Crawling robot

Abstract

The crawling robot comprises a top cover, a base and five sets of leg pipe assemblies, each leg pipe assembly comprises a leg pipe, a miniature electromagnetic air valve, a miniature inflation pump and a single chip microcomputer, the miniature electromagnetic air valves and the miniature inflation pumps are connected with the single chip microcomputers and arranged between the top cover and the base, one end of each miniature electromagnetic air valve is connected with the corresponding miniature inflation pump, and the other end of each miniature electromagnetic air valve is connected with the corresponding single chip microcomputer. The five sets of leg pipes are arranged on the periphery of the base at equal intervals, and the leg pipes are inflated through a micro inflation pump to extend. Multi-direction movement based on time difference cooperation is achieved through a double-pipe inflation structure of the five legs, the robot can flexibly adjust the moving direction and speed through alternate actions of inflation extension and exhaust retraction and operation of the different legs according to a specific sequence, the stability of the robot on various terrains is ensured, and the robot can move more flexibly. And the moving precision and the environment adaptability are also improved, so that efficient task execution is realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of crawling robot, especially to a crawling robot. BACKGROUND

[0002] The existing soft robot realizes movement through a pneumatic system, and the pneumatic driving is based on three leg structures, three independent air pipes are arranged in each leg, inflation and exhaust control of the air pipes at different time intervals are carried out, and the leg part generates asymmetric bending and rotating action. By adjusting the inflation sequence and time length of the three air pipes, the rotation of the leg part in a specific direction can be controlled, so that the robot is pushed to move towards the target direction.

[0003] The existing soft robot made of silica gel material is easy to break, has insufficient durability and insufficient environmental adaptability, the path is not a straight line, is difficult to control, has insufficient movement precision, and parts are not easy to replace.

[0004] Based on the above situation, the utility model provides a crawling robot to effectively solve the above problems. UTILITY MODEL CONTENT

[0005] In order to solve the problems in the background art, the utility model provides a crawling robot.

[0006] The utility model adopts the following technical scheme:

[0007] A crawling robot, comprising a top cover, a base and five groups of leg pipe assemblies, the leg pipe assembly comprising a leg pipe, a micro electromagnetic air valve, a micro inflation pump and a single-chip microcomputer, the micro electromagnetic air valve, the micro inflation pump and the single-chip microcomputer being connected and being arranged between the top cover and the base, one end of the micro electromagnetic air valve being connected with the micro inflation pump, the other end being connected with the leg pipe through a connecting piece, the five groups of leg pipes being equidistantly arranged at the outer periphery of the base, and the leg pipe being elongated by the micro inflation pump.

[0008] Further, the leg pipe is a double pipe with wrinkles.

[0009] Further, the leg pipe is arc-bent towards the ground.

[0010] Further, the leg pipe has a nylon fabric layer on the outer layer and a latex layer on the inner layer.

[0011] Further, the double pipe is provided with a rubber bottom at the front end.

[0012] Further, the connecting piece is a Y-shaped three-way connecting piece.

[0013] Further, the Y-shaped three-way connecting piece is provided with a baffle at the single head.

[0014] Further, the micro electromagnetic air valve comprises a first micro electromagnetic air valve hole, a second micro electromagnetic air valve hole and a third micro electromagnetic air valve hole, the first micro electromagnetic air valve is connected with the leg pipe through a connecting piece, the second micro electromagnetic air valve is connected with the micro air pump, and the third micro electromagnetic air valve hole is blocked or ventilated.

[0015] Further, the base is disc-shaped.

[0016] Further, the top cover is a reverse-buckle circular bowl.

[0017] The crawling robot provided by the utility model has the advantages that the double-pipe inflation structure of the five legs realizes multi-directional movement based on time difference cooperation, each leg surface is made of high-friction rubber material, reliable gripping force can be provided in complex terrain, and sliding or deviation is avoided. Through the alternating actions of inflation elongation and air exhaust contraction, different legs are operated in a specific order, so that the robot can flexibly adjust the moving direction and speed. The design not only ensures the stability of the robot on various terrains, but also improves the moving precision and environmental adaptability of the robot, thereby realizing efficient task execution. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 It is a whole structure schematic view of the utility model;

[0019] Fig. 2 It is a set of leg climbing mechanism schematic view of the utility model;

[0020] Fig. 3 It is a set of leg climbing mechanism top view schematic view of the utility model.

