Elastic sheet type flexible robot

Abstract

The utility model discloses an elastic piece type flexible robot which comprises an elastic piece support, a front supporting leg is arranged at the bottom of the first end of the elastic piece support, a rear supporting leg is arranged at the bottom of the second end of the elastic piece support, the first end and the second end are the two opposite ends of the elastic piece support, and the elastic piece support is supported on a supporting face through the front supporting leg and the rear supporting leg. The driving component comprises a driving motor, a rotating piece and a connecting piece, the rotating piece is rotatably installed at the bottom, close to the first end, of the elastic piece support, one end of the connecting piece is fixedly connected with the rear supporting leg, the other end of the connecting piece is fixedly connected to the peripheral wall of the rotating piece, and the driving motor is connected with the rotating center of the rotating piece; the driving motor drives the rotating part to rotate, the rotating part rotates to wind and recover the connecting part, the elastic piece support is tensioned by the connecting part to deform and bend to generate elastic potential energy, the driving motor stops driving the rotating part to rotate, and the elastic piece support recovers to the original shape and moves forwards under the action of the elastic potential energy.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a shrapnel-type flexible robot. Background Art

[0002] Disasters and emergencies force people into confined spaces: the most common examples include: 1. Building collapse during earthquakes; 2. Debris flows and collapsed buildings; 3. Confined spaces caused by explosions; 4. Vehicle accidents, including deformed vehicle interiors; and 5. Confined spaces during coal mine accidents. Working in such spaces is inherently challenging, let alone conducting rescue operations. Countless confined space (CS) accidents have resulted in tragic casualties. The root cause lies in personnel's failure to clearly recognize the hazards or potential dangers within or adjacent to confined spaces. Alternatively, while confined spaces themselves present no significant hazards, they fail to consider the potential environmental changes or new work-related hazards that may result from working in confined spaces, making CS a "silent killer." The hazards of CS are complex and real, with common ones including oxygen deficiency, oxygen enrichment, toxic pollutants, flammable contaminants, engulfment, entrapment, or asphyxiation, machinery without safety features, or exposed live conductors.

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

[0004] This utility model proposes a shrapnel-type flexible robot that can be used to detect targets in a narrow space and be used for rescue, reconnaissance, etc. Specifically, the following technical solutions are adopted:

[0005] A shrapnel-type flexible robot, comprising:

[0006] A spring bracket, wherein a front support leg is provided at the bottom of the first end of the spring bracket, and a rear support leg is provided at the bottom of the second end of the spring bracket, the first end and the second end are opposite ends of the spring bracket, and the spring bracket is supported on the supporting surface by the front support leg and the rear support leg;

[0007] The driving component includes a driving motor, a rotating member and a connecting member, wherein the rotating member is rotatably mounted on the spring bracket near the bottom of the first end, one end of the connecting member is fixedly connected to the rear support foot, and the other end is fixedly connected to the outer peripheral wall of the rotating member, and the driving motor is connected to the rotation center of the rotating member;

[0008] The driving motor drives the rotating part to rotate, and the rotating part rotates and wraps around the recovery connecting part. The shrapnel bracket is tightened, deformed and bent by the connecting part to generate elastic potential energy. The driving motor stops driving the rotating part to rotate, and the shrapnel bracket returns to its original shape under the action of the elastic potential energy and moves forward.

[0009] As an optional embodiment of the present invention, a first support block and a second support block are relatively arranged on the bottom near the first end of the spring bracket, the rotating member is arranged between the first support block and the second support block, the rotating member includes a rotating wheel and a rotating support shaft, one end of the rotating support shaft is fixedly connected to the rotating center on one side of the rotating wheel, and the other end of the rotating support shaft is rotatably mounted on the first support block, and the driving motor passes through the second support block and is transmitted to the rotating center on the other side of the rotating wheel through a connecting shaft.

[0010] As an optional embodiment of the present invention, one end of the connecting shaft is fixedly connected to the rotation center of the other side of the rotating wheel, and the motor shaft of the drive motor is fixedly connected to the other end of the connecting shaft. When the drive motor is powered on, the motor shaft drives the rotating wheel to rotate through the connecting shaft. When the drive motor is powered off and turned off, the motor shaft stops rotating and is in a free state, and the rotating wheel rotates in the opposite direction.

