Pneumatic type flexible robot
By designing a pneumatic flexible robot that uses an air pump to drive the expansion and contraction of the spring support, the problem of detection in narrow spaces was solved, enabling effective detection and rescue in complex environments.
Patent Information
- Application Number
- CN202423001738.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-05
- Publication Date
- 2025-12-02
- Estimated Expiration
- 2034-12-05
AI Technical Summary
Existing technologies and detection devices are ineffective at detecting the specific conditions within narrow spaces.
A pneumatic flexible robot was designed, which uses an air pump to drive the spring support to unfold and retract. It moves in a narrow space through front and rear grippers, realizing the peristaltic movement of the spring support driven by pneumatic components, and is suitable for complex terrain environments.
It enables effective detection in confined spaces using pneumatic flexible robots, making it suitable for rescue and reconnaissance.
Smart Images
Figure CN223617729U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, specifically to a pneumatic flexible robot. Background Technology
[0002] People are often forced into confined spaces due to disasters and accidents. Common examples include: ① earthquakes causing building collapses; ② mudslides and collapsed buildings; ③ explosions creating confined spaces; ④ traffic accidents, including deformed vehicle interiors; and ⑤ coal mine accidents involving confined spaces. Working in such spaces is inherently difficult, let alone conducting rescue operations. Countless confined space (CS) accidents have resulted in tragic casualties. The root cause lies in the failure of personnel to clearly recognize the dangers or potential hazards present within or near the confined space, or the confined space itself not posing a significant hazard, but the potential environmental changes or introduction of new work-related hazards due to working in it. The dangers of CS are complex and real, including common hazards such as oxygen deficiency, oxygen enrichment, toxic pollutants, flammable pollutants, submersion, entrapment or suffocation, machinery lacking safety devices, or exposed live conductors.
[0003] Due to the complex conditions in narrow spaces, existing human detection methods or equipment cannot effectively detect the specific situation within narrow spaces. In view of this, this utility model proposes a robot suitable for target detection in narrow spaces. Utility Model Content
[0004] This utility model proposes a pneumatic flexible robot that can be used to detect targets in confined spaces for rescue, reconnaissance, and other applications. Specifically, the following technical solution is adopted:
[0005] A pneumatic flexible robot, comprising:
[0006] A spring clip bracket, wherein a front claw is provided at the bottom of the first end of the spring clip bracket, a rear claw is provided at the bottom of the second end of the spring clip bracket, and an inflation channel extending from the first end to the second end is provided inside the spring clip bracket, and the spring clip bracket is initially curved upward.
[0007] A pneumatic component, including an air pump, which is mounted on the spring support and connected to one end of the inflation channel;
[0008] In the initial state, the air pump inflates the air channel, and the spring clip bracket unfolds into a straight shape. When the air pump stops inflating, the air channel is vented, and the spring clip bracket returns to its initial state, moving by means of the front and rear jaws.
[0009] As an optional embodiment of this utility model, the air pump is an air pump, and the pneumatic component includes an exhaust control valve for controlling the exhaust of the air through the air passage, and the exhaust control valve is installed on the air passage.
[0010] In the initial state of the spring clip bracket, the exhaust control valve closes the inflation channel, the inflation pump inflates the inflation channel, the spring clip bracket unfolds into a straight shape, the inflation pump stops inflating, the exhaust control valve opens the inflation channel to vent, the spring clip bracket returns to its initial state, and moves by means of the front and rear jaws.
[0011] As an optional embodiment of this utility model, the air pump is installed at the second end of the spring clip bracket and connected to one end of the air inflation channel, and the exhaust control valve is installed at the other end of the air inflation channel.
[0012] As an optional embodiment of this utility model, the air pump is an inflation / deflation pump, which controls the inflation and deflation of the inflation channel.
[0013] As an optional embodiment of this utility model, a pneumatic flexible robot of this utility model includes a central processing unit, which is communicatively connected to an air pump and an exhaust control valve, respectively, to control the air pump to start / stop inflating and to control the exhaust control valve to open / close.
