A robot

Abstract

The utility model belongs to the field of robot technology provides a kind of robot, robot includes base plate, and the surface of base plate is equipped with cover as protective structure, and the one end of base plate is equipped with peristalsis subassembly, for realizing the peristalsis of robot advancing;Another end is equipped with springing subassembly, for realizing the springing action of robot.The utility model is equipped with peristalsis subassembly and springing subassembly, without relying on complex track or wheel structure, it can cover the rugged terrain of wind farm diversification, effectively improve the integrity and moving efficiency of the range of survey, meet the coverage demand of large-scale wind farm routine operation, in addition, the movement form of peristalsis, springing does not need to continue to crush ground, and the component design of lightweight makes the pressure of robot to soil significantly reduce, can effectively avoid the vegetation crushing damage and soil structure destruction of grass and other ecological sensitive areas.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and specifically relates to a robot. Background Technology

[0002] Wind power generation has achieved rapid large-scale development due to its advantages of large resource reserves and strong environmental friendliness. However, the construction and operation and maintenance of wind farms face significant environmental and terrain challenges: On the one hand, in order to obtain stable wind energy, wind farms are mostly located in complex terrain areas such as mountains, grasslands, and deserts. Such terrain not only increases the difficulty of inspection due to its ruggedness, but its fragile ecosystem also imposes stringent environmental protection requirements on operation and maintenance equipment, that is, any inspection activity must minimize the disturbance to the local flora and fauna habitat; on the other hand, wind farms generally cover a large area, and the traditional manual daily inspection mode is inefficient and costly, which can no longer meet the needs of large-scale wind power operation and maintenance.

[0003] The automated inspection solutions currently being promoted in the industry still have significant environmental interference problems: although drone inspections can cover a wide area, the continuous noise generated during flight and the high-speed rotating wings can easily disturb the habitats and activities of birds and other organisms, and even cause collision risks; although automated ground vehicles can adapt to some flat terrains, their tracks or wheels can crush vegetation and damage soil structure when driving in ecologically sensitive areas such as grasslands, causing damage to the fragile ecological environment. Utility Model Content

[0004] To address the problems in the background art, this utility model proposes a robot, a driving method, and its application.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: This utility model provides a robot, comprising: A substrate, wherein an outer cover is mounted on the surface of the substrate and a notch is provided at one end; A peristaltic assembly is installed at the notch of the substrate for robot peristalsis; The bouncing assembly includes an energy storage module, elastic legs, and a multi-link mechanism. The energy storage module is installed at the other end of the base plate; One end of the flexible outrigger is movably connected to the energy storage module via a multi-link mechanism, and also movably connected to the outer casing via a multi-link mechanism.

[0006] Furthermore, the peristaltic component includes: Electric motor; The drive gear is mounted on the output shaft of the motor. The driven gear meshes with the driving gear and is fixedly mounted on the rotating shaft, which is rotatably engaged with the base plate. Several adapter seats are rotatably connected to a rotating shaft. Each adapter seat is rotatably connected to a four-bar linkage. The end of the four-bar linkage away from the adapter seat is rotatably connected to a peristaltic support leg. The first spring has its two ends connected to two opposing hinge points of the four-bar linkage; The guide component is fixedly connected to the adapter. The auxiliary rod is fixedly connected to the creeping support leg at one end and slidably engaged with the guide at the other end.

[0007] Furthermore, symmetrical supports are mounted on the lower surface of the substrate, and the supports are rotatably connected to the rotating shaft in the peristaltic assembly.

[0008] Furthermore, there are two adapters, which are installed on both sides of the driven gear.

[0009] Furthermore, the driving gear is a half-tooth gear.

[0010] Furthermore, in the bouncing assembly, the energy storage module includes: A base mounted on the surface of a substrate; A rotary energy accumulator rotatably connected to the base; The output end of the rotary accumulator is equipped with a rotatable screw rod, which is helically connected to a drive plate, and the drive plate is fixedly connected to a cylinder. A second spring is installed inside the cylinder. One end of the second spring is connected to an energy storage rod, and the other end is connected to the bottom of the cylinder. The energy storage rod is slidably engaged with the cylinder, and the end away from the second spring is fixedly connected to the inner surface of the outer cover.