[0011] As an optional embodiment of the present invention, the connecting shaft includes a cylindrical shaft body and a polygonal shaft body, one end of the cylindrical shaft body is fixedly connected to the motor shaft of the drive motor, the other end of the cylindrical shaft body passes through the second support block and is fixedly connected to one end of the polygonal shaft body, and the other end of the polygonal shaft body can be inserted into the polygonal hole opened at the rotation center on the other side of the rotary wheel, and the polygonal hole matches the polygonal shaft body;

[0012] The driving component includes a push-pull motor, the output end of the push-pull motor is connected to the driving motor, the driving motor is in an initial position, the other end of the polygonal shaft is inserted into the polygonal hole of the rotating wheel, and the driving motor is connected to the rotating wheel through the cylindrical shaft and the polygonal shaft. When the driving motor is powered on, the motor shaft drives the rotating wheel to rotate. When the driving motor is powered off, the push-pull motor pulls the driving motor shaft outward until the polygonal shaft is disengaged from the polygonal hole of the rotating wheel, and the rotating wheel rotates in the opposite direction.

[0013] As an optional embodiment of the present invention, the rotary support shaft is rotatably mounted on the first support block via a rotary bearing.

[0014] As an optional embodiment of the present invention, the front support leg is located in the middle of the bottom of the first end of the elastic bracket, and front claws are respectively provided on both sides of the bottom of the first end of the elastic bracket, and the vertical height of the front claws is greater than the vertical height of the front support leg;

[0015] The rear supporting leg is located in the middle of the bottom of the second end of the elastic bracket, and rear claws are respectively provided on both sides of the bottom of the second end of the elastic bracket. The vertical height of the rear claws is greater than the vertical height of the rear supporting leg.

[0016] As an optional embodiment of the present invention, the front claw is arranged obliquely toward the second end of the elastic plate bracket, and the rear claw is arranged obliquely toward the rear of the second end of the elastic plate bracket.

[0017] As an optional implementation manner of the present invention, a shooting probe is provided at the second end of the shrapnel bracket for shooting and detecting target information.

[0018] As an optional embodiment of the present invention, a shrapnel-type flexible robot of the present invention includes a central processing unit and a wireless communication module with the central processing unit. The central processing unit is communicatively connected to the shooting probe via a communication cable, and the central processing unit sends the detection target information captured by the shooting probe to the smart terminal through the wireless communication module.

[0019] As an optional implementation of the present invention, a shrapnel-type flexible robot of the present invention includes a power module electrically connected to the central processing unit.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The utility model is a shrapnel-type flexible robot, and the specific motion logic includes:

[0022] During the energy accumulation phase, the drive motor is powered on, driving the rotating member to rotate. This tightens and shortens the connecting member, pulling on the second end of the spring clip bracket. The first end of the spring clip bracket engages the ground, while the second end breaks away from the ground. The spring clip bracket deforms, generating elastic potential energy. When the spring clip bracket deforms to a certain degree, the drive motor is powered off.

[0023] Release phase: The driving motor is powered off. Since the shrapnel bracket needs to return to its original shape, the elastic potential energy will pull the rotating part to move in the opposite direction. The second end is stuck to the ground, the first end is separated from the ground, and the shrapnel-type flexible robot moves forward.

[0024] Therefore, the shrapnel-type flexible robot of the present invention can drive the shrapnel bracket to creep through the driving component, can be applied to more complex terrain environments, can be used to detect targets in a small space, and can be used for rescue, reconnaissance, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The utility model embodiment of a shrapnel-type flexible robot Figure 1 ;

[0026] Figure 2The utility model embodiment of a shrapnel-type flexible robot Figure 2 ;

[0027] Figure 3 A top view of a shrapnel-type flexible robot according to an embodiment of the present utility model;

[0028] Figure 4 The utility model embodiment of a shrapnel type flexible robot along Figure 3 Cross-section of the middle AA surface;

[0029] Figure 5 The utility model embodiment of a shrapnel type flexible robot along Figure 4 Cross-section of the middle BB surface;

[0030] Figure 6 The utility model embodiment of a shrapnel type flexible robot along Figure 4 Cross-section of the middle CC plane;

[0031] Figure 7 A schematic diagram of the motion logic of a shrapnel-type flexible robot according to an embodiment of the present utility model. DETAILED DESCRIPTION

[0032] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them.

[0033] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0034] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions therein can be combined with each other.

