Telescopic flexible detection robot

Abstract

The utility model discloses a telescopic flexible detection robot, which comprises a support body, the tail of the elastic telescopic body is installed on the supporting body, and an inflation cavity is formed in the elastic telescopic body; the air pump assembly is communicated with the tail of the elastic telescopic body, the air pump assembly inflates air into the inflation cavity of the elastic telescopic body, the elastic telescopic body stretches to drive the head to move forwards away from the supporting body, the air pump assembly stops inflation, and the elastic telescopic body retracts to drive the head to move backwards to be reset close to the supporting body; and the detection sensing device is mounted at the head of the elastic telescopic body. According to the telescopic flexible detection robot, the supporting body can be installed in a hole opening of a hole-shaped narrow space, the elastic telescopic body extends into the hole, the air pump assembly is controlled to inflate the elastic telescopic body, the elastic telescopic body extends into the hole, and the detection sensing device is driven to carry out target detection.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a telescopic flexible detection 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 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, engulfment, entrapment or suffocation, machinery lacking safety devices, or exposed live conductors.

[0003] Due to the complexities of narrow spaces, especially small, deep, hole-like 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 hole-like narrow spaces. Utility Model Content

[0004] This utility model proposes a telescopic flexible detection robot, suitable for target detection in narrow, hole-like spaces, and can be used for rescue, reconnaissance, etc. Specifically, the following technical solution is adopted:

[0005] A retractable flexible detection robot includes:

[0006] Support structure;

[0007] An elastic telescopic body, the tail of which is mounted on the support body, and the interior of the elastic telescopic body has an inflatable chamber;

[0008] An air pump assembly is connected to the tail of the elastic telescopic body. The air pump assembly fills the inflation chamber of the elastic telescopic body with gas. The elastic telescopic body extends and moves the head away from the support body and forward. The air pump assembly stops inflating and the elastic telescopic body retracts and moves the head close to the support body and back to its original position.

[0009] A detection and sensing device is installed at the head of the elastic telescopic body.

[0010] As an optional embodiment of this utility model, the outer peripheral wall of the air chamber of the elastic telescopic body is corrugated.

[0011] As an optional embodiment of this utility model, a hollow left rudder air pipe is arranged side by side on the left side of the elastic telescopic body. The hollow left rudder air pipe extends along the axial direction of the elastic telescopic body and is fixedly connected to the elastic telescopic body.

[0012] A hollow right rudder air pipe is arranged side by side on the right side of the elastic telescopic body. The hollow right rudder air pipe extends along the axial direction of the elastic telescopic body and is fixedly connected to the elastic telescopic body.

[0013] The air pump assembly is connected to the hollow left rudder air pipe and the hollow right rudder air pipe respectively. The air pump assembly can choose to inflate the hollow left rudder air pipe and the hollow right rudder air pipe to realize the deflection movement of the elastic telescopic body.

[0014] As an optional embodiment of this utility model, both the hollow left rudder air tube and the hollow right rudder air tube are corrugated telescopic tubes.

[0015] As an optional embodiment of this utility model, the air pump assembly is connected to the tail of the elastic telescopic body through a first pipe, connected to the hollow left rudder air pipe through a second pipe, and connected to the hollow right rudder air pipe through a third pipe.

[0016] A first control valve is installed on the first pipeline to control its on / off state, a second control valve is installed on the second pipeline to control its on / off state, and a third control valve is installed on the third pipeline to control its on / off state.

[0017] As an optional embodiment of this utility model, the support body is provided with a first through hole for the first pipeline to pass through, a second through hole for the second pipeline to pass through, and a third through hole for the third pipeline to pass through.

[0018] As an optional embodiment of this utility model, the hollow left rudder air tube and the hollow left rudder air tube are integrally blow molded with the elastic telescopic body.

[0019] As an optional embodiment of this utility model, a left rudder rope is provided on the left side of the elastic telescopic body. One end of the left rudder rope is fixedly connected to the left side of the head of the elastic telescopic body, and the other end of the left rudder rope is connected to the first rope rotation and storage assembly.

