Rescue robot end effector capable of quickly replacing tools

Abstract

The utility model relates to the technical field of robots, and discloses a rescue robot end effector capable of quickly replacing tools, which comprises a base, an actuating pipe and a tool pipe, the left side of the tool pipe is fixedly connected with a sealing washer, and the front side and the rear side of the inner wall of the actuating pipe are respectively provided with a placement groove I; air bags are fixedly connected to the inner walls of the two first placement grooves, first electromagnetic valves are fixedly connected to the sides, far away from each other, of the front and back portions of the two air bags, second electromagnetic valves are fixedly connected to the sides, far away from each other, of the front and back portions of the two air bags, and air outlet pipes communicate with the sides, far away from each other, of the front and back portions of the two second electromagnetic valves; and a gas transfer assembly is arranged at the top of the base. According to the tool fixing device, negative pressure is formed through air exhaust of the centrifugal fan, the exhausted air is filtered and compressed to serve as a power source of the air bag, the pressure of the air bag is regulated and controlled through the electromagnetic valve, and therefore the tool is fixed, the universality of the tool is improved, the structure is simplified, and energy is saved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to an end effector for a rescue robot with rapidly changeable tools. Background Technology

[0002] Rescue robots are equipment designed specifically for disaster sites, integrating mechanical, electronic and sensor technologies. They replace humans in performing dangerous tasks in complex environments and, with their ability to adapt to complex environments and their multi-functional characteristics, have become an important force at disaster sites. In the construction of rescue robots, the end effector with quick tool changes is a key component for achieving the flexibility of robot tasks.

[0003] The rescue robot's end effector, which allows for rapid tool changes, enables the robot to switch tools in complex disaster scenarios through innovative structural design and control technology. This allows the robot to quickly switch between drilling, disassembly, and grinding tools during rescue operations, significantly improving rescue efficiency.

[0004] While end effectors for rescue robots that allow for quick tool changes facilitate smooth movement during rescue operations, complex rescue environments such as earthquakes and fires present challenges due to strong vibrations, impacts, and dust. End effectors using simple snap-fit ​​connections are prone to dislodging under significant external impacts, causing tools to fall. Existing solutions involve using multi-level locking or mortise and tenon structures to increase the strength of the connection and employing high-precision machining processes to improve the manufacturing accuracy of connecting components, ensuring the accuracy and stability of the connection. However, the complex mechanical connection structure increases the weight and cost of the end effector and reduces the flexibility of the device's operation. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a rescue robot end effector with quick tool replacement, which aims to improve the problem that the complex mechanical connection structure in the prior art increases costs and reduces the flexibility of device operation.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a rescue robot end effector with quick tool replacement, comprising a base, an actuator tube, and a tool tube. A sealing gasket is fixedly connected to the left side of the tool tube. The actuator tube has a mounting groove 1 on both the front and rear sides of its inner wall. An airbag is fixedly connected to the inner wall of each of the two mounting grooves 1. A solenoid valve 1 is fixedly connected to the front and rear sides of each of the two airbags, which are further apart. A solenoid valve 2 is fixedly connected to the front and rear sides of each of the two solenoid valves, which are further apart, and an air outlet pipe is connected to the front and rear sides of each of the two solenoid valves 2. A gas transfer assembly is provided on the top of the base. A reinforcement assembly is provided at the left end of the tool tube. A steering assembly is provided on the top right side of the base. A tool storage mechanism is provided on the right side of the base.

[0007] As a further description of the above technical solution:

[0008] The tool storage mechanism includes a stepper motor, the front of which is fixedly connected to the rear of the base. A second mounting slot is provided on the right side of the base. A storage box is rotatably connected to the inner wall of the second mounting slot. Rotating shafts are fixedly connected to the front and rear sides of the outer wall of the storage box. A limit strip is fixedly connected to the right side of the base. A partition plate is fixedly connected to the middle of the inner wall of the storage box. Multiple silicone clamps are fixedly connected to the inner wall of the storage box.

[0009] As a further description of the above technical solution:

[0010] The gas transfer assembly includes a centrifugal fan, the rear of which is fixedly connected to the front of the base. A filter screen is fixedly connected to the right end of the centrifugal fan, and an exhaust pipe is connected to the right end of the centrifugal fan. An air compressor is fixedly connected to the top front of the base, and an air storage tank is fixedly connected to the top front of the base. An air pump is fixedly connected to the top right of the base, and an air inflation pipe is fixedly connected to the top of the air pump.

