telescopic airbag 901, the main air pump 604 described in this embodiment fills the first telescopic airbag 801 with gas through the first charging and discharging pipeline 605, the first telescopic airbag 801 is deployed, the first rear airbag support 803 clamps the supporting surface, and the first front airbag support 802 slides and wriggles forward. After the first telescopic airbag 801 is fully deployed, the main air pump 604 stops inflating, and the gas in the first telescopic airbag 801 is discharged through the first charging and discharging pipeline 605, the first front airbag support 802 clamps the supporting surface, and the first rear airbag support 803 slides and wriggles forward.

[0162] In this embodiment, the main air pump 604 fills the second telescopic airbag 901 with gas through the second charging and discharging pipeline 607, the second telescopic airbag 901 is deployed, the second rear airbag support 903 grabs the supporting surface, and the second front airbag support 902 slides and wriggles forward. After the second telescopic airbag 901 is fully deployed, the main air pump 604 stops inflating, the gas in the second telescopic airbag 901 is discharged through the second charging and discharging pipeline 607, the second front airbag support 902 grabs the supporting surface, and the second rear airbag support 903 slides and wriggles forward.

[0163] Furthermore, in this embodiment, a first control valve 606 for controlling the on-off of the first charging and discharging pipeline 605 is provided, and a second control valve 608 for controlling the on-off of the second charging and discharging pipeline 607 is provided. In this embodiment, by controlling the on-off of the first control valve 606 and the second control valve 608, the main air pump 604 inflates the first telescopic airbag 801, or the main air pump 604 inflates the second telescopic airbag 901. By controlling the on-off of the first control valve 606 and the second control valve 608, the first telescopic airbag 801 and the second telescopic airbag 901 are inflated asynchronously, thereby realizing the steering of the flexible detection robot during the forward sliding creeping process.

[0164] As an optional implementation of this embodiment, the air pump assembly of this embodiment includes a third charging and discharging pipeline 609 and a fourth charging and discharging pipeline 611. The main air pump 604 is connected to the front end of the first telescopic airbag 801 through the third charging and discharging pipeline 609, and the main air pump 604 is connected to the front end of the second telescopic airbag 901 through the fourth charging and discharging pipeline 611. The front end of the first telescopic airbag 801 is an end connected to the first front airbag support 802, and the front end of the second telescopic airbag 901 is an end connected to the second front airbag support 902.

[0165] The main air pump 604 described in this embodiment fills the first telescopic airbag 801 with gas through the third charging and discharging pipeline 609, the first telescopic airbag 801 is deployed, the first front airbag support 802 grabs the supporting surface, and the first rear airbag support 803 slides and creeps backwards. After the first telescopic airbag 801 is fully deployed, the main air pump 604 stops inflating, and the gas in the first telescopic airbag 801 is discharged through the third charging and discharging pipeline 609, the first rear airbag support 803 grabs the supporting surface, and the first front airbag support 802 slides and creeps backwards.

[0166] The main air pump 604 described in this embodiment fills the second telescopic airbag 901 with gas through the fourth charging and discharging pipeline 611, the second telescopic airbag 901 is deployed, the second front airbag support 902 grabs the supporting surface, and the second rear airbag support 903 slides and creeps backwards. After the second telescopic airbag 901 is fully deployed, the main air pump 604 stops inflating, the gas in the second telescopic airbag 901 is discharged through the fourth charging and discharging pipeline 611, the second rear airbag support 903 grabs the supporting surface, and the second front airbag support 902 slides and creeps backwards.

[0167] Furthermore, the third charging and discharging pipeline 609 of this embodiment is provided with a third control valve 610 for controlling its on-off, and the fourth charging and discharging pipeline 611 is provided with a fourth control valve 612 for controlling its on-off. This embodiment controls the on-off of the third control valve 610 and the fourth control valve 612, thereby realizing that the main air pump 604 inflates the first telescopic airbag 801, or the main air pump 604 inflates the second telescopic airbag 901, and by controlling the on-off of the third control valve 610 and the fourth control valve 612 successively, the first telescopic airbag 801 and the second telescopic airbag 901 are inflated asynchronously, thereby realizing the steering of the flexible detection robot during the backward sliding creeping process.

[0168] Therefore, this embodiment can realize the forward and backward sliding and creeping of the flexible detection robot, as well as the turning of the flexible detection robot during the forward and backward sliding and creeping process through the on-off control of the first control valve 606, the second control valve 608, the third control valve 610 and the fourth control valve 612.

[0169] Furthermore, in order to realize the inflation control of the main air pump 604 and the first telescopic airbag 801 and the second telescopic airbag 901, a flexible detection robot of this embodiment includes a main controller (not shown), and the main air pump 604, the first control valve 606, the second control valve 608, the third control valve 610, and the fourth control valve 612 are respectively communicated with the main controller.

[0170] As an optional implementation of this embodiment, in this embodiment, a first pressure sensor (not shown) is provided in the first telescopic airbag 801, and a second pressure sensor (not shown) is provided in the second telescopic airbag 901. The first pressure sensor and the second pressure sensor are respectively connected to the main controller for communication. The main controller of this embodiment monitors the gas pressure inside the first telescopic airbag 801 and the second telescopic airbag 901 through the first pressure sensor and the second pressure sensor, so as to determine whether the inflation and deflation thereof are completed.

[0171] As an optional implementation of this embodiment, the connector 300 of this embodiment is a flexible connector, the first front airbag support 802 and the first rear airbag support 803 are respectively connected to the flexible connector, and the second front airbag support 902 and the second rear airbag support 903 are respectively connected to the flexible connector. In this way, when the first telescopic airbag 801 and the second telescopic airbag 901 are asynchronously inflated, the flexible connector can be adaptively deformed to achieve steering during the sliding creeping process of the flexible detection robot.