[0020] A right rudder rope is provided on the right side of the elastic telescopic body. One end of the right rudder rope is fixedly connected to the right side of the head of the elastic telescopic body, and the other end of the right rudder rope is connected to the second rope rotation and storage assembly.

[0021] During the process of the air pump assembly filling the air chamber of the elastic telescopic body with gas, the left rudder rope is retrieved by the first rope rotation and storage assembly, and the left rudder rope pulls the head of the elastic telescopic body to the left. The right rudder rope is retrieved by the second rope rotation and storage assembly, and the right rudder rope pulls the head of the elastic telescopic body to the right.

[0022] As an optional embodiment of this utility model, both the first rope rotation and storage assembly and the second rope rotation and storage assembly include a rotation motor and a rotation wheel. The motor shaft of the rotation motor is connected to the rotation wheel, and the left rudder rope and the right rudder rope are respectively connected to the rotation wheel.

[0023] The rotary motor drives the rotary wheel to rotate, and the rotary wheel retrieves the left rudder rope or the right rudder rope. As an optional embodiment of this invention, the detection sensing device includes a detection camera.

[0024] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0025] This utility model discloses a telescopic flexible detection robot, which can install a support body at the opening of a hole-shaped narrow space, extend an elastic telescopic body into the hole, and inflate the elastic telescopic body by controlling an air pump assembly, causing the elastic telescopic body to extend into the hole and carry a detection sensor to detect targets.

[0026] This invention utilizes hollow left-hand and right-hand air pipes on the left and right sides of an elastic telescopic body. Air is supplied to each pipe via an air pump assembly, causing them to extend at different lengths relative to the elastic telescopic body. This results in the elastic telescopic body bending and achieving steering. Therefore, this telescopic flexible exploration robot, during the extension of the elastic telescopic body, can control its steering to avoid obstacles based on real-time images of the cave interior collected by the detection sensor, thus enabling more effective exploration. Attached image description:

[0027] Figure 1 A front view of a telescopic flexible detection robot according to an embodiment of this utility model;

[0028] Figure 2 A top view of a telescopic flexible detection robot according to an embodiment of this utility model;

[0029] Figure 3 A right view of a telescopic flexible detection robot according to an embodiment of this utility model;

[0030] Figure 4 This utility model embodiment discloses a telescopic flexible detection robot along... Figure 1 Cross-sectional view of surface AA. Detailed Implementation

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] See Figures 1-4 As shown, a telescopic flexible detection robot according to this embodiment includes:

[0037] Support body 300;

[0038] The elastic telescopic body 101 has its tail end mounted on the support body 300, and the interior of the elastic telescopic body 101 has an air-filled chamber.

[0039] An air pump assembly (not shown) is connected to the tail of the elastic telescopic body 101. The air pump assembly fills the inflation chamber of the elastic telescopic body 101 with gas. The elastic telescopic body 101 extends and moves its head away from the support body 300 and forward. The air pump assembly stops filling the air, and the elastic telescopic body 101 retracts and moves its head close to the support body 300 and backward to reset.

[0040] A detection sensor 200 is installed at the head of the elastic telescopic body 101.

[0041] This embodiment of a telescopic flexible detection robot can install a support body 300 at the opening of a narrow, hole-like space, extend an elastic telescopic body 101 into the hole, and inflate the elastic telescopic body 101 by controlling an air pump assembly. The elastic telescopic body 101 extends into the hole, carrying a detection sensor 200 to perform target detection.

[0042] Furthermore, in this embodiment, the outer peripheral wall of the inflatable chamber of the elastic telescopic body 101 is corrugated, so that the elastic telescopic body 101 can extend forward after being inflated.

[0043] In order to achieve target detection, the detection sensing device 200 adopts a detection camera. During the process of the elastic telescopic body 101 extending into the cave, it can collect images of the cave in real time, which is convenient for real-time detection of the situation inside the cave.