[0011] Furthermore, the surface of the screw rod is provided with a helical groove and straight grooves at both ends of the helical groove, the straight grooves being arranged along the axial direction of the screw rod; A slider is provided at the helical connection between the drive plate and the screw rod, and the slider slides in conjunction with the helical groove and the straight groove.

[0012] Furthermore, the bottom of the cylinder is configured as a base plate, with elastic support legs rotatably connected to both ends of the base plate.

[0013] Furthermore, there are two cylinders and two energy storage rods, symmetrically distributed around the helical rod.

[0014] Furthermore, the elastic outrigger is fixedly connected to the third link, and the end of the third link away from the elastic outrigger is rotatably connected to the base plate and is also rotatably connected to the second link; The end of the second link away from the third link is rotatably connected to the first link, and the end of the first link away from the second link is rotatably connected to the outer cover.

[0015] This utility model also provides a driving method for the above-mentioned robot, comprising the following steps: The robot is driven to undulate in the target direction by a peristaltic component, and / or the robot is driven to bounce in the target direction by a bouncing component.

[0016] This utility model also provides an application of the above-mentioned robot, which is used for the inspection of wind farms.

[0017] The beneficial effects of this utility model are: 1. This utility model, by setting up a peristaltic component and a bouncing component, enables the robot to perform peristaltic and bouncing movements during movement. In terms of terrain adaptability, the robot can achieve smooth and continuous peristaltic movement through the peristaltic component, and can flexibly shuttle through complex terrain, avoiding the problems of traditional equipment getting stuck or stranded in complex terrain. At the same time, with the elastic driving capability of the bouncing component, it can quickly cross obstacles such as ditches and steps that are difficult to overcome by peristalsis. Without relying on complex track or wheel structures, it can cover the diverse and rugged terrain of wind farms, effectively improving the integrity of the inspection range and the mobility efficiency, and meeting the coverage needs of daily operation and maintenance of large-scale wind farms.

[0018] In terms of ecological and environmental protection, compared with the tracked structure of traditional automated ground mobile vehicles, this utility model robot greatly optimizes the interaction with the environment through biomimetic movement mode: on the one hand, the crawling and bouncing movement mode does not require continuous rolling of the ground, and the lightweight component design significantly reduces the pressure of the robot on the soil, which can effectively avoid damage to vegetation such as grass and soil structure in ecologically sensitive areas, fundamentally reducing the irreversible impact on the fragile ecosystem of wind farms; on the other hand, the design without high-speed rotating parts (such as drone wings) greatly reduces movement noise, and the smooth movement trajectory also avoids disturbing birds and other organisms, realizing the coordinated development of wind power operation and maintenance and ecological protection. 2. The spiral rod of this utility model adopts a "spiral groove + straight groove" design, and the drive plate slider is adapted to it. When storing energy, the rotating energy accumulator drives the spiral rod to rotate, and the slider slides along the spiral groove, pushing the drive plate to move down and compressing the second spring to store energy. After the slider slides into the straight groove, the spring releases energy instantly, pushing the component to reset and driving the elastic support leg to unfold through the connecting rod, so that the robot jumps forward. After a single jump, the slider returns to the initial position of the spiral groove and repeats the "energy storage-energy release" cycle to achieve continuous jumping.

[0019] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention can be realized and obtained through the structures pointed out in the description and the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the structure of a robot according to this utility model is shown; Figure 2 A schematic diagram of the peristaltic component of the robot of this invention is shown; Figure 3 A schematic diagram of the structure of the bouncing component of this utility model is shown; Figure 4a A schematic diagram of the internal structure of the cylinder of this utility model is shown; Figure 4b A diagram showing the positional relationship of the energy storage rod of this utility model is provided. Figure 5 A schematic diagram of the structure of the screw rod of this utility model is shown; Figure 6 A flowchart of a driving method according to this utility model is shown.