[0172] Specifically, the first front airbag support 802 , the first rear airbag support 803 , the second front airbag support 902 , and the second rear airbag support 903 of the present embodiment are connected to the flexible connector via elastic connectors, respectively.

[0173] Furthermore, the main air pump 604 in this embodiment is installed on the flexible connector.

[0174] As an optional implementation of this embodiment, the first airbag assembly includes a first elastic connector 701, and two ends of the first elastic connector 701 are respectively connected to a first front airbag support 802 and a first rear airbag support 803;

[0175] The second airbag assembly includes a second elastic connector 702 , and two ends of the second elastic connector 702 are respectively connected to a second front airbag support 902 and a second rear airbag support 903 .

[0176] When the first telescopic airbag 801 and the second telescopic airbag 901 of this embodiment themselves do not have the property of elastic recovery, they can be restored to a retracted state through the first elastic connector 701 and the second elastic connector 702. When the first telescopic airbag 801 and the second telescopic airbag 901 are inflated, stretched and unfolded, the first elastic connector 701 and the second elastic connector 702 are stretched and deformed with elastic force. When the first telescopic airbag 801 and the second telescopic airbag 901 are deflated, the first elastic connector 701 and the second elastic connector 702 restore their deformation under the action of the elastic force, pulling the first telescopic airbag 801 and the second telescopic airbag 901 to restore to a retracted state.

[0177] In addition, it should be noted that if the first telescopic airbag 801 and the second telescopic airbag 901 themselves have elastic recovery capabilities, there is no need to additionally provide the first elastic connector 701 and the second elastic connector 702 .

[0178] As an optional implementation of this embodiment, a flexible detection robot of this embodiment includes a detection camera 500, and the detection camera can be arranged on the first front airbag support 802, and / or the second front airbag support 902, and / or the first rear airbag support 803, and / or the second rear airbag support 903, and / or the connecting member 300.

[0179] The detection camera 500 of this embodiment can perform real-time acquisition of detection environment images. The detection camera 500 is communicatively connected with the main controller, and the main controller can send the real-time acquired environment images to the intelligent control terminal through the communication module, so as to facilitate remote observation and control by the staff.

[0180] In this embodiment of a flexible detection robot, claws 1000 are respectively provided at the bottom of the first front airbag support 802, the second front airbag support 902, the first rear airbag support 803, and the second rear airbag support 903. The claws 1000 are vertical claws, and the claw tips at the free ends of the claws can better clamp on the support surface to slide and creep.

[0181] As an optional implementation of this embodiment, a flexible detection robot of this embodiment includes a power module electrically connected to the main controller.

[0182] Embodiment 4

[0183] See also Figure 15-19 As shown, a flexible detection robot of this embodiment, the first flexible body component includes a first flexible telescopic body 1101A having a gas chamber 1105 inside, a first front support body 1102A located at one end of the first flexible telescopic body 1101A and a first rear support body 1103A located at the other end of the first flexible telescopic body 1101A, a plurality of first annular claws 1104A are distributed axially on the outer periphery of the first flexible telescopic body 1101A, the first annular claws 1104A are hollow inside and communicated with the gas chamber 1105 of the first flexible telescopic body 1101A;

[0184] The second flexible body assembly includes a second flexible telescopic body 1101B having a gas chamber 1105 therein, a second front support body 1102B located at one end of the second flexible telescopic body 1101B, and a second rear support body 1103B located at the other end of the second flexible telescopic body 1101B, a plurality of second annular edge claws 1104B are distributed axially on the outer periphery of the second flexible telescopic body 1101B, and the second annular edge claws 1104B are hollow inside and communicate with the gas chamber 1105 of the second flexible telescopic body 1101B;

[0185] The driving assembly includes an air pump system, which is respectively connected to the gas chamber 1105 inside the first flexible telescopic body 1101A and the second flexible telescopic body 1101B;

[0186] The air pump system fills the gas chamber 1105 of the first flexible telescopic body 1101A with gas, the first annular edge claw 1104A is inflated and stretched to support on the support surface, the first front support body 1102A and the first rear support body 1103A are separated from the support surface, and the first flexible telescopic body 1101A stretches, slides and creeps; the air pump system stops inflating, the gas in the gas chamber 1105 is discharged, the first annular edge claw 1104A is exhausted and retracted, and the first front support body 1102A and the first rear support body 1103A are supported on the support surface;

[0187] The air pump system fills the gas chamber 1105 of the second flexible telescopic body 1101B with gas, the second annular edge claw 1104B is inflated and stretched to support on the support surface, the second front support body 1102B and the second rear support body 1103B are separated from the support surface, and the second flexible telescopic body 1101B stretches, slides and creeps; the air pump system stops inflating, the gas in the gas chamber 1105 is discharged, the second annular edge claw 1104B is exhausted and retracted, and the second front support body 1102B and the second rear support body 1103B are supported on the support surface;

[0188] By controlling the air pump system to inflate the first flexible telescopic body 1101A and / or the second telescopic body 1101B, the flexible detection robot can move forward, backward and / or turn during its creeping process.

[0189] A flexible detection robot of the present embodiment is inflated and deflated by the main air pump 604 of the air pump system, and the flexible telescopic body is extended and retracted, and at the same time, the annular edge claws are extended and retracted to achieve peristaltic sliding. In this way, a flexible detection robot of the present embodiment can replace the staff to enter a small space to detect targets. The flexible telescopic body can be better extended and retracted, and the movement path can adapt to various complex environments.

[0190] In a flexible detection robot of this embodiment, the main air pump 604 can be set in an area outside the detection target and connected to the gas chamber 1105 of the flexible telescopic body through an air pipe. The main air pump 604 can also be set on the front support body or the rear support body.