[0035] 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, it does not need to be further defined or explained in subsequent drawings.

[0036] In the description of this utility model, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the utility model product is typically placed when in use, or the orientations or positional relationships commonly understood by those skilled in the art. Such terms are intended solely to facilitate the description of this utility model and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" and the like are used solely for distinction and description and should not be construed as indicating or implying relative importance.

[0037] See also Figure 1-Figure 7 As shown, a shrapnel-type flexible robot of this embodiment includes:

[0038] The spring clip bracket 100 has a front support leg 101 at the bottom of the first end and a rear support leg 102 at the bottom of the second end. The first end and the second end are opposite ends of the spring clip bracket 100. The spring clip bracket 100 is supported on a supporting surface by the front support leg 101 and the rear support leg 102.

[0039] The driving component includes a driving motor 201, a rotating member, and a connecting member 203. The rotating member is rotatably mounted on the spring bracket 100 near the bottom of the first end. One end of the connecting member 203 is fixedly connected to the rear support leg 102, and the other end is fixedly connected to the outer peripheral wall of the rotating member. The driving motor 201 is connected to the rotation center of the rotating member.

[0040] The driving motor 201 drives the rotating part to rotate, and the rotating part rotates and wraps around the recovery connecting part 203. The spring bracket 100 is stretched and deformed by the connecting part 203 to generate elastic potential energy. The driving motor 201 stops driving the rotating part to rotate, and the spring bracket 100 returns to its original shape under the action of the elastic potential energy and moves forward. Figure 1-2 、 Figure 7 As shown, the specific motion logic includes:

[0041] During the energy accumulation phase, the drive motor 201 is powered on, driving the rotating member to rotate. This tightens and shortens the connecting member 203, pulling on the second end of the spring bracket 100. The first end of the spring bracket 100 engages the ground, while the second end breaks away from the ground. This causes the spring bracket 100 to deform, generating elastic potential energy. When the spring bracket 100 deforms to a certain extent, the drive motor 201 is powered off.

[0042] Release phase: the driving motor 201 is powered off. Since the shrapnel bracket 100 needs to return to its original state, the elastic potential energy will pull the rotating part to move in the opposite direction. The second end is stuck on the ground, and the first end is separated from the ground, and the shrapnel-type flexible robot moves forward.

[0043] Therefore, the shrapnel-type flexible robot of this embodiment can drive the shrapnel bracket 100 to creep through the driving component, can be applied to more complex terrain environments, can be used to detect targets in a small space, and can be used for rescue, reconnaissance, etc.

[0044] In order to realize the rotatable installation of the rotating part, the first support block 105A and the second support block 105B are relatively arranged near the bottom of the first end of the shrapnel bracket 100 in this embodiment, and the rotating part is arranged between the first support block 105A and the second support block 105B. The rotating part includes a rotating wheel 202 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 202, and the other end of the rotating support shaft 207 is rotatably installed on the first support block 105A. The driving motor 201 passes through the second support block 105B through a connecting shaft and is connected to the rotation center on the other side of the rotating wheel 202 for transmission.

[0045] At the same time, in order to ensure that the rotary wheel 202 can smoothly rotate to recycle the connecting member 203 when the driving motor 201 stops working, the following implementation method is specifically adopted:

[0046] Method 1: In this embodiment, one end of the connecting shaft is fixedly connected to the rotation center of the other side of the rotating wheel 202, and the motor shaft of the drive motor 201 is fixedly connected to the other end of the connecting shaft. When the drive motor 201 is powered on, the motor shaft drives the rotating wheel 202 to rotate through the connecting shaft. When the drive motor 201 is powered off, the motor shaft stops rotating and is in a free state, allowing the rotating wheel 202 to rotate in the opposite direction. When the drive motor 201 of this embodiment is powered off, the motor shaft is in a free state and does not interfere with the reverse rotation of the rotating wheel 202.

[0047] Method 2, see Figure 3-Figure 6 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 shaft of the drive motor 201, and 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. 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 202, and the polygonal hole matches the polygonal shaft body 206.