[0011] As a further description of the above technical solution:

[0012] The reinforcement component includes a magnetic base, the bottom of which is fixedly connected to the bottom of the inner wall of the storage box, and a magnetic suction ring is fixedly connected to the left end of the sealing gasket.

[0013] As a further description of the above technical solution:

[0014] The steering assembly includes two electric telescopic rods. The left sides of both electric telescopic rods are fixedly connected to the top right side of the base. The right sides of both electric telescopic rods are fixedly connected to a connecting shaft. The front and rear sides of both connecting shafts are rotatably connected to a fixing block.

[0015] As a further description of the above technical solution:

[0016] A recycling box is fixedly connected to the left end of the outer wall of the exhaust pipe, and a cleaning door is rotatably connected to the front side of the outer wall of the exhaust pipe.

[0017] As a further description of the above technical solution:

[0018] Two guide posts are fixedly connected to the outer wall of the tool tube, and two guide grooves are formed on the inner wall of the execution tube.

[0019] As a further description of the above technical solution:

[0020] A vent is provided at the middle of the left end of the actuator, and the inner wall size of the vent is larger than the size of the exhaust pipe.

[0021] This utility model has the following beneficial effects:

[0022] In this invention, the air between the actuator tube and the tool tube is extracted by activating a centrifugal fan. The pressure difference is used to fix the tool. The extracted air is filtered and compressed, and then stored in an air tank as the power source for the airbag. The compressed air is extracted by an air pump, and the air pressure in the airbag is regulated by two solenoid valves to fix the tool tube. This invention combines high efficiency and versatility, can adapt to complex rescue scenarios, and improves the working ability and reliability of the rescue robot.

[0023] In this invention, the stepper motor is activated to enable the storage box to rotate around the axis in the placement slot, thereby adjusting the opening position of the storage box and exposing the tools to be replaced inside. At the same time, the limiting strip ensures the safety of the components, the partition plate improves storage efficiency, and the silicone clamp enhances the fixing and cushioning effect, making the overall structure compact, facilitating tool replacement, and enhancing the timeliness of rescue during earthquakes and the protection of tools. Attached Figure Description

[0024] Figure 1 A perspective view of the end effector of the rescue robot with quick tool change capability proposed in this utility model;

[0025] Figure 2 This is a front view of the end effector of the rescue robot with quick tool change capability proposed in this utility model;

[0026] Figure 3 This is a cross-sectional view of the actuator tube of the end effector of the rescue robot with quick tool change capability proposed in this utility model;

[0027] Figure 4 This is a schematic diagram of the air tank of the end effector of the rescue robot with quick tool replacement proposed in this utility model;

[0028] Figure 5This is a cross-sectional view of the base of the end effector of the rescue robot with quick tool change capability proposed in this utility model;

[0029] Figure 6 This is a cross-sectional view of the storage box of the end effector of the rescue robot with quick tool replacement proposed in this utility model.

[0030] Legend:

[0031] 1. Base; 2. Actuator tube; 3. Tool tube; 4. Tool storage mechanism; 401. Stepper motor; 402. Second placement slot; 403. Storage box; 404. Rotating shaft; 405. Limiting strip; 406. Divider plate; 407. Silicone clamp; 5. Sealing gasket; 6. Centrifugal fan; 7. Filter screen; 8. Exhaust pipe; 9. Air compressor; 10. Air tank; 11. Air pump; 12. Inflation pipe; 13. First placement slot; 14. Airbag; 15. First solenoid valve; 16. Second solenoid valve; 17. Air outlet pipe; 18. Magnetic base; 19. Magnetic ring; 20. Electric telescopic rod; 21. Connecting shaft; 22. Fixing block; 23. Recycling box; 24. Cleaning door; 25. Guide column; 26. Guide groove; 27. Vent hole. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] Reference Figure 2 , Figure 3 and Figure 4This utility model provides an embodiment of a rescue robot end effector with quick-changeable tools, including a base 1, an actuator tube 2, and a tool tube 3. The tool tube 3 is the component that needs to be replaced, while the actuator tube 2 is the component that fixes and controls the tool tube 3. A sealing gasket 5 is fixedly connected to the left side of the tool tube 3, allowing the tool tube 3 to be fixed by vacuum adsorption. The actuator tube 2 has mounting grooves 13 on both the front and rear sides of its inner wall, providing mounting space for an airbag 14. Airbags 14 are fixedly connected to the inner walls of the actuator tube 2. The airbags 14 secure the tool tube 3 within the actuator tube 2, allowing the device to accommodate tool tubes 3 of various shapes. Solenoid valves 15 are fixedly connected to the opposite sides of the front and rear ends of the two airbags 14, acting as inflators. Solenoid valves 16 are also fixedly connected to the opposite sides of the front and rear ends of the two airbags 14, controlling the deflation of the airbags 14. Air outlet pipes 17 are connected to the opposite sides of the front and rear ends of the two solenoid valves 16 for air release. Pipe 17 serves as the component through which the outflowing air passes. A gas transfer assembly is located on the top of base 1, a reinforcing assembly is located at the left end of tool pipe 3, a steering assembly is located on the top right side of base 1, and a tool storage mechanism 4 is located on the right side of base 1. The gas transfer assembly includes a centrifugal fan 6, which draws air from between the left end of the inner wall of actuator pipe 2 and tool pipe 3. The rear of centrifugal fan 6 is fixedly connected to the front of base 1, and a filter screen 7 is fixedly connected to the right end of centrifugal fan 6. The filter screen 7 is used to filter impurities from the air. The centrifugal fan 6 is connected to the right end of the filter and the exhaust pipe 8, which guides the extracted air. An air compressor 9 is fixedly connected to the top front side of the base 1. The air compressor 9 compresses the extracted air. An air storage tank 10 is fixedly connected to the top front side of the base 1. The air storage tank 10 is used to store compressed air. An air pump 11 is fixedly connected to the top right side of the base 1. The air pump 11 inflates the two air bags 14. An inflation pipe 12 is fixedly connected to the top of the air pump 11. The inflation pipe 12 is used to guide the flowing air.

[0034] Specifically, the tool tube 3 to be replaced is inserted into the opening of the actuator tube 2. The sealing gasket 5 on the left side of the tool tube 3 forms a preliminary seal with the actuator tube 2. The centrifugal fan 6 is started, and the air between the left end of the inner wall of the actuator tube 2 and the tool tube 3 is drawn out through the exhaust pipe 8, creating a negative pressure environment. This causes the tool tube 3 to be attracted to the left side of the actuator tube 2. The sealing gasket 5 enhances the sealing performance and prevents air leakage, achieving rapid pre-fixation of the tool. The air pump 11 is turned on, and air is supplied to the solenoid valve 15 through the inflation pipe 12, causing the air bag 14 to inflate and pop out from the placement groove 13 on the inner wall of the actuator tube 2, tightly wrapping the outer wall of the tool tube 3. Because the air bag 14 is elastic, it can adapt to the irregular shape of the tool tube 3, providing all-round clamping force. The air drawn out by the centrifugal fan 6 is filtered for impurities by the filter screen 7, compressed by the air compressor 9 and stored in the air tank 10, providing an air source for inflating the air bag 14 and reducing energy loss.

[0035] Reference Figure 1 , Figure 5 and Figure 6 The tool storage mechanism 4 includes a stepper motor 401, the front of which is fixedly connected to the rear of the base 1. The stepper motor 401 provides power for the rotation of the storage box 403. A second mounting slot 402 is provided on the right side of the base 1, providing space for the storage box 403 to be placed and rotated. The storage box 403 is rotatably connected to the inner wall of the second mounting slot 402. The storage box 403 is used to store tools to be replaced. Rotating shafts 404 are fixedly connected to the front and rear sides of the outer wall of the storage box 403. The output end of the stepper motor 401 is connected to... The rear end of the rear rotating shaft 404 is fixedly connected, and the storage box 403 can rotate around the shaft through the rotating shaft 404. The right side of the base 1 is fixedly connected to the limiting strip 405, which limits the position of the storage box 403 to prevent the tool from falling. The middle of the inner wall of the storage box 403 is fixedly connected to the partition plate 406, which divides the storage box 403. Multiple silicone clamps 407 are fixedly connected to the inner wall of the storage box 403, which protect and fix the tool to be replaced.