[0022] In the diagram: 1. Outer cover; 2. Base plate; 201. Support; 3. Peristaltic assembly; 301. Motor; 302. Drive gear; 303. Driven gear; 304. Adapter seat; 305. Four-bar linkage; 306. Peristaltic support leg; 307. Guide component; 308. Auxiliary rod; 309. First spring; 4. Bounce assembly; 401. Base; 402. Rotary accumulator; 403. Helical rod; 404. Drive plate; 4041. Slider; 405. Cylinder; 406. Base plate; 407. First connecting rod; 408. Elastic support leg; 409. Second connecting rod; 4010. Third connecting rod; 4011. Energy storage rod; 4012. Second spring; 4013. Helical groove; 4014. Straight groove. Detailed Implementation

[0023] 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 embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] This utility model discloses a robot that simulates the movement characteristics of animals such as frogs. It is a biomimetic robot suitable for wind farm inspection work, with two movement modes: peristalsis and jumping, and can adapt to complex inspection environments.

[0025] like Figure 1 As shown, the overall structure of the robot includes a base plate 2, and an outer cover 1 is installed on the surface of the base plate 2 as a protective structure. A rectangular notch is opened at one end of the base plate 2, and a peristaltic component 3 is installed at the notch to enable the robot to move in a peristaltic manner; a bouncing component 4 is installed at the other end to enable the robot to bounce.

[0026] like Figure 2 As shown, the specific structure of the peristaltic component 3 is as follows: It includes a motor 301 as a power source. A drive gear 302 is mounted on the output shaft of the motor 301. The drive gear 302 adopts a half-tooth gear design. The drive gear 302 meshes with a driven gear 303, which is fixedly mounted on a rotating shaft. The rotating shaft forms a rotatable engagement with the base plate 2 through symmetrical supports 201 mounted on the lower surface of the base plate 2. An adapter seat 304 is mounted on each side of the driven gear 303, and the adapter seat 304 is rotatably connected to the rotating shaft. A four-bar linkage 305 is rotatably connected to one end of each adapter seat 304, and a peristaltic support leg 306 is rotatably connected to the end of the four-bar linkage 305 away from the adapter seat 304. This embodiment does not limit the type of motor 301; for example, the motor 301 is a DC motor.

[0027] During operation, after the motor 301 starts, the output shaft drives the drive gear 302 to rotate. Due to the half-tooth design, the drive gear 302 and the driven gear 303 periodically mesh and disengage: during the meshing phase, the drive gear 302 drives the driven gear 303 to rotate synchronously with the shaft; during the disengagement phase, the driven gear 303 is temporarily stationary. The intermittent rotation of the driven gear 303 is transmitted to the two side adapter seats 304 through the shaft, causing the adapter seats 304 to drive the four-bar linkage 305 to move. The four-bar linkage 305 rotates through the hinge points of each link, converting the intermittent rotational motion into the periodic extension, retraction, or oscillation of the creeping support leg 306. Due to the difference in motion created by the two side mechanisms in the intermittent transmission, the entire assembly ultimately exhibits a continuous creeping effect, and the creeping speed and direction can be flexibly changed by adjusting the speed and direction of the motor 301.

[0028] In addition, a first spring 309 is installed on the four-bar linkage 305, with its two ends connected to two opposing hinge points of the four-bar linkage 305 respectively. A guide member 307 is also fixedly connected to the adapter 304, and an auxiliary rod 308 is fixedly connected to the peristaltic support leg 306. The end of the auxiliary rod 308 away from the peristaltic support leg 306 forms a sliding fit with the guide member 307.

