Bending type flexible robot
By designing a flexible, bending robot and utilizing a gas chamber and retractable support legs, effective detection and operation in confined spaces have been achieved, solving the problem of detection in confined spaces and improving rescue and reconnaissance efficiency.
Patent Information
- Application Number
- CN202423001671.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-05
- Publication Date
- 2026-01-20
- Estimated Expiration
- 2034-12-05
AI Technical Summary
Existing technologies are unable to effectively detect and manipulate the specific situation within confined spaces, leading to difficulties in rescue and reconnaissance.
Design a flexible, bending robot that uses a gas chamber and retractable support legs to switch between a bending and a straight shape by inflating and deflating the gas chamber. The robot can also crawl by extending and retracting the retractable support legs. It can also be equipped with a camera and sensors to detect the environment.
It enables effective detection and operation in confined spaces, improves the efficiency of rescue and reconnaissance, reduces friction, and is suitable for target detection in narrow spaces.
Smart Images
Figure CN223812092U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field, specifically relates to a bending type flexible robot. BACKGROUND
[0002] Due to disasters and sudden accidents, people are forced to be in a narrow space: ① the building collapse caused by earthquake; ② the narrow space caused by mud flow and collapsed building; ③ the narrow space caused by explosion; ④ the narrow space caused by car accident; ⑤ the narrow space caused by coal mine accident, etc. It is very difficult to work in such a space, not to mention the rescue in such an environment. Countless narrow space (CS) accidents have caused very tragic casualties, and the fundamental reason is that relevant personnel have not clearly recognized the danger or potential danger existing in the narrow space or adjacent area, or the narrow space itself has no major hazards, but the operation in the narrow space may cause environmental changes or introduce new hazards related to the operation, making the CS become another "quiet killer". The danger of CS is very complex and realistic, and common dangers include hypoxia, oxygen enrichment, toxic pollutants, flammable pollutants, engulfment, entrapment or suffocation, machinery without safety devices or exposed live conductors, etc.
[0003] Due to the complex situation of the narrow space, the existing manual detection method or detection device cannot effectively detect the specific situation in the narrow space. Therefore, the utility model provides a robot suitable for target detection in a narrow space. CONTENT OF THE UTILITY MODEL
[0004] The utility model provides a bending type flexible robot, can carry out peristaltic creeping, is better suitable for narrow space target detection, is used for rescue, reconnaissance and the like, specifically, adopt the following technical scheme:
[0005] A bending type flexible robot, comprising:
[0006] The elastic bending body has a gas chamber inside, and the original state of the elastic bending body is in an arc bending shape. The bottom of the elastic bending body has a retractable support foot, which is hollow inside and communicates with the gas chamber.
[0007] The inflation pump communicates with the gas chamber inside the elastic bending body, and the inflation pump inflates the gas chamber. The retractable support foot is stretched and supported on the support surface. At least one end of the elastic bending body is away from the support surface. The elastic bending body is stretched from the arc bending shape to a flat shape. The inflation pump stops inflating, and the gas in the gas chamber inside the elastic bending body is discharged. The retractable support foot is retracted, and the elastic bending body is supported at both ends on the support surface. The elastic bending body is restored from the flat shape to the arc bending shape, realizing forward sliding peristalsis.
[0008] As an optional embodiment of the utility model, the telescopic support leg is located at the middle position of the elastic bending body.
[0009] As an optional embodiment of the utility model, the bottom of the elastic bending body is provided with support clamping jaws at both ends, the support clamping jaws are arranged at a fixed height, the height of the telescopic support leg in the inflation expansion state is greater than the height of the support clamping jaws, and the height of the telescopic support leg in the exhaust retraction state is less than the height of the support clamping jaws.
[0010] As an optional embodiment of the utility model, the support clamping jaws are arranged to be inclined to the sliding and creeping direction of the elastic bending body.
[0011] As an optional embodiment of the utility model, the inflation pump is arranged on the elastic bending body, and the gas outlet end of the inflation pump is connected and communicated with the gas chamber in the elastic bending body.