[0036] Specifically, the tools to be replaced are placed sequentially in the storage box 403. The partition plate 406 divides the storage box 403 into different areas for easy classification and storage of different types of tools. After the tools are placed in, the silicone clamps 407 use their elastic deformation to wrap around the tools, preventing them from shaking or colliding inside the storage box 403, thus providing protection. When a tool needs to be replaced, the stepper motor 401 drives the rear rotating shaft 404 to rotate, which in turn drives the storage box 403 to rotate around the rotating shaft 404. During the rotation of the storage box 403, the limit strip 405 restricts its position, ensuring that the storage box 403 can only rotate within a specified angle range, avoiding excessive rotation that could cause the tool to fall. When the target tool rotates to the corresponding position, the stepper motor 401 stops rotating, and the operator takes the required tool out of the storage box 403 and places it on the actuator 2, completing the tool replacement process.

[0037] Reference Figure 1 , Figure 2 and Figure 3 The reinforcement assembly includes a magnetic base 18, the bottom of which is fixedly connected to the bottom of the inner wall of the storage box 403. A magnetic ring 19 is fixedly connected to the left end of the sealing gasket 5. The magnetic connection between the magnetic base 18 and the magnetic ring 19 ensures the safety of the tool after placement. The steering assembly includes two electric telescopic rods 20, which control the rotation direction of the actuator 2. The left sides of both electric telescopic rods 20 are fixedly connected to the top right side of the base 1. A connecting shaft 21 is fixedly connected to the right side of each of the two electric telescopic rods 20. Fixing blocks 22 are rotatably connected to the front and rear sides of both connecting shafts 21. The right sides of multiple fixing blocks 22 are fixedly connected to the left end of the actuator 2. The power of the telescopic rods is transferred through the connecting shafts 21 and the fixing blocks 22. Furthermore, the orientation of the actuator tube 2 can be adjusted by the length difference between the two telescopic rods. A recycling box 23 is fixedly connected to the left end of the outer wall of the exhaust pipe 8. The recycling box 23 is used to recycle impurities. A cleaning door 24 is rotatably connected to the front side of the outer wall of the exhaust pipe 8. By opening the cleaning door 24, impurities in the recycling box 23 can be recycled. Two guide posts 25 are fixedly connected to the outer wall of the tool tube 3. Two guide grooves 26 are opened on the inner wall of the actuator tube 2. Through the sliding connection between the two guide posts 25 and the two guide grooves 26, the tool tube 3 can be stably installed. A vent hole 27 is opened in the middle of the left end of the actuator tube 2. The inner wall of the vent hole 27 is connected to the exhaust pipe 8. Air between the actuator tube 2 and the sealing gasket 5 is extracted through the vent hole 27. The inner wall size of the vent hole 27 is larger than the size of the exhaust pipe 8.

[0038] Specifically, when the tool tube 3 is placed in the storage box 403, the magnetic ring 19 contacts the magnetic base 18 and automatically attracts it using magnetic attraction, preventing the tool from accidentally falling off when the storage box 403 rotates or the robot moves. When it is necessary to change the orientation of the actuator tube 2, one of the electric telescopic rods 20 extends while the other telescopic rod remains stationary or shortens synchronously, thereby precisely adjusting the orientation of the actuator tube 2. When the centrifugal fan 6 is working, the extracted air carries impurities, which are intercepted by the filter screen. The intercepted impurities are collected in the recovery box 23 under gravity. When the impurities in the recovery box 23 accumulate to a certain amount, the operator manually opens the cleaning door 24 to clean the impurities, avoiding affecting the filtration effect of the filter screen. The guide post 25 of the tool tube 3 is aligned with the guide groove 26, and the tool tube 3 is pushed to slide axially along the guide groove 26 until the sealing gasket 5 is completely attached to the left end of the actuator tube 2, completing the initial installation of the tool tube 3.

[0039] Working principle: The centrifugal fan 6 generates suction, which draws out the air between the actuator tube 2 and the tool tube 3 through the exhaust pipe 8, forming a negative pressure environment. Under the action of pressure difference, the tool tube 3 is attracted to the left side of the actuator tube 2. The sealing gasket 5 can fill the gap, enhance the sealing of the fixation, and realize the rapid pre-fixation of the tool. The air drawn out by the centrifugal fan 6 is first filtered for impurities by the filter screen 7, and then compressed by the air compressor 9 and stored in the air tank 10. The compressed air in the air tank 10 serves as the air source for the air pump 11, providing power for the inflation of the air bag 14, reducing energy loss, and improving the operating efficiency and endurance of the device. The compressed air output by the air pump 11 enters the air bag 14 through the inflation pipe 12 and the solenoid valve 15, causing the air bag 14 to inflate. The inflated air bag 14 pops out from the mounting slot 13 and deforms by its own elasticity, tightly fitting the outer wall of the tool tube 3 to achieve the wrapping and fixation of the tool. In addition, the air bag 14 can adapt to the irregular shape of the tool, ensuring that tools of different shapes can obtain stable clamping force.