[0191] A flexible detection robot in this embodiment has a first flexible telescopic body 1101A and a second flexible telescopic body 1101B arranged in parallel. In this way, by respectively controlling the inflation mode of the first flexible telescopic body 1101A and the second flexible telescopic body 1101B through the main air pump 604, the flexible detection robot can realize various creeping and sliding modes such as forward, backward, and turning, so as to better adapt to the detection environment of complex working conditions.

[0192] As an optional implementation of this embodiment, see Fig.15 As shown, in this embodiment, a first inflation port 1201 is arranged at one end of the first flexible telescopic body 1101A close to the first rear support body 1103A, and the main air pump 604 is connected to the first inflation port 1201 through a first gas pipeline 613; a second inflation port 1202 is arranged at one end of the second flexible telescopic body 1101B close to the second front support body 1102B, and the main air pump 604 is connected to the second inflation port 1202 through a second gas pipeline 615; control valves are respectively arranged on the first gas pipeline 613 and the second gas pipeline 615, which are a first control valve 614 and a second control valve 616 respectively.

[0193] In the flexible detection robot of the present embodiment, the control valve (first control valve 614, second control valve 616) on the first gas pipeline 613 or the second gas pipeline 615 is controlled to open, and the main air pump 604 inflates the first flexible telescopic body 1101A or the second telescopic gas 1101B to achieve forward or backward sliding creeping. Therefore, in the present embodiment, by inflating the first flexible telescopic body 1101A or the second telescopic gas 1101B in reverse, it can be controlled to slide forward or backward creeping.

[0194] Furthermore, in this embodiment, a plurality of first annular claws 1104A are distributed axially on the outer periphery of the first flexible telescopic body 1101A, and the first annular claws 1104A are tilted toward the first rear support body 1103A. A plurality of second annular claws 1104B are distributed axially on the outer periphery of the second flexible telescopic body 1101B, and the second annular claws 1104B are tilted toward the second front support body 1102B. The first annular claws 1104A and the second annular claws 1104B of this embodiment extend out of the support and are stuck on the support surface when the first flexible telescopic body 1101A and the second flexible telescopic body 1101B are inflated, so as to better support the flexible detection robot to slide and creep toward the target direction.

[0195] See also Fig.16 As shown, in this embodiment, the third inflation port 1203 is arranged at one end of the first flexible telescopic body 1101A close to the first rear support body 1103A, and the main air pump 604 is connected to the third inflation port 1203 through the third gas pipeline 617; the fourth inflation port 1204 is arranged at one end of the second flexible telescopic body 1101B close to the second rear support body 1103B, and the main air pump 604 is connected to the fourth inflation port 1204 through the fourth gas pipeline 619; control valves are respectively arranged on the third gas pipeline 617 and the fourth gas pipeline 619, specifically, the third control valve 618 and the fourth control valve 620.

[0196] A flexible detection robot of this embodiment realizes straight-line or turning sliding creeping by controlling the control valves on the third gas pipeline 617 and the fourth gas pipeline 619 to be opened synchronously or asynchronously, and the main air pump 604 synchronously or asynchronously inflates the first flexible telescopic body 1101A and the second telescopic gas 1101B. The main air pump 604 of this embodiment inflates the first flexible telescopic body 1101A and the second telescopic gas 1101B asynchronously, and the first flexible telescopic body 1101A and the second telescopic gas 1101B are inflated asynchronously, resulting in different amounts of expansion and contraction on both sides, thereby realizing turning.

[0197] Furthermore, a plurality of third annular claws 1104C are axially distributed on the periphery of the first flexible telescopic body 1101A, and the third annular claws 1104C are inclined toward the first rear support body 1103A side. A plurality of fourth annular claws 1104D are axially distributed on the periphery of the second flexible telescopic body 1101B, and the fourth annular claws 1104D are inclined toward the second rear support body 1103B side.

[0198] As an optional implementation of this embodiment, the bottoms of the front support body and the rear support body respectively have support planes that are in contact with the support surface, so that the flexible telescopic body can be stably placed on the support surface when it is not inflated.

[0199] As an optional implementation of this embodiment, this embodiment provides a flexible detection robot, including a detection camera 500, and the detection camera 500 is installed on the front support body, so that the detection camera 500 can collect images of the detection environment in real time.

[0200] Furthermore, a flexible detection robot of this embodiment includes a main controller, and the detection camera 500 is connected to the main controller in communication. The main controller can send the real-time collected environment image to the intelligent control terminal through the communication module, so as to facilitate the remote observation and control by the staff.

[0201] As an optional implementation manner of this embodiment, in a flexible detection robot of this embodiment, the flexible telescopic body is a rubber telescopic column.

[0202] As an optional implementation of this embodiment, the annular edge claws 1104 are integrally formed on the outer periphery of the rubber telescopic column in this embodiment.

[0203] As an optional implementation of this embodiment, a flexible detection robot of this embodiment includes a power module electrically connected to the main controller.

[0204] Embodiment 5

[0205] See also Figure 20-24 As shown, a flexible detection robot of this embodiment, the first flexible body component includes a first elastic bending body 1300A, which has a gas chamber 1304 inside. The first elastic bending body 1300A is originally curved in an arc shape, and the bottom of the first elastic bending body 1300A has a telescopic support foot 1303, and the first telescopic support foot 1303 is hollow inside and communicates with the gas chamber 1304;

[0206] The second flexible body assembly includes a second elastic bending body 1300B, which has a gas chamber 1304 inside. The second elastic bending body 1300B is originally curved in an arc shape. The bottom of the second elastic bending body 1300B has a telescopic support foot 1303, and the telescopic support foot 1303 is hollow inside and communicates with the gas chamber 1304.