[0012] As an optional embodiment of the utility model, the gas chamber in the elastic bending body is communicated with the inflation pump through the external inflation pipe.
[0013] As an optional embodiment of the utility model, the utility model discloses a bending type flexible robot, which comprises a detection camera, and the detection camera is installed on the elastic bending body.
[0014] As an optional embodiment of the utility model, the utility model discloses a bending type flexible robot, which comprises a main controller, and the detection camera is in communication connection with the main controller.
[0015] As an optional embodiment of the utility model, a pressure sensor is arranged in the gas chamber in the elastic bending body, and the pressure sensor is in communication connection with the main controller.
[0016] As an optional embodiment of the utility model, an electromagnetic sensor is arranged on the elastic bending body, and the electromagnetic sensor is in communication connection with the main controller.
[0017] Compared with the prior art, the utility model has the beneficial effects that:
[0018] The utility model discloses a bending type flexible robot, inflation and deflation are carried out in the gas chamber in the elastic bending body through the air pump, the elastic bending body is switched between the arc bending shape and the flat shape, and the telescopic support leg is retracted, so that the crawling and creeping are realized. Therefore, the utility model discloses a bending type flexible robot, crawling and creeping control can be realized through the mode of remotely controlling the air pump, and the utility model is better applicable to the detection of targets in narrow spaces and is used for specific scenes such as rescue and reconnaissance.
[0019] The telescopic supporting leg is mainly inflated and stretched out at the same time when the gas chamber in the elastic bending body is inflated, so that the elastic bending body is supported at least one end away from the supporting surface, the contact friction between the elastic bending body and the supporting surface is reduced, and the elastic bending body is more convenient to stretch and slide forward. BRIEF DESCRIPTION OF DRAWINGS
[0020] Figure 1 A front view of the bending type flexible robot according to an embodiment of the present application;
[0021] Figure 2 A top view of the bending type flexible robot according to an embodiment of the present application;
[0022] Figure 3 A left view of the bending type flexible robot according to an embodiment of the present application;
[0023] Figure 4 A sectional view of the bending type flexible robot according to an embodiment of the present application along A-A plane; Figure 1
[0024] Figure 5 A schematic diagram of the motion principle of the bending type flexible robot according to an embodiment of the present application. DETAILED DESCRIPTION
[0025] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments.
[0026] Therefore, the following detailed description of the embodiments of the present application is not intended to limit the scope of the claimed present application, but only represents some embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.
[0027] It should be noted that the embodiments in the present application and the features and technical schemes in the embodiments can be combined with each other without conflict.
[0028] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.
[0029] In the description of the utility model, it is necessary to explain that the orientation or position relation indicated by the terms "upper", "lower" and the like is the orientation or position relation shown based on the drawings, or is the orientation or position relation commonly placed when the utility model product is used, or is the orientation or position relation commonly understood by the person skilled in the art, these terms are only for the convenience of describing the utility model and simplifying the description, and are not indicative or suggestive of the device or element indicated must have a specific orientation, be constructed and operated in a specific orientation, therefore, it cannot be understood as a limitation on the utility model.In addition, the terms "first", "second" and the like are only used for differentiation in description, and cannot be understood as indicative or suggestive of relative importance.
[0030] Referring to Figures 1-5 The utility model discloses a kind of curved flexible robots, comprising:
[0031] Elastic bending body 100, inside with gas chamber 101, the elastic bending body 100 original state is arc curved, the bottom of the elastic bending body 100 has retractable support foot 303, retractable support foot 303 hollow inside and gas chamber 101 are communicated with each other;
[0032] Inflator (not shown), with the gas chamber 101 inside the elastic bending body 100 is communicated, the inflator fills gas in gas chamber 101, retractable support foot 303 is supported on support surface and is stretched, the elastic bending body 100 at least one end leaves support surface, the elastic bending body 100 is stretched from arc curved and is flat, inflator stops filling gas, gas in the gas chamber 101 inside the elastic bending body 100 is discharged, retractable support foot 303 is retracted, the elastic bending body 100 is supported on support surface at both ends, the elastic bending body 100 is recovered from flat to arc curved, realize forward sliding peristalsis.
