Telescopic peristaltic flexible robot

Abstract

The utility model discloses a telescopic peristaltic flexible robot which comprises a flexible telescopic body, a gas cavity is formed in the flexible telescopic body, a plurality of annular edge claws are distributed on the periphery of the flexible telescopic body in the axial direction, and the annular edge claws are hollow and communicated with the gas cavity; one end of the flexible telescopic body is connected with the front supporting body; the other end of the flexible telescopic body is connected with the rear supporting body; the inflation pump is communicated with the gas chamber of the flexible telescopic body, the inflation pump inflates gas into the gas chamber, the annular edge claw is inflated and stretched to be supported on the supporting surface, the front supporting body and the rear supporting body are separated from the supporting surface, and the flexible telescopic body stretches, slides and creeps; and when the air pump stops inflating, the air in the air chamber is exhausted, the annular edge claw is exhausted and retracted, and the front support body and the rear support body are supported on the support surface. The telescopic peristaltic flexible robot can replace workers to enter a narrow space to detect a target and is used for rescue, reconnaissance and the like.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a telescopic peristaltic 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 in confined spaces. Working in such spaces is inherently difficult, let alone conducting rescue operations. Countless confined space (CS) accidents have caused 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 may not pose a significant hazard, but the potential environmental changes or introduction of new work-related hazards during work within it are not considered, making CS a series of "silent killers." 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 telescopic peristaltic flexible robot, which is better suited for detecting targets in confined spaces and used for rescue, reconnaissance, etc. Specifically, the following technical solution is adopted:

[0005] A retractable, peristaltic flexible robot, comprising:

[0006] A flexible telescopic body has a gas chamber inside. Multiple annular claws are distributed axially around the outer periphery of the flexible telescopic body. The annular claws are hollow inside and connected to the gas chamber.

[0007] A front support body, one end of which is connected to the flexible telescopic body;

[0008] The other end of the flexible telescopic body is connected to the rear support body;

[0009] An air pump is connected to the gas chamber of the flexible telescopic body. The air pump fills the gas chamber with gas, and the annular claw extends and supports itself on the support surface. The front support and the rear support separate from the support surface, and the flexible telescopic body extends, slides, and creeps. When the air pump stops filling, the gas in the gas chamber is discharged, the annular claw retracts, and the front support and the rear support are supported on the support surface.

[0010] As an optional embodiment of this utility model, the flexible telescopic body includes a first flexible telescopic body and a second flexible telescopic body arranged side by side. The front support body includes a first front support body located at one end of the first flexible telescopic body and a second front support body located at one end of the second flexible telescopic body. The rear support body includes a first rear support body located at the other end of the first flexible telescopic body and a second rear support body located at the other end of the second flexible telescopic body. The first flexible telescopic body and the second flexible telescopic body are connected by a connector, and / or the first front support body and the second front support body are connected by a connector, and / or the first rear support body and the second rear support body are connected by a connector.

[0011] The air pump is connected to the gas chambers inside the first flexible telescopic body and the second flexible telescopic body, respectively.

[0012] As an optional embodiment of this utility model, the first flexible telescopic body is provided with a first air inlet at one end near the first rear support body, and the air pump is connected to the first air inlet through a first gas pipeline; the second flexible telescopic body is provided with a second air inlet at one end near the second front support body, and the air pump is connected to the second air inlet through a second gas pipeline; control valves are respectively provided on the first gas pipeline and the second gas pipeline.

[0013] By controlling the opening of the control valve on the first gas pipeline or the second gas pipeline, the air pump inflates the first flexible telescopic body or the second telescopic gas, thereby achieving forward or backward sliding and peristalsis.

[0014] As an optional embodiment of the present invention, the outer periphery of the first flexible telescopic body is provided with a plurality of first annular claws along the axial direction, and the first annular claws are inclined toward the side of the first rear support body. The outer periphery of the second flexible telescopic body is provided with a plurality of second annular claws along the axial direction, and the second annular claws are inclined toward the side of the second front support body.

[0015] As an optional embodiment of this utility model, a third air inlet is provided at one end of the first flexible telescopic body near the first rear support body, and the air pump is connected to the third air inlet through a third gas pipeline; a fourth air inlet is provided at one end of the second flexible telescopic body near the second rear support body, and the air pump is connected to the fourth air inlet through a fourth gas pipeline; control valves are respectively provided on the third gas pipeline and the fourth gas pipeline.

[0016] By controlling the control valves on the third and fourth gas pipelines to open synchronously or asynchronously, the air pump synchronously or asynchronously inflates the first flexible telescopic body and the second telescopic gas, thereby achieving straight-line or directional sliding creep.