[0014] Alternatively, the central processing unit is communicatively connected to the inflation / deflation pump to control the inflation / deflation pump to perform inflation / deflation.
[0015] As an optional embodiment of this utility model, a pneumatic flexible robot of this utility model includes a pressure sensor disposed on the inflation channel for monitoring the gas pressure inside the inflation channel, and the pressure sensor is communicatively connected to a central processing unit.
[0016] As an optional embodiment of this utility model, the spring clip bracket has multiple parallel inflation channels, with the same end of the multiple inflation channels connected to the same air pump, and the other end of the multiple inflation channels having an air outlet that can be opened / closed.
[0017] As an optional embodiment of this utility model, the spring clip bracket has a first inflation channel and a second inflation channel arranged in parallel. The air pump includes a first air pump and a second air pump. The first air pump is connected to one end of the first inflation channel, and the other end of the first inflation channel has a first air outlet that can be opened / closed. The second air pump is connected to one end of the second inflation channel, and the other end of the second inflation channel has a second air outlet that can be opened / closed. The first air pump and the second air pump are located on both sides of the first inflation channel / second inflation channel, and the first air outlet and the second air outlet are located on both sides of the first inflation channel / second inflation channel. By controlling the first air pump to inflate into the first inflation channel, the spring clip bracket can move forward. By controlling the second air pump to inflate into the second inflation channel, the spring clip bracket can move in the reverse direction.
[0018] As an optional embodiment of this utility model, a first shooting probe is provided at the first end of the spring clip bracket, and a second shooting probe is provided at the second end of the spring clip bracket.
[0019] As an optional embodiment of this utility model, the spring support is an elastic non-metallic sheet or an elastic metal sheet.
[0020] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0021] The present invention relates to a pneumatic flexible robot, the specific motion logic of which includes:
[0022] Energy storage phase: The spring clip support is initially bent upwards. The air pump inflates the air channel. During inflation, the rear claw locks onto the surface of the support body, the front claw extends forward, and the spring clip support unfolds into a straight shape and deforms, generating elastic potential energy.
[0023] Release phase: The air pump stops inflating, the air channel is vented, and the spring support needs to return to its original shape. Due to the existence of elastic potential energy, it will pull the rotating part to move in the opposite direction. The front claw is stuck on the ground, the rear claw is released from the ground, and the pneumatic flexible robot moves forward.
[0024] Therefore, the pneumatic flexible robot of this utility model can drive the spring support to move in a peristaltic motion through pneumatic components, making it suitable for more complex terrain environments. It can be used to detect targets in confined spaces for rescue, reconnaissance, and other purposes. Attached Figure Description
[0025] Figure 1 A front view (initial state) of a pneumatic flexible robot according to an embodiment of this utility model;
[0026] Figure 2 A front view (flattened state) of a pneumatic flexible robot according to an embodiment of this utility model;
[0027] Figure 3 A right view of a pneumatic flexible robot according to an embodiment of this utility model;
[0028] Figure 4 This utility model provides a schematic diagram of the motion logic of a pneumatic flexible robot (one embodiment);
[0029] Figure 5 This utility model provides a schematic diagram of the motion logic of a pneumatic flexible robot (another embodiment). Detailed Implementation
[0030] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model.
[0031] Therefore, the following detailed description of the embodiments of this utility model is not intended to limit the scope of the claimed utility model, but merely to illustrate some embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.
[0032] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.
[0033] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0034] In the description of this utility model, it should be noted that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use, or the orientation or positional relationship commonly understood by those skilled in the art. These terms are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0035] See Figures 1-5 As shown, a pneumatic flexible robot according to this embodiment includes:
[0036] A spring clip bracket 100 is provided with a front claw 102 at the bottom of the first end of the spring clip bracket 100 and a rear claw 101 at the bottom of the second end of the spring clip bracket 100. The spring clip bracket 100 has an inflation channel 103 extending from the first end to the second end. The spring clip bracket 100 is initially curved upwards.