[0048] The driving component described in this embodiment includes a push-pull motor 204, the output end of the push-pull motor 204 is connected to the driving motor 201, the driving motor 201 is in the initial position, the other end of the polygonal shaft 206 is inserted into the polygonal hole of the rotating wheel 202, and the driving motor 201 is connected to the rotating wheel 202 through the cylindrical shaft 205 and the polygonal shaft 206. When the driving motor 201 is powered on, the motor shaft drives the rotating wheel 202 to rotate. When the driving motor 201 is powered off and turned off, the push-pull motor 204 pulls the driving motor 201 axially outward until the polygonal shaft 206 is disengaged from the polygonal hole of the rotating wheel 202, and the rotating wheel 202 rotates in the opposite direction.

[0049] In this embodiment, the drive motor 201 is powered off, and the push-pull motor 204 disengages the rotating wheel 202 from the polygonal shaft 206, releasing the potential energy of the spring bracket 100. When power is required, the push-pull motor 204 pushes the two together. To ensure that the two are properly aligned, while the push-pull motor 204 pushes, the drive motor 201 is powered on and slightly moved until the two are properly aligned. The drive motor 201 then stops and pushes the two into position. Finally, the drive motor 201 is powered on and moves again.

[0050] The driving motor 201 of this embodiment can be installed on the shrapnel bracket 100 in a reciprocating sliding manner. Specifically, the driving motor 201 can be installed on the shrapnel bracket 100 in a reciprocating sliding manner through a slide rail, thereby achieving reliable support of the shrapnel bracket 100 for the driving motor 201 and ensuring the reliability of the reciprocating motion of the push-pull motor 204 pushing and pulling the driving motor 201.

[0051] Furthermore, the rotary support shaft 207 of this embodiment is rotatably mounted on the first support block 105A via a rotary bearing. In this way, even when the polygonal shaft 206 is separated from the rotary wheel 202, the rotary support shaft 207 can effectively support the rotary wheel 202.

[0052] In addition, the rotary wheel 202 may be arranged as close to the first support block 105A as possible to ensure that the rotary support shaft 207 effectively supports the rotary wheel 202 .

[0053] As an optional implementation of this embodiment, the front support leg 101 described in this embodiment is located in the middle of the bottom of the first end of the shrapnel bracket 100, and front claws 103 are respectively provided on both sides of the bottom of the first end of the shrapnel bracket 100, and the vertical height of the front claws 103 is greater than the vertical height of the front support leg 101; the rear support leg 102 is located in the middle of the bottom of the second end of the shrapnel bracket 100, and rear claws 104 are respectively provided on both sides of the bottom of the second end of the shrapnel bracket 100, and the vertical height of the rear claws 104 is greater than the vertical height of the rear support leg 102.

[0054] Furthermore, in this embodiment, the front clamping claw 103 is arranged obliquely toward the second end of the shrapnel bracket 100 , and the rear clamping claw 104 is arranged obliquely toward the rear of the second end of the shrapnel bracket 100 .

[0055] The front and rear clamping claws 103, 104 of this embodiment have two functions: one is that when the shrapnel-type flexible robot is stationary or the elastic potential energy of the shrapnel bracket 100 is zero, the front and rear support legs 101, 102 support the device in a stable state and prevent it from tipping over. The second function is that when the shrapnel-type flexible robot is in motion and accumulating power, the two front clamping claws 103 clamp onto the ground, and the two rear clamping claws 104 are pulled closer to the two front clamping claws 103. When released, the rear clamping claws 104 clamp onto the ground, and the front clamping claws 103 break away from the ground and move forward, achieving forward motion of the device.

[0056] As an optional implementation of this embodiment, a shooting probe 400 is provided at the second end of the shrapnel bracket 100 of this embodiment for shooting and detecting target information.

[0057] Furthermore, the shrapnel-type flexible robot of this embodiment includes a central processing unit and a wireless communication module connected to the central processing unit. The central processing unit is in communication with the imaging probe 400 via a communication cable 300. The central processing unit transmits the detection target information captured by the imaging probe 400 to the smart terminal via the wireless communication module. In this way, the smart terminal can remotely control the shrapnel-type flexible robot and observe the detection results of the shrapnel-type flexible robot through the communication module.

[0058] A shrapnel-type flexible robot according to this embodiment includes a power module electrically connected to the central processing unit.

[0059] 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 this specification has described the present invention 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 present invention are included in the scope of the claims of the present invention.