[0207] The driving assembly includes an air pump system, which is connected to the gas chamber inside the first elastic bending body 1300A. The air pump system inflates the gas chamber 1304 of the first elastic bending body 1300A, and the telescopic support legs 1303 are extended to support on the support surface. At least one end of the first elastic bending body 1300A leaves the support surface, and the first elastic bending body 1300A is extended from an arc-shaped curved shape to a straight shape. The air pump system stops inflating, and the gas in the gas chamber inside the first elastic bending body 1300A is discharged, and the telescopic support legs 1303 are retracted. The two ends of the first elastic bending body 1300A are supported on the support surface, and the first elastic bending body 1300A is restored from a straight shape to an arc-shaped curved shape, thereby realizing forward sliding creeping;

[0208] The air pump system is connected to the gas chamber 1304 inside the second elastic curved body 1300B, and the air pump system inflates the gas chamber 1304 of the second elastic curved body 1300B, and the telescopic support legs 1303 are extended and supported on the support surface. At least one end of the second elastic curved body 1300B leaves the support surface, and the second elastic curved body 1300B stretches from an arc-shaped curved shape to a straight shape. The air pump system stops inflating, and the gas in the gas chamber 1304 inside the second elastic curved body 1300B is discharged, the telescopic support legs 1303 are retracted, and both ends of the second elastic curved body 1300B are supported on the support surface. The second elastic curved body 1300B recovers from a straight shape to an arc-shaped curved shape, realizing backward sliding creep.

[0209] A flexible detection robot of this embodiment inflates and deflates gas in the gas chamber 1304 inside the first elastic curved body 1300A and the second elastic curved body 1300B through the air pump system, and the first elastic curved body 1300A and the second elastic curved body 1300B switch between an arc-shaped curved shape and a straight shape, and realizes crawling and creeping with the extension and retraction of the telescopic support foot 1303. Therefore, a flexible detection robot of this embodiment can realize crawling and creeping control by remotely controlling the air pump system, which is better suitable for detecting targets in narrow spaces, and is used in specific scenarios such as rescue and reconnaissance.

[0210] The main function of the telescopic support leg 1303 of the present embodiment is to be inflated and extended at the same time when the internal gas chamber 1304 of the first elastic bending body 1300A and the second elastic bending body 1300B is inflated, so that at least one end of the first elastic bending body 1300A and the second elastic bending body 1300B can be supported away from the supporting surface, thereby reducing the contact friction between the first elastic bending body 1300A and the second elastic bending body 1300B and the supporting surface, making it easier for the first elastic bending body 1300A and the second elastic bending body 1300B to stretch, slide and creep forward.

[0211] Therefore, as an optional implementation of this embodiment, the telescopic support leg 1303 described in this embodiment is located in the middle position of the first elastic bending body 1300A and the second elastic bending body 1300B, so that the telescopic support leg 1303 is inflated and stretched to contact the supporting surface, thereby supporting the first elastic bending body 1300A and the second elastic bending body 1300B.

[0212] Furthermore, in this embodiment, the bottom ends of the first elastic bending body 1300A and the second elastic bending body 1300B are respectively provided with supporting claws (301, 302), and the supporting claws (301, 302) are set to a fixed height. The height of the telescopic supporting foot 1303 in the inflated and extended state is greater than the height of the supporting claws (301, 302), and the height of the telescopic supporting foot 1303 in the deflated and retracted state is less than the height of the supporting claws (301, 302).

[0213] In this way, when the gas chamber 1304 inside the first elastic bending body 1300A and the second elastic bending body 1300B of this embodiment is inflated, the telescopic support leg 1303 is inflated and stretched to contact the support surface, and the first elastic bending body 1300A and the second elastic bending body 1300B have support claws (301, 302) at both ends of the bottom to leave the support surface, so that the first elastic bending body 1300A and the second elastic bending body 1300B can stretch forward without being caught by the support claws ( 301, 302) are stuck; when the gas chamber 1304 inside the first elastic bending body 1300A and the second elastic bending body 1300B is exhausted, the telescopic support leg 1303 is retracted. Since the height of the telescopic support leg 1303 in the exhausted and retracted state is less than the height of the support claws (301, 302), the support claws (301, 302) are supported on the support surface, so that the first elastic bending body 1300A and the second elastic bending body 1300B can stretch forward, slide and creep when inflated next time.

[0214] Specifically, the support claws of this embodiment include a left support claw 301 and a right support claw 302 arranged at both ends of the bottom of the first elastic bending body 1300A and the second elastic bending body 1300B; at the same time, the telescopic support feet 1303 of this patent application can also be provided in plurality, located at the left support claw 301 and the right support claw 302, so as to ensure that the retractable support feet 303 can support the elastic bending body 100 when inflated.

[0215] As an optional implementation of this embodiment, the support claws (301, 302) described in this embodiment are inclined toward the sliding and creeping direction of the first elastic bending body 1300A and the second elastic bending body 1300B, so that when the first elastic bending body 1300A and the second elastic bending body 1300B are exhausted, the support claws (301, 302) are stuck on the support surface, and the middle part of the first elastic bending body 1300A and the second elastic bending body 1300B bends forward to restore the initial state.

[0216] As an optional implementation of this embodiment, the air pump system of this embodiment is arranged on the first elastic curved body 1300A and the second elastic curved body 1300B, and the air outlet end of the air pump system is connected and conducted with the gas chamber 1304 inside the first elastic curved body 1300A and the second elastic curved body 1300B. In this way, the air pump system and the first elastic curved body 1300A and the second elastic curved body 1300B form an integral structure, and remote control can be realized by cooperating with the battery module and the wireless communication module.

[0217] As an optional implementation of this embodiment, the gas chamber 1304 inside the first elastic curved body 1300A and the second elastic curved body 1300B of this embodiment is connected to the inflation pump through the external inflation tube 1400. In this way, the inflation tube 1400 can be set outside the detection environment, and is connected to the first elastic curved body 1300A and the second elastic curved body 1300B through the external inflation tube 1400 to perform inflation and deflation control.