[0037] Pneumatic components include an air pump 200, which is mounted on the spring support 100 and connected to one end of the inflation channel 103;
[0038] In the initial state, the air pump 200 inflates the air channel 103, and the spring support 100 unfolds into a straight shape. When the air pump 200 stops inflating, the air channel 103 vents air, and the spring support 100 returns to its initial state, moving by means of the front claw 102 and the rear claw 101.
[0039] This embodiment describes a pneumatic flexible robot, see [link to relevant documentation]. Figure 1-2 , Figure 4 As shown, the specific motion logic includes:
[0040] During the energy storage phase: the spring support 100 is initially bent upwards. The air pump 200 inflates the air channel 103. During inflation, the rear claw 101 locks onto the surface of the support body, the front claw 102 extends forward, and the spring support 100 unfolds into a straight shape and deforms, generating elastic potential energy.
[0041] Release phase: The air pump 200 stops inflating, the air channel 103 vents, and due to the existence of elastic potential energy, the spring support 100 needs to return to its original state. The front claw 102 is stuck to the ground, the rear claw 101 is released from the ground, and the pneumatic flexible robot moves forward.
[0042] Therefore, the pneumatic flexible robot of this embodiment can drive the spring support 100 to undulate through pneumatic components, making it suitable for more complex terrain environments and for detecting targets in confined spaces, as well as for rescue, reconnaissance, and other purposes.
[0043] To enable the pneumatic components to inflate and deflate the air passage 103 inside the spring clip bracket 100, this embodiment adopts the following implementation method:
[0044] In the first embodiment, the air pump 200 is an air pump. The pneumatic component includes an exhaust control valve 203 for controlling the exhaust of the air through the air channel 103. The exhaust control valve 203 is installed on the air channel 103. In the initial state of the spring support 100, the exhaust control valve 203 closes the air channel 103, the air pump inflates the air channel 103, the spring support 100 unfolds into a straight shape, the air pump stops inflating, the exhaust control valve 203 opens the air channel 103 to exhaust air, the spring support 100 returns to its initial state, and moves by means of the front claw 102 and the rear claw 101.
[0045] Specifically, in this embodiment, the air pump is installed at the second end of the spring clip bracket 100 and connected to one end of the air channel 103, and the exhaust control valve 203 is installed at the other end of the air channel 103.
[0046] In the second embodiment, the air pump 200 is an inflation / deflation pump, which controls the inflation and deflation of the inflation channel 103.
[0047] Furthermore, a pneumatic flexible robot in this embodiment includes a central processing unit (not shown), which is communicatively connected to an air pump and an exhaust control valve 203, respectively, to control the air pump to start / stop inflating and to control the exhaust control valve 203 to open / close.
[0048] Alternatively, the central processing unit is communicatively connected to the inflation / deflation pump to control the inflation / deflation pump to perform inflation / deflation.
[0049] This embodiment of a pneumatic flexible robot includes a pressure sensor (not shown) mounted on the inflation channel 103 to monitor the gas pressure inside the inflation channel 103. The pressure sensor is communicatively connected to a central processing unit. Thus, by monitoring the gas pressure inside the inflation channel 103 through the pressure sensor, the central processing unit determines whether inflation is complete, and subsequently controls the air pump 200 to stop inflation.
[0050] In addition, in this embodiment, the gas pressure inside the inflation channel 103 is monitored by a pressure sensor. The central processing unit can determine whether the inflation process is normal based on the gas pressure. If an abnormality occurs, fault repair will be performed.
[0051] Specifically, in this embodiment, the air pump 200 and the inflation channel 103 are connected through the air intake pipe 201.
[0052] As an optional implementation of this embodiment, a pneumatic flexible robot of this embodiment has multiple parallel inflation channels 103 within the spring support 100. The same end of each inflation channel 103 is connected to the same air pump, and the other end of each inflation channel 103 has an openable / closeable air outlet. In this way, the air pump 200 can simultaneously inflate multiple inflation channels 103, better flattening the spring support 100.
