A flexible tensioning and flipping robot

Abstract

This invention relates to an elastic tension-flipping robot, belonging to the field of mobile robot technology. It includes multiple hanging components, multiple tension springs, and multiple telescopic push rods. The hanging components are spaced apart and dispersed within a space. The two ends of the tension springs are respectively hinged to two adjacent hanging components to form a three-dimensional mesh frame in space. The multiple telescopic push rods are all located within the three-dimensional mesh frame, with their fixed ends and telescopic ends respectively hinged to pairs of opposite hanging components. This invention utilizes multiple hanging components and multiple tension springs to create a revolutionary three-dimensional mesh frame design. Because the fixed ends and telescopic ends of the multiple telescopic push rods are respectively hinged to pairs of adjacent hanging components, one or more telescopic push rods can be extended or retracted according to the actual terrain structure, changing the shape of the three-dimensional mesh frame. By using the center of mass of the three-dimensional mesh frame to deviate from the closed area of ​​the contact point with the ground, a torque is generated, achieving tumbling movement while ensuring the impact resistance of the three-dimensional mesh frame.

Description

Technical Field

[0001] This invention relates to the field of mobile robot technology, and in particular to an elastic tensioning and flipping robot. Background Technology

[0002] With the rapid development of robotics technology, the application fields of robots are constantly expanding, from industrial production to disaster relief and environmental monitoring, and the requirements for robot mobility are becoming increasingly stringent. In complex terrain environments, such as earthquake rubble, rugged mountain paths, and swamps, traditional wheeled, tracked, and legged mobile robots have revealed many limitations. Wheeled robots experience a sharp decline in mobility when facing obstacles taller than their wheel diameter. In steep mountainous environments, they are prone to getting stuck or tipping over, making it difficult to complete exploration and operation tasks in complex terrain areas. Tracked robots, while improving mobility to some extent, are prone to sinking in soft sand or swampy areas, and their complex track structure leads to severe mechanical wear and high maintenance costs, making them unable to operate stably for extended periods. Legged robots, although possessing some obstacle-crossing capabilities, have complex leg joint structures, resulting in high energy consumption. They are also prone to instability due to improper gait planning during movement, making it difficult to meet the demands of long-term, high-efficiency operations.

[0003] With technological advancements, the application of tensioned monolithic structures in robotics has become increasingly sophisticated due to their self-stressing and self-supporting characteristics. This structure endows robots with certain terrain adaptability and impact resistance, theoretically enabling them to better cope with complex terrain environments. However, existing mobile robots based on tensioned monolithic structures still exhibit significant shortcomings in practical applications. Regarding mobility, their configuration adjustment response is slow, failing to adjust their posture in real-time according to complex and changing terrain, resulting in low mobility and difficulty in quickly reaching target areas to perform tasks. In terms of motion stability, the robot structure is prone to instability when faced with impacts and disturbances from irregular terrain, affecting operational accuracy and safety. Regarding structural reliability, the connecting mechanisms are susceptible to component breakage or loosening under significant external impacts, leading to robot malfunctions or even complete inoperability. Furthermore, poor communication stability also restricts the remote operation capabilities of these robots, with frequent communication interruptions in electromagnetic interference environments, making effective data interaction with the control terminal impossible.

[0004] In critical fields such as disaster relief and resource exploration, there is an urgent need for mobile robots capable of operating efficiently and stably in complex terrain. For example, during the critical 72 hours of earthquake rescue, robots are needed to quickly enter deep into the rubble to search for survivors and transmit real-time information; in resource exploration operations in remote mountainous areas, robots are required to move autonomously for extended periods and complete data collection. Existing robot technology is insufficient to meet these demands. Therefore, developing a new type of mobile device for a flexible, tensioned, integral tumbling robot to improve its mobility, reliability, and communication stability in complex environments is of paramount importance for promoting the application of robot technology in multiple fields, ensuring the safety of life and property, and facilitating resource development. Summary of the Invention

[0005] The purpose of this invention is to provide an elastic tensioning and flipping robot. Through the design of a unique drive actuator, elastic connection mechanism and control and communication system, the robot can flexibly change its configuration to achieve stable tumbling motion, while having strong impact resistance to adapt to the mobile operation needs in complex terrain environments.

[0006] The technical solution of this invention to solve the above-mentioned technical problems is as follows: an elastic tensioning and flipping robot, comprising: multiple hanging parts, multiple tension springs, and multiple telescopic push rods.

[0007] Multiple hanging components are spaced apart and dispersed in the space; the two ends of multiple tension springs are respectively hinged to two adjacent hanging components to form a three-dimensional mesh frame in the space; multiple telescopic push rods are all located in the three-dimensional mesh frame and their fixed ends and telescopic ends are respectively hinged to two opposite hanging components, so that the configuration of the three-dimensional mesh frame can be changed while the multiple telescopic push rods extend and retract, thereby achieving deformation and flipping.