[0044] As an optional implementation of this embodiment, in order to better adapt to the cave exploration scenario and ensure that the telescopic flexible exploration robot of this embodiment can better meet the exploration requirements, a hollow left rudder air pipe 102 is arranged side by side on the left side of the elastic telescopic body 101. The hollow left rudder air pipe 102 extends along the axial direction of the elastic telescopic body 101 and is fixedly connected to the elastic telescopic body 101; a hollow right rudder air pipe 103 is arranged side by side on the right side of the elastic telescopic body 101. The hollow right rudder air pipe 103 extends along the axial direction of the elastic telescopic body 101 and is fixedly connected to the elastic telescopic body 101.

[0045] In this embodiment, the air pump assembly is connected to the hollow left rudder air pipe 102 and the hollow right rudder air pipe 103 respectively. The air pump assembly can selectively inflate the hollow left rudder air pipe 102 and the hollow right rudder air pipe 103 to realize the deflection movement of the elastic telescopic body 101.

[0046] In this embodiment, hollow left-hand rudder air pipe 102 and hollow right-hand rudder air pipe 103 are arranged on the left and right sides of the elastic telescopic body 101. Air is supplied to them by an air pump assembly, causing them to extend to different lengths relative to the elastic telescopic body 101. This causes the elastic telescopic body 101 to bend, thus achieving steering. Therefore, this telescopic flexible exploration robot, during the extension of the elastic telescopic body 101, can control its steering to avoid obstacles based on the real-time images of the cave entrance collected by the detection sensor 200, thereby better conducting exploration.

[0047] Furthermore, in this embodiment, both the hollow left rudder air pipe 102 and the hollow right rudder air pipe 103 are corrugated telescopic pipes. The air pump assembly controls the extension and retraction of the hollow left rudder air pipe 102 and the hollow right rudder air pipe 103 to achieve left and right steering.

[0048] Specifically, in this embodiment, the air pump assembly is connected to the tail of the elastic telescopic body 101 via a first pipe 401, to the hollow left rudder air pipe 102 via a second pipe 402, and to the hollow right rudder air pipe 103 via a third pipe 403; a first control valve is provided on the first pipe 401 to control its on / off state, a second control valve is provided on the second pipe 402 to control its on / off state, and a third control valve is provided on the third pipe 403 to control its on / off state.

[0049] Meanwhile, the support 300 described in this embodiment has a first through hole for the first pipe 401 to pass through, a second through hole for the second pipe 402 to pass through, and a third through hole for the third pipe 403 to pass through.

[0050] As an optional implementation of this embodiment, the hollow left rudder air tube 102, the hollow left rudder air tube 103 and the elastic telescopic body 101 are integrally blow-molded. In this way, the hollow left rudder air tube 102, the hollow left rudder air tube 103 and the elastic telescopic body 101 are integrally molded, and each has a mutually isolated internal cavity.

[0051] As an optional implementation of this embodiment, the telescopic flexible exploration robot of this embodiment can also achieve left and right turning in the following manner:

[0052] In this embodiment, a left rudder rope is provided on the left side of the elastic telescopic body 101. One end of the left rudder rope is fixedly connected to the left side of the head of the elastic telescopic body 101, and the other end of the left rudder rope is connected to the first rope rotation and storage assembly.

[0053] A right rudder rope is provided on the right side of the elastic telescopic body 101. One end of the right rudder rope is fixedly connected to the right side of the head of the elastic telescopic body, and the other end of the right rudder rope is connected to the second rope rotation and storage assembly.

[0054] In this embodiment, during the process of the air pump assembly filling the air chamber of the elastic telescopic body 101 with gas, the left rudder rope is retrieved by the first rope rotation and storage assembly, and the left rudder rope pulls the head of the elastic telescopic body to deflect to the left. The right rudder rope is retrieved by the second rope rotation and storage assembly, and the right rudder rope pulls the head of the elastic telescopic body to deflect to the right.