[0017] As an optional embodiment of the present invention, a plurality of third annular claws are distributed axially along the outer periphery of the first flexible telescopic body, and the third annular claws are inclined toward the side of the first rear support body. A plurality of fourth annular claws are distributed axially along the outer periphery of the second flexible telescopic body, and the fourth annular claws are inclined toward the side of the second rear support body.

[0018] As an optional embodiment of this utility model, the bottom of the front support and the rear support respectively have a support plane that is in contact with the support surface.

[0019] As an optional embodiment of this utility model, a telescopic peristaltic flexible robot of this utility model includes a detection camera, which is mounted on the front support body.

[0020] As an optional embodiment of this utility model, the flexible telescopic body is a rubber telescopic column.

[0021] As an optional embodiment of this utility model, the annular claw is integrally formed on the outer periphery of the rubber telescopic column.

[0022] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0023] This invention relates to a telescopic peristaltic flexible robot, which is inflated and deflated by an air pump. The flexible telescopic body extends and retracts, and at the same time, the ring-shaped claws extend and retract, achieving peristaltic sliding. In this way, this telescopic peristaltic flexible robot can replace the staff to enter confined spaces to detect targets. The flexible telescopic body can extend and retract better, and the movement path can adapt to various complex environments.

[0024] This utility model discloses a telescopic peristaltic flexible robot, which has a first flexible telescopic body and a second flexible telescopic body arranged side by side. In this way, by controlling the inflation of the first flexible telescopic body and the second flexible telescopic body with an air pump, the telescopic peristaltic flexible robot can realize various peristaltic sliding modes such as forward, backward and turning, so as to better adapt to the detection environment of complex working conditions. Attached Figure Description

[0025] Figure 1 A front view of a telescopic peristaltic flexible robot according to an embodiment of this utility model;

[0026] Figure 2 A left view of a telescopic peristaltic flexible robot according to an embodiment of this utility model;

[0027] Figure 3 A top view of a telescopic peristaltic flexible robot according to an embodiment of this utility model;

[0028] Figure 4 This utility model embodiment discloses a telescopic peristaltic flexible robot along... Figure 1 Cross-sectional view of surface AA;

[0029] Figure 5 This utility model provides a schematic diagram of the motion logic of a telescopic peristaltic flexible robot.

[0030] Figure 6 A top view of a telescopic peristaltic flexible robot according to an embodiment of this utility model (Embodiment 1);

[0031] Figure 7 A top view of a telescopic peristaltic flexible robot according to an embodiment of this utility model (Embodiment 2). Detailed Implementation

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] See Figures 1-6 As shown, a telescopic peristaltic flexible robot according to this embodiment includes:

[0038] The flexible telescopic body 101 has a gas chamber 105 inside. Multiple annular claws 104 are distributed axially around the outer periphery of the flexible telescopic body 101. The annular claws 104 are hollow inside and connected to the gas chamber 105.

[0039] Front support body 102, one end of the flexible telescopic body 101 is connected to the front support body 102;

[0040] The other end of the flexible telescopic body 101 is connected to the rear support body 103;

[0041] An air pump 400 is connected to the gas chamber 105 of the flexible telescopic body 101. The air pump 400 fills the gas chamber 105 with gas, and the annular claw 104 is inflated and extended to support the support surface. The front support body 102 and the rear support body 103 are separated from the support surface, and the flexible telescopic body 101 extends, slides, and creeps. When the air pump 400 stops inflating, the gas in the gas chamber 105 is discharged, the annular claw 104 is vented and retracted, and the front support body 102 and the rear support body 103 are supported on the support surface.

[0042] This embodiment of a telescopic peristaltic flexible robot uses an air pump 400 to inflate and deflate the flexible telescopic body 101, which in turn extends and retracts in conjunction with the extension and retraction of the annular claw 104, thus achieving peristaltic sliding. In this way, this embodiment of a telescopic peristaltic flexible robot can replace workers in entering confined spaces to detect targets. The flexible telescopic body 101 can extend and retract better, and the movement path can adapt to various complex environments.

[0043] In this embodiment, a telescopic peristaltic flexible robot has an air pump 400 that can be placed in an area outside the detection target and connected to the gas chamber 105 of the flexible telescopic body 101 via an air pipe. Alternatively, the air pump 400 can be placed on the front support body 102 or the rear support body 103.

[0044] See Figures 1-5 As shown, the telescopic peristaltic flexible robot of this embodiment adopts a structural design of a single flexible telescopic body 101. This structural design can realize the unidirectional forward peristaltic sliding of the telescopic peristaltic flexible robot.