[0029] During operation, when the four-bar linkage 305 moves under the drive of the adapter 304, the first spring 309 generates elastic potential energy as the mechanism deforms. During the intermittent phase when the driving gear 302 and the driven gear 303 disengage, the spring releases energy to assist the four-bar linkage 305 in resetting, compensating for the motion lag that may be caused by intermittent transmission. At the same time, the auxiliary rod 308 slides along the guide 307, converting the planar motion of the four-bar linkage 305 into the directional motion of the creeping support leg 306, so that the support leg always maintains the preset posture when it extends, retracts or swings. Combined with the motion difference of the two sides of the mechanism, the creeping effect is more consistent and the motion precision is higher.

[0030] like Figure 3 As shown, the bouncing component 4 includes an energy storage module, an elastic support leg 408, and a multi-link mechanism. One end of the elastic support leg 408 is movably connected to the energy storage module through the multi-link mechanism, and is also movably connected to the outer cover 1 through the multi-link mechanism.

[0031] An energy storage module is installed at the other end of the substrate 2. Its structure includes a base 401 mounted on the surface of the substrate 2, with a rotary energy storage unit 402 rotatably connected to the base 401. A rotatable screw rod 403 is mounted at the output end of the rotary energy storage unit 402, and a drive plate 404 is screwed onto the screw rod 403. Figure 4a and Figure 4b It can be seen that energy storage rods 4011 are slidably connected to both ends of the drive plate 404, and cylinder 405 is slidably connected to the energy storage rods 4011. Two cylinders 405 and two energy storage rods 4011 are provided, symmetrically distributed around the helical rod 403. The cylinder 405 is fixedly connected to the lower surface of the drive plate 404, and a second spring 4012 is installed inside it. One end of the second spring 4012 is connected to the energy storage rod 4011 (the other end of the energy storage rod 4011 is fixedly connected to the inner surface of the outer cover 1), and the other end is connected to the bottom of the cylinder 405. The bottom of the cylinder 405 is configured as a base plate 406, and elastic support legs 408 are rotatably connected to both ends of the base plate 406. This embodiment does not specifically limit the structure of the energy storage rod 4011; for example, in... Figure 4a In the middle, the energy storage rod 4011 is composed of a round rod and a round slider. The round slider is slidably engaged with the cylinder 405, while the round rod is fixedly connected to the round slider, and the other end is connected to the inner surface of the outer cover 1.

[0032] One end of the elastic support leg 408 is movably connected to the energy storage module and also movably connected to the outer casing 1 via multiple connecting rods. Specifically, the elastic support leg 408 is fixedly connected to the third connecting rod 4010. The end of the third connecting rod 4010 away from the elastic support leg 408 is rotatably connected to the base plate 406 and also rotatably connected to the second connecting rod 409. The end of the second connecting rod 409 away from the third connecting rod 4010 is rotatably connected to the first connecting rod 407, and the end of the first connecting rod 407 away from the second connecting rod 409 is rotatably connected to the outer casing 1. In this embodiment, the elastic support leg 408 can also omit the third connecting rod 4010 and be directly rotatably connected to the base plate 406 and the second connecting rod 409. Therefore, the multi-link mechanism can be composed of the first connecting rod 407, the second connecting rod 409, and the third connecting rod 4010, or it can be composed of the first connecting rod 407 and the second connecting rod 409.

[0033] It should be noted that a servo motor can be configured inside the rotary accumulator 402, which can drive the screw rod 403 to rotate.

[0034] Combination Figure 5 It is known that the helical rod 403 is designed with a helical groove 4013 and a straight groove 4014. Both ends of the helical groove 4013 are connected to the straight groove 4014, and the straight groove 4014 is arranged along the axial direction of the helical rod 403. In addition, a slider 4041 is provided on the drive plate 404, which can slide within the helical groove 4013. When the servo motor drives the helical rod 403 to rotate, the slider 4041 on the drive plate 404 will move along the helical groove 4014. At this time, the cylinder 405 will move together with the drive plate 404, pulling or compressing the second spring 4012 and storing energy. When the slider 4041 moves to the straight groove 4014, the slider 4041 will move rapidly along the straight groove 4013. At this time, the second spring 4012 releases energy, causing the robot to bounce forward. This cycle is repeated to achieve continuous movement of the robot.