[0218] The flexible detection robot of this embodiment includes a detection camera 500, which is installed on the first elastic curved body 1300A and the second elastic curved body 1300B. In this way, the detection camera 500 can collect images of the detection environment in real time.

[0219] Furthermore, a flexible detection robot of this embodiment includes a main controller, and the detection camera 500 is connected to the main controller in communication. The main controller can send the real-time collected environment image to the intelligent control terminal through the communication module, so as to facilitate remote observation and control by the staff.

[0220] As an optional implementation of this embodiment, a pressure sensor is provided in the gas chamber 1304 inside the first elastic curved body 1300A and the second elastic curved body 1300B, and the pressure sensor is communicatively connected with the main controller. The main controller of this embodiment monitors the gas pressure of the gas chamber 1304 inside the first elastic curved body 1300A and the second elastic curved body 1300B through the pressure sensor, so as to determine whether the inflation and deflation are completed.

[0221] As an optional implementation of this embodiment, in this embodiment, electromagnetic sensors are provided on the first elastic bending body 1300A and the second elastic bending body 1300B, and the electromagnetic sensors are communicatively connected with the main controller, and the electromagnetic sensors can detect obstacles.

[0222] In this embodiment, the first elastic bending body 1300A and the second elastic bending body 1300B are made of rubber or other elastic materials and have elastic expansion and contraction capabilities.

[0223] As an optional implementation of this embodiment, a flexible detection robot of this embodiment includes a power module electrically connected to the main controller.

[0224] Embodiment 6

[0225] See also Figure 25-28 As shown, in this embodiment of a flexible detection robot, the first flexible body component includes a first elastic body 1501A, which is in an arc-shaped bending state in an initial state, and the first elastic body 1501A has a first memory alloy body 1601 extending along the first elastic body 1501A inside, and the first memory alloy body 1601 is in an arc-shaped bending state under the action of the first elastic body 1501A at room temperature;

[0226] The second flexible body component includes a second elastic body 1501B, which is in an arc-shaped curved shape in an initial state. The second elastic body 1501B has a second memory alloy body 1602 extending along the second elastic body 1501B inside. The second memory alloy body 1602 is in an arc-shaped curved shape under the action of the second elastic body 1501B at room temperature. The second elastic body 1501B is arranged in parallel with the first elastic body 1501A and connected by an elastic connector.

[0227] The driving component includes an electrically controlled heating system 1800, including a first heating resistance wire 1701 and a second heating resistance wire 1702, the first heating resistance wire 1701 is wound around the first memory alloy body 1601, and the second heating resistance wire 1702 is wound around the second memory alloy body 1602;

[0228] The electrically-controlled heating system 1800 controls the first heating resistor 1701 to be energized, and the first heating resistor 1701 is energized to heat the first memory alloy body 1601. The first memory alloy body 1601 is heated to stretch from a curved state to a straight state, and at the same time drives the first elastic body 1501A to stretch and perform sliding and creeping. And / or the electrically-controlled heating system 1800 controls the second heating resistor 1702 to be energized, and the second heating resistor 1702 is energized to heat the second memory alloy body 1602. The second memory alloy body 1602 is heated to stretch from a curved state to a straight state, and at the same time drives the second elastic body 1501B to stretch and perform sliding and creeping.

[0229] A flexible detection robot according to this embodiment, the electrically-controlled heating component controls the first heating resistor 1701 to be energized, the first heating resistor 1701 is energized to heat the first memory alloy body 1601, the first memory alloy body 1601 is heated to stretch from a curved state to a straight state, and at the same time drives the first elastic body 1501A to stretch and perform sliding creeping, and / or the electrically-controlled heating component controls the second heating resistor 1702 to be energized, the second heating resistor 1702 is energized to heat the second memory alloy body 1602, the second memory alloy body 1602 is heated to stretch from a curved state to a straight state, and at the same time drives the second elastic body 1501B to stretch and perform sliding creeping.

[0230] A flexible detection robot in this embodiment, the specific motion logic includes:

[0231] Accumulation stage: the first elastic body 1501A and the second elastic body 1501B are initially bent upward, and the electric control heating system 1800 controls the first heating resistor wire 1701 and the second heating resistor wire 1702 to energize, heating the first memory alloy body 1601 and the second memory alloy body 1602. During the heating process, the first elastic body 1501A and the second elastic body 1501B stretch forward, and the first elastic body 1501A and the second elastic body 1501B unfold and deform into a straight shape, generating elastic potential energy.

[0232] Release phase: the electric control heating system 1800 controls the first heating resistor 1701 and the second heating resistor 1702 to cut off the power, the first memory alloy body 1601 and the second memory alloy body 1602 stop heating, the first elastomer 1501A and the second elastomer 1501B need to return to their original state due to the existence of elastic potential energy, and the pneumatic flexible robot moves forward.

[0233] Therefore, a flexible detection robot in this embodiment can control the heating of the first memory alloy body 1601 and the second memory alloy body 1602 through the electric-controlled heating system 1800, and the first elastomer 1501A and the second elastomer 1501B can creep. It can be applied to more complex terrain environments, and can be used to detect targets in narrow spaces, for rescue, reconnaissance, etc.