[0045] See Figure 6 As shown in this embodiment, a telescopic peristaltic flexible robot includes a first flexible telescopic body 101A and a second flexible telescopic body 101B arranged side by side. The front support body 102 includes a first front support body 102A located at one end of the first flexible telescopic body 101A and a second front support body 102B located at one end of the second flexible telescopic body 101B. The rear support body 103 includes a first rear support body 103A located at the other end of the first flexible telescopic body 101A and a second rear support body 103B located at the other end of the second flexible telescopic body 101B. The second rear support body 103B is located at the other end of the flexible telescopic body 101B. The first flexible telescopic body 101A and the second flexible telescopic body 101B are connected by a connector, and / or the first front support body 102A and the second front support body 102B are connected by a connector, and / or the first rear support body 103A and the second rear support body 103B are connected by a connector. The air pump 400 is connected to the gas chamber 105 inside the first flexible telescopic body 101A and the second flexible telescopic body 101B respectively.

[0046] This embodiment of a telescopic peristaltic flexible robot has a first flexible telescopic body 101A and a second flexible telescopic body 101B arranged side by side. In this way, by controlling the inflation method of the first flexible telescopic body 101A and the second flexible telescopic body 101B by the air pump 400, the telescopic peristaltic flexible robot can realize various peristaltic sliding modes such as forward, backward and turning, so as to better adapt to the detection environment of complex working conditions.

[0047] As an optional implementation of this embodiment, the first flexible telescopic body 101A is provided with a first air inlet 301 near the end of the first rear support body 103A, and the air pump 400 is connected to the first air inlet 301 through the first gas pipeline 501; the second flexible telescopic body 101B is provided with a second air inlet 302 near the end of the second front support body 102B, and the air pump 400 is connected to the second air inlet 302 through the second gas pipeline 502; control valves are respectively provided on the first gas pipeline 501 and the second gas pipeline 502, namely the first control valve 601 and the second control valve 602.

[0048] This embodiment of a telescopic peristaltic flexible robot achieves forward or backward sliding peristaltic movement by controlling the opening of control valves (first control valve 601, second control valve 602) on the first gas pipeline 501 or the second gas pipeline 502, allowing the air pump 400 to inflate the first flexible telescopic body 101A or the second telescopic gas 101B. Therefore, this embodiment can control forward or backward sliding peristaltic movement by reversing the inflation of the first flexible telescopic body 101A or the second telescopic gas 101B.

[0049] Furthermore, in this embodiment, the outer periphery of the first flexible telescopic body 101A is axially distributed with multiple first annular claws 104A, which are inclined toward the first rear support body 103A. Similarly, the outer periphery of the second flexible telescopic body 101B is axially distributed with multiple second annular claws 104B, which are inclined toward the second front support body 102B. In this embodiment, when the first flexible telescopic body 101A and the second flexible telescopic body 101B are inflated, the first annular claws 104A and the second annular claws 104B extend out and engage with the support surface, thereby better supporting the telescopic peristaltic flexible robot as it slides and peristalts toward the target direction.

[0050] See Figure 7 As shown, in this embodiment, the first flexible telescopic body 101A is provided with a third air inlet 303 near the end of the first rear support body 103A, and the air pump 400 is connected to the third air inlet 303 through the third gas pipeline 503; the second flexible telescopic body 101B is provided with a fourth air inlet 304 near the end of the second rear support body 103B, and the air pump 400 is connected to the fourth air inlet 304 through the fourth gas pipeline 504; control valves are respectively provided on the third gas pipeline 503 and the fourth gas pipeline 504, specifically a third control valve 603 and a fourth control valve 604.

[0051] This embodiment of a telescopic peristaltic flexible robot achieves straight-line or directional sliding peristaltic movement by controlling the control valves on the third gas pipeline 503 and the fourth gas pipeline 504 to open synchronously or asynchronously, and the air pump 400 to simultaneously or asynchronously inflate the first flexible telescopic body 101A and the second telescopic gas 101B. In this embodiment, the air pump 400 inflates the first flexible telescopic body 101A and the second telescopic gas 101B asynchronously, and the asynchronous expansion and contraction of the first flexible telescopic body 101A and the second telescopic gas 101B results in different expansion and contraction amounts on both sides, thereby achieving directional movement.

[0052] Furthermore, the outer periphery of the first flexible telescopic body 101A is provided with a plurality of third annular claws 104C distributed along the axial direction, and the third annular claws 104C are inclined toward the first rear support body 103A. The outer periphery of the second flexible telescopic body 101B is provided with a plurality of fourth annular claws 104D distributed along the axial direction, and the fourth annular claws 104D are inclined toward the second rear support body 103B.

[0053] As an optional implementation of this embodiment, the bottom of the front support 102 and the rear support 103 respectively has a support plane that is in contact with the support surface, so that the flexible telescopic body 101 can be stably placed on the support surface when it is not inflated.

[0054] As an optional implementation of this embodiment, this embodiment provides a telescopic peristaltic flexible robot, including a detection camera 200, which is mounted on the front support 102, so that the detection camera 200 can collect images of the detection environment in real time.