[0021] The serial numbers marked in the drawing represent, in sequence, 1-first micro electromagnetic air valve hole, 2-second micro electromagnetic air valve hole, 3-third micro electromagnetic air valve hole, 4-Y-shaped three-way connecting piece, 5-micro electromagnetic air valve, 6-micro air pump, 7-rubber bottom, 8-leg pipe, 9-crease, 10-single-chip microcomputer, 11-top cover, and 12-baffle. DETAILED DESCRIPTION

[0022] The utility model will be further explained in detail in combination with the drawings and specific embodiments.

[0023] Referring to the drawings Figs. 1-3 A crawling robot comprises a top cover 11, a base and five sets of leg pipe 8 assemblies, the leg pipe 8 assembly comprises a leg pipe 8, a micro electromagnetic air valve 5, a micro air pump 6 and a single-chip microcomputer 10, the micro electromagnetic air valve 5, the micro air pump 6 and the single-chip microcomputer 10 are connected and are all arranged between the top cover 11 and the base, one end of the micro electromagnetic air valve 5 is connected with the micro air pump 6, the other end is connected with the leg pipe 8 through a connecting piece, the five sets of leg pipes 8 are equidistantly arranged at the outer periphery of the base, and the leg pipe 8 is elongated by the micro air pump 6.

[0024] Mini electromagnetic gas valve 5 can be MOS tube drive control electric valve exhaust gas exhaust suitable for Arduino / 51 / STM32 valve.

[0025] The connecting piece is a Y-shaped three-way connecting piece 4, which can be detached from the leg pipe 8, and can replace a single structure with longer / shorter inflation or a higher / lower bending degree.

[0026] The leg pipe 8 is a double pipe with a fold 9.

[0027] The leg pipe 8 is arc-shapedly bent towards the ground.

[0028] The outer layer of the leg pipe 8 is an outer nylon fabric layer, which is relatively hard and has the characteristics of high temperature resistance, and provides structural constraint by compression and deformation and then heating and setting. The inner layer is a latex layer, which has better ductility and durability compared with silicone material. The combination of the two achieves the purpose of inflation and elongation.

[0029] The inflation ratio after inflation is always kept within a stable range of 1:2. With the increase of the original length, the length after inflation also expands in a ratio of 1:2. By controlling the compression ratio of the outer nylon pipe, the elongation range of the inner latex pipe is controlled, so that the moving distance reaches a relatively certain and stable value. By controlling the compression position of the outer nylon pipe and the inflation amount, the moving distance can also reach a relatively certain and stable value. In addition, the bending degree of the structure can also be changed according to the heating time of the nylon structure.

[0030] The front end of the double pipe is provided with a rubber bottom 7 for increasing the friction.

[0031] The Y-shaped three-way connecting piece 4 is provided with a baffle 12 at the single head.

[0032] The mini electromagnetic gas valve 5 includes a first mini electromagnetic gas valve 5 hole 1, a second mini electromagnetic gas valve 5 hole 2, and a third mini electromagnetic gas valve 5 hole 3. The first mini electromagnetic gas valve 5 is connected with the leg pipe 8 through a connecting piece. The second mini electromagnetic gas valve 5 is connected with the mini inflation pump 6. The third mini electromagnetic gas valve 5 hole 3 is blocked or ventilated.

[0033] When the button is pressed and powered on, the mini inflation pump 6 inhales air through the second mini electromagnetic gas valve 5 hole 2. The first mini electromagnetic gas valve 5 hole 1 and the second mini electromagnetic gas valve 5 hole 2 are conductive, and the third mini electromagnetic gas valve 5 hole 3 is blocked, so that air can enter the double pipe inflation structure and be sealed, achieving the effect of elongation. When power off, the first mini electromagnetic gas valve 5 hole 1 and the third mini electromagnetic gas valve 5 hole 3 are conductive, and the second mini electromagnetic gas valve 5 hole 2 is blocked. The air in the double pipe inflation structure is discharged, achieving the effect of contraction.