[0035] The working process of the bouncing component 4 is as follows: 1) During the energy storage phase, the rotary accumulator 402 rotates around the base 401 under the action of external driving force, and its output end drives the screw rod 403 to rotate synchronously. Since the drive plate 404 is helically connected to the screw rod 403 and both ends are subject to the sliding constraint of the energy storage rod 4011, the rotational motion of the screw rod 403 is converted into the linear motion of the drive plate 404 along the axis of the energy storage rod 4011. When the drive plate 404 moves downward, it will drive the cylinder 405 to move in the direction of compressing the second spring 4012. At this time, the energy storage rod 4011 compresses the second spring 4012 inside the cylinder 405, so that the spring gradually accumulates elastic potential energy. At the same time, the elastic support leg 408 is connected to the base plate 406 through the third link 4010, and forms a linkage with the outer cover 1 through the second link 409 and the first link 407. During the energy storage process, the posture is adjusted with the position change of the cylinder 405 to prepare for the subsequent bounce.

[0036] 2) During the release phase, when slider 4041 moves to the bottom of spiral groove 4013 and enters straight groove 4014, the constraint of drive plate 404 is released. The second spring 4012 instantly releases its stored elastic potential energy, pushing energy storage rod 4011 and drive plate 404 to quickly return to their original position. This impact force is transmitted through base plate 406 to third link 4010, causing elastic support leg 408 to push off the ground. At the same time, elastic support leg 408, through the linkage structure of second link 409, first link 407 and outer cover 1, obtains additional support force during the deployment process, causing the end of the support leg to generate a downward pushing force. Under the synergistic effect of spring force and linkage mechanism, elastic support leg 408 quickly extends and pushes the entire structure upward to complete the jumping action. After jumping, each component returns to its original position under gravity and structural constraints, waiting for the next energy storage cycle.

[0037] like Figure 6 The image shows a driving method, which is used for Figures 1-6 Specifically, this driving method has three modes for the robot: The first mode: The robot is driven to wiggle in the target direction by the wiggling component 3.

[0038] The second mode: The robot is driven to bounce in the direction of the target by the bouncing component 4.

[0039] The third mode: The robot is driven to wiggle in the target direction by the wiggling component 3, and at the same time, the robot is driven to bounce in the target direction by the bouncing component 4.

[0040] It should be noted that the first peristaltic mode is suitable for scenarios requiring smooth movement and precise control. For example, in narrow passages or complex terrains (such as inside pipes or on the surface of piles of rubble), the robot can slowly advance through the continuous intermittent movements of the peristaltic component 3, effectively avoiding obstacles and reducing the risk of collisions with the surrounding environment. It is also suitable for occasions with high requirements for movement posture, such as precision equipment inspection and handling of items in small spaces, where stable peristaltic movements can ensure operational accuracy.

[0041] The second bouncing mode is suitable for scenarios requiring rapid obstacle crossing or long-distance movement. When encountering obstacles such as large ditches or steps that are difficult to overcome by crawling, the robot activates the bouncing component 4, using the instantaneous release of elastic potential energy to jump and efficiently overcome the obstacle; when rapid transfer is required in open areas, the bouncing mode can significantly improve movement speed.

[0042] The third type of combined creeping and bouncing mode is suitable for complex and varied terrain. For example, in rugged mountainous areas or ruins, the robot can activate two sets of components simultaneously: creeping ensures the stability of basic movement and allows it to slowly pass through small obstacles; when a larger obstacle is detected ahead or when it needs to improve movement efficiency, a bouncing action is triggered simultaneously to cross or accelerate, balancing stability and maneuverability. This is suitable for mission scenarios with complex terrain and uncertain environments, such as field exploration and disaster relief.

[0043] This utility model does not specifically limit the application of the robot. For example, it can be used for the inspection of wind farms. By combining crawling and bouncing, it can flexibly traverse the complex terrain within the wind farm to reach the equipment that needs to be inspected and complete the inspection task.