[0055] Furthermore, in this embodiment, a telescopic, peristaltic flexible robot includes a main controller, and the detection camera 200 is communicatively connected to the main controller. The main controller can send real-time acquired environmental images to an intelligent control terminal via a communication module, facilitating remote observation and operation by staff.

[0056] As an optional implementation of this embodiment, in a telescopic peristaltic flexible robot, the flexible telescopic body 101 is a rubber telescopic column.

[0057] As an optional implementation of this embodiment, the annular claw 104 is integrally formed on the outer periphery of the rubber telescopic column in this embodiment.

[0058] As an optional implementation of this embodiment, a telescopic peristaltic flexible robot of this embodiment includes a power module electrically connected to the main controller.

[0059] 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 telescopic peristaltic flexible robot, characterized in that, include: A flexible telescopic body has a gas chamber inside. Multiple annular claws are distributed axially around the outer periphery of the flexible telescopic body. The annular claws are hollow inside and connected to the gas chamber. A front support body, one end of which is connected to the flexible telescopic body; The other end of the flexible telescopic body is connected to the rear support body; An air pump is connected to the gas chamber of the flexible telescopic body. The air pump fills the gas chamber with gas, and the annular claw extends and supports itself on the support surface. The front support and the rear support separate from the support surface, and the flexible telescopic body extends, slides, and creeps. When the air pump stops filling, the gas in the gas chamber is discharged, the annular claw retracts, and the front support and the rear support are supported on the support surface.

2. The telescopic peristaltic flexible robot according to claim 1, characterized in that, The flexible telescopic body includes a first flexible telescopic body and a second flexible telescopic body arranged side by side. The front support body includes a first front support body located at one end of the first flexible telescopic body and a second front support body located at one end of the second flexible telescopic body. The rear support body includes a first rear support body located at the other end of the first flexible telescopic body and a second rear support body located at the other end of the second flexible telescopic body. The first flexible telescopic body and the second flexible telescopic body are connected by a connector, and / or the first front support body and the second front support body are connected by a connector, and / or the first rear support body and the second rear support body are connected by a connector. The air pump is connected to the gas chambers inside the first flexible telescopic body and the second flexible telescopic body, respectively.

3. The telescopic peristaltic flexible robot according to claim 2, characterized in that, The first flexible telescopic body has a first air inlet at one end near the first rear support body, and the air pump is connected to the first air inlet through a first gas pipeline; the second flexible telescopic body has a second air inlet at one end near the second front support body, and the air pump is connected to the second air inlet through a second gas pipeline; control valves are respectively installed on the first gas pipeline and the second gas pipeline. By controlling the opening of the control valve on the first gas pipeline or the second gas pipeline, the air pump inflates the first flexible telescopic body or the second telescopic gas, thereby achieving forward or backward sliding and peristalsis.

4. A telescopic peristaltic flexible robot according to claim 3, characterized in that, The outer periphery of the first flexible telescopic body has a plurality of first annular claws distributed along the axial direction, and the first annular claws are inclined toward the side of the first rear support body. The outer periphery of the second flexible telescopic body has a plurality of second annular claws distributed along the axial direction, and the second annular claws are inclined toward the side of the second front support body.

5. A telescopic peristaltic flexible robot according to claim 2, characterized in that, The first flexible telescopic body has a third air inlet at one end near the first rear support body, and the air pump is connected to the third air inlet through a third gas pipeline; the second flexible telescopic body has a fourth air inlet at one end near the second rear support body, and the air pump is connected to the fourth air inlet through a fourth gas pipeline; control valves are respectively installed on the third gas pipeline and the fourth gas pipeline. By controlling the control valves on the third and fourth gas pipelines to open synchronously or asynchronously, the air pump synchronously or asynchronously inflates the first flexible telescopic body and the second telescopic gas, thereby achieving straight-line or directional sliding creep.

6. A telescopic peristaltic flexible robot according to claim 5, characterized in that, The outer periphery of the first flexible telescopic body is provided with a plurality of third annular claws along the axial direction, and the third annular claws are inclined toward the side of the first rear support body. The outer periphery of the second flexible telescopic body is provided with a plurality of fourth annular claws along the axial direction, and the fourth annular claws are inclined toward the side of the second rear support body.

7. A telescopic peristaltic flexible robot according to claim 1, characterized in that, The bottom of the front support and the rear support each have a support plane that is in contact with the support surface.

8. A telescopic peristaltic flexible robot according to claim 1, characterized in that, It includes a detection camera, which is mounted on the front support.

9. A telescopic peristaltic flexible robot according to claim 1, characterized in that, The flexible telescopic body is a rubber telescopic column.

10. A telescopic peristaltic flexible robot according to claim 9, characterized in that, The annular claw is integrally formed on the outer periphery of the rubber telescopic column.

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