[0234] In addition, the second elastic body 1501B of the present embodiment is arranged in parallel with the first elastic body 1501A and connected by an elastic connector. The first memory alloy body 1601 and the second memory alloy body 1602 are controlled to be powered on and off synchronously by the electric control heating system 1800, the first memory alloy body 1601 and the second memory alloy body 1602 are synchronously moved, and the first elastic body 1501A and the second elastic body 1501B are synchronously deformed, so as to realize the forward movement of the flexible detection robot; the first memory alloy body 1601 and the second memory alloy body 1602 are controlled to be powered on and off synchronously and asynchronously by the electric control heating component, the first memory alloy body 1601 and the second memory alloy body 1602 are asynchronously moved, and the first elastic body 1501A and the second elastic body 1501B are asynchronously deformed, so as to realize the turning movement of the flexible detection robot. Therefore, the flexible detection robot of the present embodiment can realize various motion forms such as straight travel and turning, better meet the terrain of narrow space, and make the detection more in-depth.

[0235] Furthermore, in a flexible detection robot of this embodiment, the electrically controlled heating system 1800 includes a power supply, a first connection circuit 1901 and a second connection circuit 1902, the power supply is electrically connected to the first heating resistor 1701 through the first connection circuit 1901, and the power supply is electrically connected to the second heating resistor 1702 through the second connection circuit 1902.

[0236] In this embodiment, a first control switch is provided on the first connection circuit 1901, and a second control switch is provided on the second connection circuit 1902:

[0237] By controlling the first control switch and the second control switch to be closed at the same time, the first heating resistor wire 1701 and the second heating resistor wire 1702 are energized to heat the first memory alloy body 1601 and the second memory alloy body 1602 at the same time, driving the first elastic body 1501A and the second elastic body 1501B to stretch synchronously and move straight by sliding creep.

[0238] By controlling the first control switch and the second control switch to close successively, the first heating resistor wire 1701 and the second heating resistor wire 1702 are energized successively to heat the first memory alloy body 1601 and the second memory alloy body 1602, thereby driving the first elastic body 1501A and the second elastic body 1501B to stretch asynchronously and perform sliding creeping turns.

[0239] As an optional implementation of this embodiment, in this embodiment, the first memory alloy body 1601 and the second memory alloy body 1602 are both nickel-titanium alloy plates.

[0240] Furthermore, in this embodiment, first supporting claws are respectively provided at the front and rear ends of the bottom of the first elastic body 1501A, specifically the first front supporting claw 1502A and the first rear supporting claw 1503A, and second supporting claws are respectively provided at the two ends of the bottom of the second elastic body 1501B, specifically the second front supporting claw and the second rear supporting claw, which are not shown.

[0241] In this embodiment, the first supporting claw is inclined toward the rear end of the first elastic body.

[0242] In this embodiment, the second supporting claw is inclined toward the rear end of the second elastic body.

[0243] Furthermore, in this embodiment, a detection camera 500 is set at the front end of the first elastic body 1501A, or the second elastic body 1501B, or the elastic connecting member 300, and the detection camera 500 can collect the detection environment image in real time.

[0244] Furthermore, a flexible detection robot of this embodiment includes a main controller, and the detection camera 500 is connected to the main controller in communication. The main controller can send the real-time collected environment image to the intelligent control terminal through the communication module, so as to facilitate remote observation and control by the staff.

[0245] Specifically, in this embodiment, the first elastic body 1501A and the second elastic body 1501B are both elastic plastic parts.

[0246] The elastic connecting member 300 in this embodiment is a rubber cylinder, and the first elastic body 1501A and the second elastic body 1501B are fixedly connected to the rubber cylinder respectively.

[0247] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.

Claims

1. A flexible detection robot, characterized in that: include: a first flexible body component; A second flexible body component is arranged in parallel with the first flexible body component, and the second flexible body component is connected to the first flexible body component through a connecting piece; A driving component, wherein the driving component drives the first flexible body component and / or the second flexible body component to deform, and after the driving component stops driving, the first flexible body component and / or the second flexible body component returns to an initial state, and the first flexible body component and / or the second flexible body component creeps; By controlling the driving mode of the driving component to drive the first flexible body component and the second flexible body component, the flexible detection robot can move forward, backward and / or turn during the creeping process.

2. A flexible detection robot according to claim 1, characterized in that: The first flexible body component includes a first elastic sheet bracket, and both ends of the bottom of the first elastic sheet bracket are respectively provided with claws; The second flexible body assembly includes a second elastic sheet bracket, and both ends of the bottom of the second elastic sheet bracket are respectively provided with claws; The driving assembly includes a first driving component installed at the bottom of the first elastic sheet bracket and a second driving component installed at the bottom of the second elastic sheet bracket, the first driving component includes a first connecting member and a first retractable mechanism, one end of the first connecting member is fixedly connected to the bottom of one end of the first elastic sheet bracket, and the other end is connected to the first retractable mechanism, one end of the second connecting member is fixedly connected to the bottom of one end of the second elastic sheet bracket, and the other end is connected to the second retractable mechanism; The creeping of the flexible detection robot is achieved by controlling the first retractable mechanism and the second retractable mechanism to retract / release the first connecting member and the second connecting member.

3. A flexible detection robot according to claim 2, characterized in that: The first retractable mechanism is installed at the bottom of the first end of the first elastic plate bracket, one end of the first connecting member is fixedly connected to the bottom of the second end of the first elastic plate bracket, and the other end is connected to the first retractable mechanism; The second retractable mechanism is installed at the bottom of the second end of the second elastic plate bracket, one end of the second connecting member is fixedly connected to the bottom of the first end of the second elastic plate bracket, and the other end is connected to the first retractable mechanism; The first connecting piece is retracted / released by controlling the first retracting / releasing mechanism to realize the forward creeping movement of the flexible detection robot, and the second connecting piece is retracted / released by controlling the second retracting / releasing mechanism to realize the backward creeping movement of the flexible detection robot; Alternatively, the first retractable mechanism is installed at the bottom of the first end of the first elastic plate bracket, one end of the first connecting member is fixedly connected to the bottom of the second end of the first elastic plate bracket, and the other end is connected to the first retractable mechanism; The second retractable mechanism is installed at the bottom of the first end of the second elastic plate bracket, one end of the second connecting member is fixedly connected to the bottom of the second end of the second elastic plate bracket, and the other end is connected to the first retractable mechanism; By controlling the first and second retracting mechanisms to synchronously retract / release the first and second connecting members, the flexible detection robot can move straight. By controlling the first and second retracting mechanisms to asynchronously retract / release the first and second connecting members, the flexible detection robot can turn.