[0055] Specifically, both the first and second rope rotation and storage components include a rotation motor and a rotation wheel. The motor shaft of the rotation motor is connected to the rotation wheel, and the left rudder rope and the right rudder rope are respectively connected to the rotation wheel. The rotation motor drives the rotation wheel to rotate, and the rotation wheel retracts the left rudder rope or the right rudder rope.

[0056] 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 telescoping flexible inspection robot, characterized by, The utility model relates to a kind of flexible body and its control system, including: Support body; Elasticity telescopic body, the tail of elasticity telescopic body is mounted on the support body, and the inside of elasticity telescopic body has inflation chamber; Gas pump assembly, which is connected to the tail of the elasticity telescopic body, fills gas into the inflation chamber of the elasticity telescopic body, and the elasticity telescopic body stretches to drive the head to move forward away from the support body, the gas pump assembly stops inflation, and the elasticity telescopic body retracts to drive the head to move backward to reset close to the support body; Detection sensing device, installed on the head of the elasticity telescopic body.

2. The telescopic flexible inspection robot according to claim 1, wherein, The outer peripheral wall of the inflation chamber of the elasticity telescopic body is in the shape of a bellows.

3. The telescopic flexible inspection robot of claim 1, wherein, A hollow left rudder air pipe is arranged on the left side of the elasticity telescopic body in parallel, extends along the axial direction of the elasticity telescopic body, and is fixedly connected with the elasticity telescopic body. A hollow right rudder air pipe is arranged on the right side of the elasticity telescopic body in parallel, extends along the axial direction of the elasticity telescopic body, and is fixedly connected with the elasticity telescopic body. The gas pump assembly is in communication with the hollow left rudder air pipe and the hollow right rudder air pipe respectively, and selectively fills gas into the hollow left rudder air pipe and the hollow right rudder air pipe to realize the deflection movement of the elasticity telescopic body.

4. The telescopic flexible inspection robot of claim 3, wherein, The hollow left rudder air pipe and the hollow right rudder air pipe are both in the shape of a bellows.

5. The telescopic flexible inspection robot of claim 3, wherein, The gas pump assembly is in communication with the tail of the elasticity telescopic body through a first pipeline, in communication with the hollow left rudder air pipe through a second pipeline, and in communication with the hollow right rudder air pipe through a third pipeline. First, second, and third control valves are arranged on the first, second, and third pipelines respectively to control the opening and closing of the pipelines.

6. The telescoping flexible inspection robot of claim 5, wherein, First, second, and third through holes are formed in the support body for the first, second, and third pipelines to pass through respectively.

7. The telescopic flexible inspection robot of claim 3, wherein, The hollow left rudder air pipe and the hollow right rudder air pipe are integrally blow molded with the elasticity telescopic body.

8. The flexible telescopic inspection robot of claim 1, wherein, A left rudder rope is arranged on the left side of the elasticity telescopic body, one end of the left rudder rope is fixedly connected with the left side of the head of the elasticity telescopic body, and the other end of the left rudder rope is connected with a first rope rotary storage assembly. A right rudder rope is arranged on the right side of the elasticity telescopic body, one end of the right rudder rope is fixedly connected with the right side of the head of the elasticity telescopic body, and the other end of the right rudder rope is connected with a second rope rotary storage assembly. During the process that the gas pump assembly fills gas into the inflation chamber of the elasticity telescopic body, the left rudder rope is recovered through the first rope rotary storage assembly to pull the head of the elasticity telescopic body to deflect to the left side, and the right rudder rope is recovered through the second rope rotary storage assembly to pull the head of the elasticity telescopic body to deflect to the right side.

9. The telescoping flexible inspection robot of claim 8, wherein, The first and second rope rotary storage assemblies each include a rotary motor and a rotary wheel, the motor shaft of the rotary motor is connected with the rotary wheel, and the left and right rudder ropes are connected with the rotary wheel respectively. The rotary motor drives the rotary wheel to rotate, and the rotary wheel recovers the left or right rudder rope.

10. The flexible inspection robot of claim 1, wherein, The detection sensing device includes a detection camera.

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