[0044] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot, characterized in that, include: The substrate (2) has an outer cover (1) mounted on its surface and has a notch at one end; The peristaltic assembly (3) is installed at the notch of the substrate (2) for robot peristalsis. It includes a motor (301) as a power source. The output shaft of the motor (301) is equipped with an active gear (302), which adopts a half-tooth gear design. The bouncing component (4) includes an energy storage module, an elastic support leg (408) and a multi-link mechanism. One end of the elastic support leg (408) is movably connected to the energy storage module through the multi-link mechanism and is also movably connected to the outer cover (1) through the multi-link mechanism. The energy storage module is installed at the other end of the substrate (2); One end of the elastic support leg (408) is movably connected to the energy storage module through a multi-link mechanism, and also movably connected to the outer cover (1) through a multi-link mechanism.

2. The robot according to claim 1, characterized in that, The peristaltic component (3) includes: Motor (301); A drive gear (302) is mounted on the output shaft of the motor (301); Driven gear (303) meshes with driving gear (302) and is fixed on rotating shaft, which is rotatably engaged with base plate (2); A plurality of adapter seats (304) are rotatably connected to the rotating shaft. Each adapter seat (304) is rotatably connected to a four-bar linkage (305). The end of the four-bar linkage (305) away from the adapter seat (304) is rotatably connected to a peristaltic support leg (306). The first spring (309) has its two ends connected to two opposing hinge points of the four-bar linkage (305); The guide (307) is fixedly connected to the adapter (304); The auxiliary rod (308) is fixedly connected at one end to the peristaltic support leg (306) and slidably engaged with the guide member (307) at the other end.

3. A robot according to claim 2, characterized in that, A symmetrical support (201) is mounted on the lower surface of the substrate (2), and the support (201) is rotatably connected to the shaft in the peristaltic assembly (3).

4. A robot according to claim 2, characterized in that, Two adapters (304) are provided and installed on both sides of the driven gear (303).

5. A robot according to claim 2, characterized in that, The driving gear (302) is a half-tooth gear.

6. A robot according to claim 1, characterized in that, In the bouncing assembly (4), the energy storage module includes: A base (401) mounted on the surface of the substrate (2); A rotary energy storage device (402) is rotatably connected to the base (401). The output end of the rotary accumulator (402) is equipped with a rotatable screw rod (403), which is screwed to a drive plate (404), and the drive plate (404) is fixedly connected to a cylinder (405). A second spring (4012) is installed inside the cylinder (405); one end of the second spring (4012) is connected to an energy storage rod (4011), and the other end is connected to the bottom of the cylinder (405); The energy storage rod (4011) is slidably engaged with the cylinder (405), and the end away from the second spring (4012) is fixedly connected to the inner surface of the outer cover (1).

7. A robot according to claim 6, characterized in that, The surface of the spiral rod (403) is provided with a spiral groove (4013) and straight grooves (4014) at both ends of the spiral groove (4013), and the straight grooves (4014) are arranged along the axial direction of the spiral rod (403). A slider (4041) is provided at the helical connection between the drive plate (404) and the helical rod (403), and the slider (4041) slides in cooperation with the helical groove (4013) and the straight groove (4014).

8. A robot according to claim 6, characterized in that, The bottom of the cylinder (405) is configured as a base plate (406), and the elastic support legs (408) are rotatably connected to both ends of the base plate (406).

9. A robot according to claim 8, characterized in that, Two cylinders (405) and two energy storage rods (4011) are provided, symmetrically distributed with the spiral rod (403) as the center.

10. A robot according to claim 8 or 9, characterized in that, The elastic support leg (408) is fixedly connected to the third link (4010). The end of the third link (4010) away from the elastic support leg (408) is rotatably connected to the base plate (406) and is also rotatably connected to the second link (409). The end of the second link (409) away from the third link (4010) is rotatably connected to the first link (407), and the end of the first link (407) away from the second link (409) is rotatably connected to the outer cover (1).

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