Claims

1. A shrapnel-type flexible robot, characterized in that: include: A spring bracket, wherein a front support leg is provided at the bottom of the first end of the spring bracket, and a rear support leg is provided at the bottom of the second end of the spring bracket, the first end and the second end are opposite ends of the spring bracket, and the spring bracket is supported on the supporting surface by the front support leg and the rear support leg; The driving component includes a driving motor, a rotating member and a connecting member, wherein the rotating member is rotatably mounted on the spring bracket near the bottom of the first end, one end of the connecting member is fixedly connected to the rear support foot, and the other end is fixedly connected to the outer peripheral wall of the rotating member, and the driving motor is connected to the rotation center of the rotating member; The driving motor drives the rotating part to rotate, and the rotating part rotates and wraps around the recovery connecting part. The shrapnel bracket is tightened, deformed and bent by the connecting part to generate elastic potential energy. The driving motor stops driving the rotating part to rotate, and the shrapnel bracket returns to its original shape under the action of the elastic potential energy and moves forward.

2. A shrapnel-type flexible robot according to claim 1, characterized in that: A first support block and a second support block are arranged opposite to each other near the bottom of the first end of the spring bracket, and the rotating member is arranged between the first support block and the second support block. The rotating member includes a rotating wheel and a rotating support shaft. One end of the rotating support shaft is fixedly connected to the rotating center of one side of the rotating wheel, and the other end of the rotating support shaft is rotatably mounted on the first support block. The driving motor passes through the second support block and is connected to the rotating center of the other side of the rotating wheel through a connecting shaft.

3. The shrapnel-type flexible robot according to claim 2, characterized in that: One end of the connecting shaft is fixedly connected to the rotation center on the other side of the rotating wheel, and the motor shaft of the driving motor is fixedly connected to the other end of the connecting shaft. When the driving motor is powered on, the motor shaft drives the rotating wheel to rotate through the connecting shaft. When the driving motor is powered off, the motor shaft stops rotating and is in a free state, and the rotating wheel rotates in the opposite direction.

4. The shrapnel-type flexible robot according to claim 2, characterized in that: The connecting shaft includes a cylindrical shaft body and a polygonal shaft body, one end of the cylindrical shaft body is fixedly connected to the motor shaft of the driving motor, the other end of the cylindrical shaft body passes through the second support block and is fixedly connected to one end of the polygonal shaft body, and the other end of the polygonal shaft body 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; The driving component includes a push-pull motor, the output end of the push-pull motor is connected to the driving motor, the driving motor is in an initial position, the other end of the polygonal shaft is inserted into the polygonal hole of the rotating wheel, and the driving motor is connected to the rotating wheel through the cylindrical shaft and the polygonal shaft. When the driving motor is powered on, the motor shaft drives the rotating wheel to rotate. When the driving motor is powered off, the push-pull motor pulls the driving motor shaft outward until the polygonal shaft is disengaged from the polygonal hole of the rotating wheel, and the rotating wheel rotates in the opposite direction.

5. The shrapnel-type flexible robot according to claim 4, characterized in that: The rotary support shaft is rotatably mounted on the first support block via a rotary bearing.

6. The shrapnel-type flexible robot according to claim 1, characterized in that: The front support leg is located in the middle of the bottom of the first end of the elastic bracket, and front claws are respectively provided on both sides of the bottom of the first end of the elastic bracket, and the vertical height of the front claws is greater than the vertical height of the front support leg; The rear supporting leg is located in the middle of the bottom of the second end of the elastic bracket, and rear claws are respectively provided on both sides of the bottom of the second end of the elastic bracket. The vertical height of the rear claws is greater than the vertical height of the rear supporting leg.

7. The shrapnel-type flexible robot according to claim 6, characterized in that: The front clamping claw is arranged obliquely toward the second end of the shrapnel bracket, and the rear clamping claw is arranged obliquely toward the rear of the second end of the shrapnel bracket.

8. The shrapnel-type flexible robot according to claim 1, characterized in that: A shooting probe is provided at the second end of the shrapnel bracket for shooting and detecting target information.

9. The shrapnel-type flexible robot according to claim 8, characterized in that: It includes a central processing unit and a wireless communication module with the central processing unit. The central processing unit is connected to the shooting probe through a communication cable. The central processing unit sends the detection target information captured by the shooting probe to the smart terminal through the wireless communication module.

10. The shrapnel-type flexible robot according to claim 9, characterized in that: A power supply module is included which is electrically connected to the central processing unit.

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