[0008] The beneficial effects of this invention are: by using multiple hangers and multiple tension springs, a revolutionary three-dimensional mesh frame is designed. Since the fixed ends and telescopic ends of multiple telescopic push rods are respectively hinged to two adjacent hangers, one or more telescopic push rods can be extended or retracted according to the actual terrain structure to change the shape of the three-dimensional mesh frame. By using the center of mass of the three-dimensional mesh frame to deviate from the closed area of ​​the contact point with the ground, a torque is generated to achieve rolling movement, while ensuring the impact resistance of the three-dimensional mesh frame.

[0009] Based on the above technical solution, the present invention can be further improved as follows.

[0010] Furthermore, each of the aforementioned hangers is connected to four tension springs.

[0011] Furthermore, each of the telescopic push rods includes a lead screw motor, an outer cylinder, and an inner cylinder that slides within the outer cylinder. The lead screw motor is the fixed end of the telescopic push rod and is hinged to one of the two opposing hanging members. A nut is threaded onto the lead screw of the lead screw motor. The outer cylinder is fitted around the lead screw of the lead screw motor, and one end of the outer cylinder is hinged to the housing of the lead screw motor. The nut is located inside the outer cylinder and fixed to the inner cylinder. The inner cylinder is the telescopic end of the telescopic push rod, and one end of the inner cylinder that slides out of the outer cylinder is fixedly hinged to another of the two opposing hanging members.

[0012] The further beneficial effect of adopting the above is that by using the lead screw of the lead screw motor to drive the nut to move its position, since the inner cylinder slides inside the outer cylinder and is fixed on the nut, the inner cylinder can slide back or extend out of the outer cylinder, pushing the three-dimensional mesh frame to change its configuration and achieve tumbling movement.

[0013] Furthermore, it also includes a wireless transceiver module, a drive module, a battery, an overcharge and over-discharge protector, and a controller. The wireless transceiver module, the drive module, the battery, and the overcharge and over-discharge protector are all fixed on multiple hanging parts or multiple telescopic push rods. The wireless transceiver module is communicatively connected to multiple telescopic push rods, the drive module, the battery, and the overcharge and over-discharge protector via a power cord, Bluetooth, or Wi-Fi. The controller is communicatively connected to the wireless transceiver module via Bluetooth or Wi-Fi.

[0014] The further beneficial effects of adopting the above are: firstly, the wireless transceiver module is used to communicate with multiple telescopic push rods, the drive module, the battery and the overcharge and over-discharge protector; then, the controller is used to communicate wirelessly with the wireless transceiver module, which allows remote control of multiple telescopic push rods to achieve deformation and tumbling motion.

[0015] Furthermore, it also includes a lidar and a camera, both of which are fixed on multiple of the aforementioned hanging components or multiple of the aforementioned telescopic push rods; the wireless transceiver module communicates with the lidar and the camera via a power cord, Bluetooth, or Wi-Fi.

[0016] The further beneficial effect of adopting the above is that by using lidar and cameras to scan the terrain, the configuration of the three-dimensional mesh frame can be changed according to the specific terrain, so as to achieve autonomous tumbling.

[0017] Furthermore, the effective communication distance of the wireless transceiver module is not less than 50 meters, the data transmission rate is 1 to 10 Mbps, and it has automatic retransmission and error correction functions.

[0018] Furthermore, all of the aforementioned tension springs are made of 65Mn stainless steel.

[0019] Furthermore, the elastic coefficient of all of the aforementioned tension springs is 8–12 mm. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural schematic diagram of an elastic tensioning and flipping robot according to the present invention;

[0021] Figure 2 This is a partial structural schematic diagram of an elastic tensioning and flipping robot according to the present invention.

[0022] The attached diagram lists the components represented by each number as follows:

[0023] 1. Hanger, 2. Tension spring, 3. Telescopic push rod, 31. Screw motor, 32. Outer cylinder, 33. Inner cylinder. Detailed Implementation

[0024] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0025] like Figure 1 As shown, an elastic tensioning and flipping robot includes: multiple hanging parts 1, multiple tension springs 2, and multiple telescopic push rods 3.

[0026] Multiple hanging parts 1 are distributed at intervals in the space; the two ends of multiple tension springs 2 are respectively hinged to two adjacent hanging parts 1 to form a three-dimensional mesh frame in the space; multiple telescopic push rods 3 are all located in the three-dimensional mesh frame and their fixed ends and telescopic ends are respectively hinged to two opposite hanging parts 1, so that the configuration of the three-dimensional mesh frame can be changed while the multiple telescopic push rods 3 extend and retract, so as to achieve deformation and flipping.

[0027] like Figure 1 and Figure 2 As shown, in some specific embodiments, each hanger 1 is connected to four tension springs 2.