4. A flexible detection robot according to claim 1, characterized in that: The first flexible body component includes a first spring bracket, the first spring bracket has a first inflation channel inside, the bottom ends of the first spring bracket have claws respectively, and the first spring bracket is initially bent upward; The second flexible body component includes a second elastic sheet bracket, the second elastic sheet bracket has a second inflation channel inside, the two ends of the bottom of the second elastic sheet bracket have claws respectively, and the second elastic sheet bracket is initially bent upward; The driving component includes an air pump system, which is used to inflate the first inflation channel and the second inflation channel respectively. The first spring clip bracket and the second spring clip bracket are unfolded to be straight. After the inflation is stopped, the inflation channel is exhausted, and the first spring clip bracket and the second spring clip bracket move forward through the clamping claws. The air pump system controls the first inflation channel and the second inflation channel to be inflated or deflated synchronously, so as to realize the straight movement of the flexible detection robot, and controls the first inflation channel and the second inflation channel to be inflated or deflated asynchronously, so as to realize the steering of the flexible detection robot.

5. A flexible detection robot according to claim 4, characterized in that: The air pump system includes a main air pump, the main air pump is connected to one end of the first charging channel through a first air intake pipeline, and is connected to one end of the second charging channel through a second air intake pipeline, the connecting position of the first air intake pipeline and the first charging channel and the connecting position of the second air intake pipeline and the second charging channel are located on the same side, a first air intake control valve is arranged on the first air intake pipeline, and a second air intake control valve is arranged on the second air intake pipeline; By controlling the first air intake control valve and the second air intake control valve to intake air synchronously or asynchronously, the flexible detection robot can move straight or turn. Optionally, the main air pump is connected to the other end of the first charging channel through a third air intake pipeline, and is connected to the other end of the second charging channel through a fourth air intake pipeline, the connection position of the third air intake pipeline and the first charging channel, and the connection position of the fourth air intake pipeline and the second charging channel are located on the same side, and a third air intake control valve is provided on the third air intake pipeline, and a fourth air intake control valve is provided on the fourth air intake pipeline; The main air pump is controlled to inflate the first and second air channels through the first and second air intake pipelines to one end of the first and second air intake pipelines to enable the flexible detection robot to move forward. The main air pump is controlled to inflate the other ends of the first and second air intake pipelines to enable the flexible detection robot to move backward. During the backward movement, the third and fourth air intake control valves are controlled to intake air synchronously / asynchronously to enable the flexible detection robot to move straight / turn.

6. A flexible detection robot according to claim 1, characterized in that: The first flexible body assembly includes a first front airbag support, a first rear airbag support and a first telescopic airbag, and two ends of the first telescopic airbag are respectively mounted on the first front airbag support and the first rear airbag support; The second flexible body assembly includes a second front airbag support, a second rear airbag support and a second telescopic airbag, and two ends of the second telescopic airbag are respectively mounted on the second front airbag support and the second rear airbag support; The driving component includes an air pump system, which is connected to the first telescopic airbag and the second telescopic airbag respectively. When gas is filled into the first telescopic airbag through the air pump system, the first telescopic airbag is deployed, driving the first front airbag support or the first rear airbag support to slide and creep; and / or when gas is filled into the second telescopic airbag through the air pump system, the second telescopic airbag is deployed, driving the second front airbag support or the second rear airbag support to slide and creep.

7. A flexible detection robot according to claim 6, characterized in that: The air pump system includes an air pump, a first charging and discharging pipeline and a second charging and discharging pipeline, wherein the air pump is connected to the rear end of the first telescopic airbag through the first charging and discharging pipeline, and the air pump is connected to the rear end of the second telescopic airbag through the second charging and discharging pipeline, wherein the rear end of the first telescopic airbag is an end connected to the first rear airbag support, and the rear end of the second telescopic airbag is an end connected to the second rear airbag support; The air pump fills the first telescopic airbag with gas through the first inflation and deflation pipeline, the first telescopic airbag is deployed, the first rear airbag support is clamped on the support surface, the first front airbag support slides and creeps forward, after the first telescopic airbag is fully deployed, the air pump stops inflating, the gas in the first telescopic airbag is discharged through the first inflation and deflation pipeline, the first front airbag support is clamped on the support surface, and the first rear airbag support slides and creeps forward; The air pump fills the second telescopic airbag with gas through the second inflation and deflation pipeline, the second telescopic airbag is deployed, the second rear airbag support is clamped on the support surface, and the second front airbag support slides and creeps forward. After the second telescopic airbag is fully deployed, the air pump stops inflating, the gas in the second telescopic airbag is discharged through the second inflation and deflation pipeline, the second front airbag support is clamped on the support surface, and the second rear airbag support slides and creeps forward. Optionally, the air pump system includes a third charging and discharging pipeline and a fourth charging and discharging pipeline, the air pump is connected to the front end of the first telescopic airbag through the third charging and discharging pipeline, and the air pump is connected to the front end of the second telescopic airbag through the fourth charging and discharging pipeline, the front end of the first telescopic airbag is an end connected to the first front airbag support, and the front end of the second telescopic airbag is an end connected to the second front airbag support; The air pump fills the first telescopic airbag with gas through the third air filling and discharging pipeline, the first telescopic airbag is deployed, the first front airbag support is stuck to the support surface, and the first rear airbag support slides and creeps backwards. After the first telescopic airbag is fully deployed, the air pump stops inflating, the gas in the first telescopic airbag is discharged through the third air filling and discharging pipeline, the first rear airbag support is stuck to the support surface, and the first front airbag support slides and creeps backwards. The air pump fills the second telescopic airbag with gas through the fourth charging and discharging pipeline, the second telescopic airbag is deployed, the second front airbag support is stuck to the supporting surface, and the second rear airbag support slides and creeps backwards. After the second telescopic airbag is fully deployed, the air pump stops inflating, the gas in the second telescopic airbag is discharged through the fourth charging and discharging pipeline, the second rear airbag support is stuck to the supporting surface, and the second front airbag support slides and creeps backwards.