[0053] As an optional implementation method in this embodiment, see Figure 5 As shown in this embodiment, a pneumatic flexible robot has a first inflation channel 103A and a second inflation channel 103B arranged in parallel within the spring support 100. The air pump 200 includes a first air pump 200A and a second air pump 200B. The first air pump 200A is connected to one end of the first inflation channel 103A, and the other end of the first inflation channel 103A has a first air outlet that can be opened / closed. The second air pump 200B is connected to one end of the second inflation channel 103B, and the other end of the second inflation channel 103B has a second air outlet that can be opened / closed. The first air pump 200A and the second air pump 200B are located on both sides of the first inflation channel 103A / second inflation channel 103B, and the first air outlet and the second air outlet are located on both sides of the first inflation channel 103A / second inflation channel 103B. By controlling the first air pump 200A to inflate the first inflation channel 103A, the spring support 100 moves forward; by controlling the second air pump 200B to inflate the second inflation channel 103B, the spring support 100 moves in the reverse direction. Therefore, the pneumatic flexible robot of this embodiment can perform forward and backward bidirectional movement, and can better detect targets in confined spaces.
[0054] Meanwhile, in this embodiment, the bottom of the first end of the spring clip bracket 100 is provided with two front claws 102, which are located at one end of the first inflation channel 103A and the second inflation channel 103B, respectively. The bottom of the second end of the spring clip bracket 100 is provided with two rear claws 101, which are located at the other end of the first inflation channel 103A and the second inflation channel 103B, respectively. The front claws 102 and the rear claws 101 located at both ends of the first inflation channel 103A cooperate with the inflation and deflation of the first inflation channel 103A to realize the forward movement of the spring clip bracket 100. The front claws 102 and the rear claws 101 located at both ends of the second inflation channel 103B cooperate with the inflation and deflation of the second inflation channel 103B to realize the reverse movement of the spring clip bracket 100.
[0055] Furthermore, in this embodiment, the front claw 102 and rear claw 101 located at both ends of the first inflation channel 103A can be driven by the first claw driving device to rotate and change the tilt direction and tilt angle. In this embodiment, the front claw 102 and rear claw 101 located at both ends of the second inflation channel 103B can be driven by the second claw driving device to rotate and change the tilt direction and tilt angle. At the same time, in conjunction with the inflation and deflation of the first inflation channel 103A and the second inflation channel 103B, the spring support 100 can move bidirectionally in both forward and reverse directions.
[0056] As should be understood by those skilled in the art, the front claw 102 and the rear claw 101 can also be configured as vertical claws, so that they can move forward and backward in conjunction with the inflation and deflation of the first inflation channel 103A and the second inflation channel 103B without changing the tilt angle.
[0057] Specifically, in this embodiment, a first exhaust control valve 203A is installed on the first air outlet to control the exhaust of the first inflation channel 103A, and a second exhaust control valve 203B is installed on the second air outlet to control the exhaust of the second inflation channel 103B.
[0058] As an optional implementation of this embodiment, in a pneumatic flexible robot, a first imaging probe (not shown) is provided at the first end of the spring support 100, and a second imaging probe (not shown) is provided at the second end of the spring support. Thus, in this embodiment, target information can be captured and detected by the first and second imaging probes respectively during the forward and backward movements of the pneumatic flexible robot.
[0059] Furthermore, in this embodiment of a pneumatic flexible robot, the central processing unit is connected to the first and second imaging probes via communication cables. The central processing unit transmits the target information captured by the first and second imaging probes to a smart terminal via a wireless communication module. In this way, the smart terminal can remotely control the pneumatic flexible robot and observe its detection results through the communication module.
[0060] As an optional implementation of this embodiment, in a pneumatic flexible robot, the spring support 100 is an elastic non-metallic sheet or an elastic metal sheet. Specifically, the spring support 100 of this embodiment can be selected as an elastic metal sheet with memory function, so that its initial state remains bent upwards.