[0033] A kind of curved flexible robot of the embodiment, by gas pump, fill and discharge gas in the gas chamber 101 inside the elastic bending body 100, the elastic bending body 100 is switched between arc curved and flat, cooperate the expansion of retractable support foot 303, realize crawling peristalsis.Therefore, a kind of curved flexible robot of the embodiment, can realize crawling peristalsis control by the way of remote control inflator, better applicable to narrow space detection target, for rescue, reconnaissance and other specific scenarios.
[0034] The role of retractable support foot 303 of the embodiment is mainly that, when gas chamber 101 inside the elastic bending body 100 is filled with gas, it is inflated and extended at the same time, so that the elastic bending body 100 at least one end is supported away from support surface, reduce the contact friction between the elastic bending body 100 and support surface, more convenient for its elastic bending body 100 to stretch forward sliding peristalsis.
[0035] Therefore, as an optional embodiment of the present embodiment, the telescopic supporting leg 303 is located at the middle position of the elastic bending body 100, so that the telescopic supporting leg 303 is inflated and stretched to contact the supporting surface, and the elastic bending body 100 is supported.
[0036] Further, the elastic bending body 100 has supporting clamps (301, 302) at both ends of the bottom, the supporting clamps (301, 302) are arranged at a fixed height, the height of the telescopic supporting leg 303 in the inflated and stretched state is greater than the height of the supporting clamps (301, 302), and the height of the telescopic supporting leg 303 in the deflated and retracted state is less than the height of the supporting clamps (301, 302).
[0037] In this way, when the gas chamber 101 inside the elastic bending body 100 is inflated, the telescopic supporting leg 303 is inflated and stretched to contact the supporting surface, the supporting clamps (301, 302) at both ends of the bottom of the elastic bending body 100 are away from the supporting surface, and the elastic bending body 100 can be stretched forward without being clamped by the supporting clamps (301, 302); when the gas chamber 101 inside the elastic bending body 100 is deflated, the telescopic supporting leg 303 is retracted, and since the height of the telescopic supporting leg 303 in the deflated and retracted state is less than the height of the supporting clamps (301, 302), the supporting clamps (301, 302) are supported on the supporting surface, so that the elastic bending body 100 can be stretched forward and slide and creep next time after being inflated.
[0038] Specifically, the supporting clamps of the present embodiment include a left supporting clamp 301 and a right supporting clamp 302 arranged at both ends of the bottom of the elastic bending body 100; and the telescopic supporting leg 303 of the present patent application can also be arranged in multiple numbers and located between the left supporting clamp 301 and the right supporting clamp 302, so as to ensure that the telescopic supporting leg 303 can support the elastic bending body 100 when inflated.
[0039] As an optional embodiment of the present embodiment, the supporting clamps (301, 302) are arranged to be inclined towards the sliding and creeping direction of the elastic bending body 100, so that when the elastic bending body 100 is deflated, the supporting clamps (301, 302) are clamped on the supporting surface, and the middle part of the elastic bending body 100 is bent forward to recover the initial state.
[0040] As an optional embodiment of the present embodiment, the inflation pump is arranged on the elastic bending body 100, and the gas outlet end of the inflation pump is connected and communicated with the gas chamber 101 inside the elastic bending body 100. In this way, the inflation pump and the elastic bending body 100 form an integral structure, and can be remotely controlled by cooperating with the battery module and the wireless communication module.
[0041] As an optional implementation of the embodiment, the gas chamber 101 in the elastic bending body 100 is communicated with the air pump through the external air pipe 400. In this way, the air pipe 400 can be arranged outside the detection environment, and the air charging and discharging control is performed through the external air pipe 400 and the elastic bending body 100.