8. The flexible detection robot according to claim 1, characterized in that: The first flexible body assembly includes a first flexible telescopic body having a gas chamber inside, a first front support body located at one end of the first flexible telescopic body, and a first rear support body located at the other end of the first flexible telescopic body, a plurality of first annular claws are distributed axially on the outer periphery of the first flexible telescopic body, and the first annular claws are hollow inside and communicated with the gas chamber of the first flexible telescopic body; The second flexible body assembly includes a second flexible telescopic body having a gas chamber therein, a second front support body located at one end of the second flexible telescopic body, and a second rear support body located at the other end of the second flexible telescopic body, a plurality of second annular claws are distributed axially on the outer periphery of the second flexible telescopic body, and the second annular claws are hollow inside and communicated with the gas chamber of the second flexible telescopic body; The driving assembly includes an air pump system, and the air pump system is respectively connected to the gas chambers inside the first flexible telescopic body and the second flexible telescopic body; The air pump system fills the air chamber of the first flexible telescopic body with air, the first annular edge claw is inflated and stretched to support on the support surface, the first front support body and the first rear support body are separated from the support surface, and the first flexible telescopic body stretches, slides and creeps; the air pump system stops inflating, the air in the gas chamber is discharged, the first annular edge claw is exhausted and retracted, and the first front support body and the first rear support body are supported on the support surface; The air pump system fills the air chamber of the second flexible telescopic body with air, the second annular edge claw is inflated and stretched to support on the support surface, the second front support body and the second rear support body are separated from the support surface, and the second flexible telescopic body stretches, slides and creeps; the air pump system stops inflating, the air in the gas chamber is discharged, the second annular edge claw is exhausted and retracted, and the second front support body and the second rear support body are supported on the support surface; By controlling the air pump system to inflate the first flexible telescopic body and / or the second telescopic body, the flexible detection robot can move forward, backward and / or turn during its creeping process.

9. The flexible detection robot according to claim 1, characterized in that: The first flexible body component includes a first elastic bending body, which has a gas chamber inside. The first elastic bending body is originally curved in an arc shape. The bottom of the first elastic bending body has a telescopic support foot, and the interior of the telescopic support foot is hollow and communicates with the gas chamber. The second flexible body assembly includes a second elastic bending body, which has a gas chamber inside. The second elastic bending body is originally curved in an arc shape. The bottom of the second elastic bending body has a telescopic support foot, and the interior of the telescopic support foot is hollow and communicates with the gas chamber. The driving assembly includes an air pump system, which is connected to the gas chamber inside the first elastic bending body. The air pump system inflates the gas chamber of the first elastic bending body, the telescopic support legs are extended and supported on the support surface, at least one end of the first elastic bending body leaves the support surface, and the first elastic bending body is extended from an arc-shaped curved shape to a straight shape. The air pump system stops inflating, the gas in the gas chamber inside the first elastic bending body is discharged, the telescopic support legs are retracted, the two ends of the first elastic bending body are supported on the support surface, and the first elastic bending body is restored from a straight shape to an arc-shaped curved shape, thereby realizing forward sliding creeping; The air pump system is connected to the gas chamber inside the second elastic curved body, and the air pump system inflates the gas chamber of the second elastic curved body, the telescopic supporting legs are stretched and supported on the supporting surface, at least one end of the second elastic curved body leaves the supporting surface, and the second elastic curved body stretches from an arc-shaped curved state to a straight state. The air pump system stops inflating, the gas in the gas chamber inside the second elastic curved body is discharged, the telescopic supporting legs are retracted, the two ends of the second elastic curved body are supported on the supporting surface, and the second elastic curved body recovers from a straight state to an arc-shaped curved state, thereby realizing backward sliding creep.

10. The flexible detection robot according to claim 1, characterized in that: The first flexible body component includes a first elastic body, which is in an arc-shaped bending state in an initial state, and has a first memory alloy body extending along the first elastic body inside the first elastic body, and the first memory alloy body is in an arc-shaped bending state under the action of the first elastic body at room temperature; The second flexible body assembly includes a second elastic body, which is in an arc-shaped bending shape in an initial state, and has a second memory alloy body extending along the second elastic body inside the second elastic body, and the second memory alloy body is in an arc-shaped bending shape under the action of the second elastic body at room temperature, and the second elastic body is arranged in parallel with the first elastic body and connected by an elastic connecting piece; The driving assembly includes an electrically controlled heating system, including a first heating resistance wire and a second heating resistance wire, the first heating resistance wire is wound around the first memory alloy body, and the second heating resistance wire is wound around the second memory alloy body; The electrically-controlled heating system controls the first heating resistor wire to be energized, and the first heating resistor wire is energized to heat the first memory alloy body. The first memory alloy body is heated and stretched from a curved state to a straight state, while driving the first elastic body to stretch and perform sliding creeping. And / or the electrically-controlled heating system controls the second heating resistor wire to be energized, and the second heating resistor wire is energized to heat the second memory alloy body. The second memory alloy body is heated and stretched from a curved state to a straight state, while driving the second elastic body to stretch and perform sliding creeping.

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