[0034] The base is disc-shaped. The top cover 11 is a reverse-buckled circular bowl.

[0035] The robot realizes precise movement through the five-legged double-tube inflatable structure, and each leg is marked in a clockwise or counterclockwise direction according to numbers 1, 2, 3, 4 and 5. The movement process is based on steps such as inflation, elongation, fixation and contraction of the legs, and time difference cooperation to achieve direction control and forward movement purposes.

[0036] When the robot needs to move in the direction of the No. 1 leg, the No. 3 and No. 4 legs are first elongated by inflation of the air chamber, and the inflation process lasts for 5 seconds, while the foot bottom end insertion structure is fixed in the sand to form a stable support. Then, the inflation stops, the system pauses for 1 second to ensure stability, and then the leg is retracted within 1 second through the exhaust process. At this time, the other legs (No. 1, No. 2 and No. 5) are gradually moved to the next position, so that the robot as a whole is pushed in the direction of the No. 1 leg.

[0037] If it needs to move in the direction between the No. 1 and No. 2 legs, the robot activates the inflation process of the No. 3, No. 4 and No. 5 legs, which lasts for 5 seconds to complete the elongation and insertion into the sand. Then pause for 1 second to form a stable support, and then retract the legs through a 1-second exhaust action, so that through the cooperation of the three legs, a clear thrust direction is provided for the main body, pushing the robot in the direction between the No. 1 and No. 2 legs.

[0038] The robot can be applied to sand dune repair and ecological environment restoration, especially suitable for coastline protection and coping with the threat of rising sea level. The technical scheme combines pneumatic telescopic structure and natural sand dune repair technology, and through simulating the five-legged structure of sea star and wind-driven pneumatic telescopic structure, the robot can accurately move on the sand, push sand and promote the formation of sand dunes. Its flexible characteristics can especially reduce the damage to nature during the operation process.

[0039] It can effectively simulate the movement of sea star, carry out seabed exploration and track crab groups and other targets, and open up new ways of marine exploration and ecological monitoring. It can also be used for pipeline inspection and other technical work.

[0040] Note that the above is only a preferred embodiment of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A crawling robot characterized by comprising: It includes a top cover, a base and five groups of leg pipe assemblies, the leg pipe assembly includes a leg pipe, a micro electromagnetic air valve, a micro air pump and a single-chip microcomputer, the micro electromagnetic air valve, the micro air pump and the single-chip microcomputer are connected and are arranged between the top cover and the base, one end of the micro electromagnetic air valve is connected with the micro air pump, the other end is connected with the leg pipe through a connecting piece, the five groups of leg pipes are equidistantly arranged at the outer periphery of the base, and the leg pipe is elongated by the micro air pump.

2. The crawling robot according to claim 1, wherein The leg pipe is a double pipe with folds.

3. The crawling robot according to claim 1 or 2, characterized in that, The leg pipe is arc-bent towards the ground.

4. The crawling robot according to claim 1 or 2, characterized in that, The outer layer of the leg pipe is a nylon fabric layer, and the inner layer is a latex layer.

5. The crawling robot according to claim 2, wherein The front end of the double pipe is provided with a rubber bottom.

6. The crawling robot according to claim 1, wherein The connecting piece is a Y-shaped three-way connecting piece.

7. The crawling robot according to claim 6, wherein The Y-shaped three-way connecting piece is provided with a baffle at a single head.

8. The crawling robot according to claim 1, wherein The micro electromagnetic air valve includes a first micro electromagnetic air valve hole, a second micro electromagnetic air valve hole and a third micro electromagnetic air valve hole, the first micro electromagnetic air valve is connected with the leg pipe through a connecting piece, the second micro electromagnetic air valve is connected with the micro air pump, and the third micro electromagnetic air valve hole is blocked or ventilated.

9. The crawling robot according to claim 1, wherein The base is disc-shaped.

10. The crawling robot according to claim 1, wherein The top cover is a reverse-buckled circular bowl.

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