[0061] This embodiment of a pneumatic flexible robot includes a power module electrically connected to the central processing unit.
[0062] The above embodiments are only used to illustrate the present utility model and are not intended to limit the technical solutions described in the present utility model. Although the present utility model has been described in detail with reference to the above embodiments, the present utility model is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present utility model, and all technical solutions and improvements that do not depart from the spirit and scope of the utility model, are covered within the scope of the claims of the present utility model.
Claims
1. A pneumatic flexible robot, characterized in that, include: A spring clip bracket, wherein a front claw is provided at the bottom of the first end of the spring clip bracket, a rear claw is provided at the bottom of the second end of the spring clip bracket, and an inflation channel extending from the first end to the second end is provided inside the spring clip bracket, and the spring clip bracket is initially curved upward. A pneumatic component, including an air pump, which is mounted on the spring support and connected to one end of the inflation channel; In the initial state, the air pump inflates the air channel, and the spring clip bracket unfolds into a straight shape. When the air pump stops inflating, the air channel is vented, and the spring clip bracket returns to its initial state, moving by means of the front and rear jaws.
2. The pneumatic flexible robot according to claim 1, characterized in that, The air pump is an air pump, and the pneumatic component includes an exhaust control valve for controlling the exhaust of air from the air inflation channel, the exhaust control valve being installed on the air inflation channel; In the initial state of the spring clip bracket, the exhaust control valve closes the inflation channel, the inflation pump inflates the inflation channel, the spring clip bracket unfolds into a straight shape, the inflation pump stops inflating, the exhaust control valve opens the inflation channel to vent, the spring clip bracket returns to its initial state, and moves by means of the front and rear jaws.
3. A pneumatic flexible robot according to claim 2, characterized in that, The air pump is installed at the second end of the spring clip bracket and connected to one end of the air inflation channel, and the exhaust control valve is installed at the other end of the air inflation channel.
4. A pneumatic flexible robot according to claim 1, characterized in that, The air pump is an inflation / deflation pump, which controls the inflation and deflation of the inflation channel.
5. A pneumatic flexible robot according to claim 2 or 4, characterized in that, It includes a central processing unit, which is communicatively connected to an air pump and an exhaust control valve, respectively, to control the air pump to start / stop inflating and to control the exhaust control valve to open / close; Alternatively, the central processing unit is communicatively connected to the inflation / deflation pump to control the inflation / deflation pump to perform inflation / deflation.
6. A pneumatic flexible robot according to claim 5, characterized in that, It includes a pressure sensor installed on the inflation channel for monitoring the gas pressure inside the inflation channel, and the pressure sensor is communicatively connected to the central processing unit.
7. A pneumatic flexible robot according to claim 1, characterized in that, The spring clip bracket has multiple parallel inflation channels, with the same end of each inflation channel connected to the same air pump, and the other end of each inflation channel having an openable / closeable air outlet.
8. A pneumatic flexible robot according to claim 1, characterized in that, The spring clip bracket has a first inflation channel and a second inflation channel arranged in parallel. The air pump includes a first air pump and a second air pump. The first air pump is connected to one end of the first inflation channel, and the other end of the first inflation channel has a first air outlet that can be opened / closed. The second air pump is connected to one end of the second inflation channel, and the other end of the second inflation channel has a second air outlet that can be opened / closed. The first air pump and the second air pump are located on both sides of the first inflation channel / second inflation channel, and the first air outlet and the second air outlet are located on both sides of the first inflation channel / second inflation channel. The spring support moves forward by controlling the first air pump to inflate the first air channel, and moves in reverse by controlling the second air pump to inflate the second air channel.
9. A pneumatic flexible robot according to claim 8, characterized in that, A first imaging probe is provided at the first end of the spring clip bracket, and a second imaging probe is provided at the second end of the spring clip bracket.
10. A pneumatic flexible robot according to claim 1, characterized in that, The aforementioned spring support is an elastic non-metallic sheet or an elastic metal sheet.