[0028] like Figure 2 As shown, in some specific embodiments, each telescopic push rod 3 may include a lead screw motor 31, an outer cylinder 32, and an inner cylinder 33 that slides inside the outer cylinder 32. The lead screw motor 31 is the fixed end of the telescopic push rod 3 and is hinged to one of the two opposite hanging parts 1. A nut is threaded onto the lead screw of the lead screw motor 31. The outer cylinder 32 is sleeved outside the lead screw of the lead screw motor 31, and one end of it is hinged to the housing of the lead screw motor 31. The nut is located inside the outer cylinder 32 and is fixed to the inner cylinder 33. The inner cylinder 33 is the telescopic end of the telescopic push rod 3, and one end of it that slides out of the outer cylinder 32 is fixedly hinged to another of the two opposite hanging parts 1.

[0029] In some specific embodiments, it may also include a wireless transceiver module, a drive module, a battery, an overcharge and over-discharge protector, and a controller. The wireless transceiver module, drive module, battery, and overcharge and over-discharge protector are all fixed on multiple hanging parts 1 or multiple telescopic push rods 3. The wireless transceiver module communicates with multiple telescopic push rods 3, drive module, battery, and overcharge and over-discharge protector via power cord, Bluetooth, or Wi-Fi. The controller communicates with the wireless transceiver module via Bluetooth or Wi-Fi.

[0030] In some specific embodiments, a lidar and a camera may also be included, both of which are fixed on multiple hanging parts 1 or multiple telescopic push rods 3; the wireless transceiver module communicates with the lidar and camera via a power cord, Bluetooth or Wi-Fi.

[0031] In some specific embodiments, the effective communication distance of the wireless transceiver module is not less than 50 meters, the data transmission rate is 1 to 10 Mbps, and it has automatic retransmission and error correction functions.

[0032] Specifically, all of the multiple tension springs 2 can be made of 65Mn stainless steel.

[0033] Specifically, the elastic coefficient of each of the multiple tension springs 2 can be 8 to 12 mm.

[0034] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible tensioning and flipping robot, characterized in that, include: Multiple pendants (1) are spaced apart and dispersed in space; Multiple tension springs (2), with their ends respectively hinged to two adjacent hanging pieces (1), to form a three-dimensional mesh frame in space; Multiple telescopic push rods (3) are located inside the three-dimensional mesh frame and their fixed ends and telescopic ends are respectively hinged to the two opposite hanging parts (1) so that the configuration of the three-dimensional mesh frame can be changed while the multiple telescopic push rods (3) extend and retract, thereby achieving deformation and flipping. Each telescopic push rod (3) includes a lead screw motor (31), an outer cylinder (32), and an inner cylinder (33) that slides inside the outer cylinder (32). The lead screw motor (31) is the fixed end of the telescopic push rod (3) and is hinged to one of the two opposite hanging parts (1). A nut is threaded onto the lead screw of the lead screw motor (31). The outer cylinder (32) is fitted outside the lead screw of the lead screw motor (31) and one end of it is hinged to the housing of the lead screw motor (31). The nut is located inside the outer cylinder (32) and is fixed to the inner cylinder (33). The inner cylinder (33) is the telescopic end of the telescopic push rod (3) and one end of it that slides out of the outer cylinder (32) is fixedly hinged to another of the two opposite hanging parts (1).

2. The elastic tensioning and flipping robot according to claim 1, characterized in that, Each of the aforementioned hangers (1) is connected to four tension springs (2).

3. The elastic tensioning and flipping robot according to claim 1, characterized in that, It also includes a wireless transceiver module, a drive module, a battery, an overcharge and over-discharge protector, and a controller. The wireless transceiver module, the drive module, the battery, and the overcharge and over-discharge protector are all fixed on multiple hanging parts (1) or multiple telescopic push rods (3). The wireless transceiver module is connected to multiple telescopic push rods (3), the drive module, the battery, and the overcharge and over-discharge protector via a power cord, Bluetooth, or Wi-Fi. The controller is connected to the wireless transceiver module via Bluetooth or Wi-Fi.

4. The elastic tensioning and flipping robot according to claim 3, characterized in that, It also includes a lidar and a camera, both of which are fixed on multiple of the hanging parts (1) or multiple of the telescopic push rods (3); the wireless transceiver module communicates with the lidar and the camera via a power cord, Bluetooth or Wi-Fi.

5. The elastic tensioning and flipping robot according to claim 3, characterized in that, The effective communication distance of the wireless transceiver module is not less than 50 meters, the data transmission rate is 1 to 10 Mbps, and it has automatic retransmission and error correction functions.

6. The elastic tensioning and flipping robot according to claim 1, characterized in that, All of the aforementioned tension springs (2) are made of 65Mn stainless steel.

7. The elastic tensioning and flipping robot according to claim 1, characterized in that, The elastic modulus of all the tension springs (2) is 8 to 12 N / mm.

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