[0040] Furthermore, through its connection with the rotating shaft 404, the storage box 403 is driven to rotate around the shaft, achieving precise positioning of the target tool. The limiting strip 405 restricts the rotation range of the storage box 403 through physical blocking, preventing the tool from being thrown out or the structure from being damaged due to excessive rotation, thus ensuring operational safety. The partition plate 406 divides the storage box 403 into multiple independent areas, allowing tools of different sizes and types to be stored separately, facilitating quick identification and retrieval, and improving storage efficiency. The silicone clamp 407 undergoes elastic deformation when the tool is inserted, tightly fitting the tool surface, which can not only firmly fix the tool, but also buffer the vibration and impact during the movement of the device, protecting the tool from damage.

[0041] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A rescue robot end effector with quick-change tools, comprising a base (1), an actuator tube (2), and a tool tube (3), characterized in that: A sealing gasket (5) is fixedly connected to the left side of the tool tube (3). The inner wall of the execution tube (2) is provided with a first placement groove (13) on both the front and back sides. An airbag (14) is fixedly connected to the inner wall of each of the two placement grooves (13). A solenoid valve (15) is fixedly connected to the front and back sides of each of the two airbags (14). A solenoid valve (2) is fixedly connected to the front and back sides of each of the two airbags (14). An air outlet pipe (17) is connected to the front and back sides of each of the two solenoid valves (2). A gas transfer assembly is provided on the top of the base (1). A reinforcement assembly is provided on the left end of the tool tube (3). A steering assembly is provided on the top right side of the base (1). A tool storage mechanism (4) is provided on the right side of the base (1).

2. The rescue robot end effector with quick-change tools according to claim 1, characterized in that: The tool storage mechanism (4) includes a stepper motor (401), the front side of which is fixedly connected to the rear side of the base (1). The base (1) has a second mounting groove (402) on its right side. A storage box (403) is rotatably connected to the inner wall of the second mounting groove (402). Rotating shafts (404) are fixedly connected to the front and rear sides of the outer wall of the storage box (403). A limit strip (405) is fixedly connected to the right side of the base (1). A partition plate (406) is fixedly connected to the middle of the inner wall of the storage box (403). Multiple silicone clamps (407) are fixedly connected to the inner wall of the storage box (403).

3. The rescue robot end effector with quick-change tools according to claim 1, characterized in that: The gas transfer assembly includes a centrifugal fan (6), the rear side of which is fixedly connected to the front side of the base (1), a filter screen (7) is fixedly connected to the right end of the centrifugal fan (6), an exhaust pipe (8) is connected to the right end of the centrifugal fan (6), an air compressor (9) is fixedly connected to the top front side of the base (1), an air storage tank (10) is fixedly connected to the top front side of the base (1), an air pump (11) is fixedly connected to the top right side of the base (1), and an air filling pipe (12) is fixedly connected to the top of the air pump (11).

4. The rescue robot end effector with quick-change tools according to claim 2, characterized in that: The reinforcement component includes a magnetic base (18), the bottom of which is fixedly connected to the bottom of the inner wall of the storage box (403), and a magnetic suction ring (19) is fixedly connected to the left end of the sealing gasket (5).

5. The rescue robot end effector with quick-change tools according to claim 1, characterized in that: The steering assembly includes two electric telescopic rods (20), the left sides of which are fixedly connected to the top right side of the base (1), and the right sides of which are fixedly connected to a connecting shaft (21), and the front and rear sides of which are rotatably connected to a fixing block (22).

6. The rescue robot end effector with quick-change tools according to claim 3, characterized in that: A recycling box (23) is fixedly connected to the left end of the outer wall of the exhaust pipe (8), and a cleaning door (24) is rotatably connected to the front side of the outer wall of the exhaust pipe (8).

7. The rescue robot end effector with quick-change tools according to claim 1, characterized in that: Two guide posts (25) are fixedly connected to the outer wall of the tool tube (3), and two guide grooves (26) are opened on the inner wall of the execution tube (2).

8. The rescue robot end effector with quick-change tools according to claim 1, characterized in that: A vent (27) is provided at the middle of the left end of the actuator (2), and the inner wall size of the vent (27) is larger than the size of the exhaust pipe (8).

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