[0042] The bending flexible robot of the embodiment comprises a detection camera 200, which is installed on the elastic bending body 100. In this way, the detection camera 200 can perform real-time collection of the image of the detection environment.
[0043] Further, the bending flexible robot of the embodiment comprises a main controller, and the detection camera 200 is in communication connection with the main controller. The main controller can send the real-time collected image of the environment to the intelligent control terminal through the communication module, so as to facilitate remote observation and control by the staff.
[0044] As an optional implementation of the embodiment, a pressure sensor is arranged in the gas chamber 101 in the elastic bending body 100, and the pressure sensor is in communication connection with the main controller. The main controller of the embodiment monitors the gas pressure in the gas chamber 101 in the elastic bending body 100 through the pressure sensor, so as to determine whether the air charging and discharging is completed.
[0045] As an optional implementation of the embodiment, an electromagnetic sensor is arranged on the elastic bending body 100, and the electromagnetic sensor is in communication connection with the main controller. The electromagnetic sensor can perform obstacle detection.
[0046] The elastic bending body 100 of the embodiment is made of rubber or other elastic materials, and has elastic expansion capability.
[0047] As an optional implementation of the embodiment, the bending flexible robot of the embodiment comprises a power module in electrical connection with the main controller.
[0048] The above embodiments are only used to illustrate the technical solutions described in the utility model and not to limit the technical solutions described in the utility model. Although the utility model has been described in detail with reference to the above embodiments, the utility model is not limited to the above specific embodiments, and any modification or equivalent replacement of the utility model is allowed. Any technical solution and improvement which does not deviate from the spirit and scope of the utility model is covered in the scope of the claims of the utility model.
Claims
1. A bendable flexible robot, characterized by, include: The elastic bending body has a gas chamber inside. The elastic bending body is originally curved in an arc shape. The bottom of the elastic bending body has a retractable support foot. The retractable support foot is hollow inside and connected to the gas chamber. An air pump is connected to the gas chamber inside the elastic bending body. The air pump inflates the gas chamber, and the retractable support leg extends and supports the support surface. At least one end of the elastic bending body leaves the support surface, and the elastic bending body extends from an arc-shaped bend to a straight shape. When the air pump stops inflating, the gas in the gas chamber inside the elastic bending body is discharged, the retractable support leg retracts, and both ends of the elastic bending body support the support surface. The elastic bending body returns from a straight shape to an arc-shaped bend, realizing forward sliding and creeping.
2. The bendable flexible robot of claim 1, wherein, The retractable support foot is located in the middle of the elastically bending body.
3. The flexible robot according to claim 1 or 2, wherein The bottom ends of the elastic bending body are respectively provided with support claws. The support claws are set to a fixed height. The height of the retractable support leg in the inflated and extended state is greater than the height of the support claws. The height of the retractable support leg in the deflated and retracted state is less than the height of the support claws.
4. The bendable flexible robot of claim 3, wherein, The support claws are tilted toward the sliding and creeping direction of the elastically bent body.
5. The bendable flexible robot of claim 1, wherein, The air pump is mounted on the elastic bending body, and the air outlet of the air pump is connected to the internal gas chamber of the elastic bending body.
6. The bendable flexible robot of claim 1, wherein, The internal gas chamber of the elastic bending body is connected to an air pump via an external air inflator.
7. The bendable flexible robot according to claim 5 or 6, wherein, It includes a detection camera, which is mounted on the elastically bending body.
8. The bendable flexible robot of claim 7, wherein, It includes a main controller, and the detection camera is communicatively connected to the main controller.
9. The bendable flexible robot of claim 8, wherein, A pressure sensor is installed inside the gas chamber of the elastic bending body, and the pressure sensor is communicatively connected to the main controller.
10. The bendable flexible robot of claim 8, wherein, An electromagnetic sensor is installed on the elastic bending body, and the electromagnetic sensor is communicatively connected to the main controller.