CN113304027B

CN113304027B - Flexible rapping device

Info

Publication number: CN113304027B
Application number: CN202110738414.4A
Authority: CN
Inventors: 曾达幸; 杨宏冠; 曾嘉豪; 侯雨雷; 王航
Original assignee: Huicheng Automation Technology Ningbo Co ltd
Current assignee: Huicheng Automation Technology Ningbo Co ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2023-04-07
Anticipated expiration: 2041-06-30
Also published as: CN113304027A

Abstract

The invention provides a flexible rapping device, which comprises a movable vehicle body component, a three-movement component and a rapping actuating component. In the movable vehicle body assembly, a brushless motor and Mecanum wheels are fixedly connected with the lower surface of a vehicle body frame respectively; in the three movable assemblies, the first lead screw module is fixedly connected with the upper surface of the vehicle body frame, and lead screws in the first lead screw module, the second lead screw module and the third lead screw module are mutually perpendicular in pairs. In the beating execution assembly, an output shaft of the direct-current brushless motor is fixedly connected with a first end of a first connecting rod, a second end of the first connecting rod is connected with a first end of a second connecting rod, a second end of the second connecting rod is connected with a first end of a third connecting rod, a second end of the third connecting rod is connected with a first end of a fixed support, a third end of the third connecting rod is connected with a first end of a clamping block, and a beating piece is located at a second end of the clamping block. The invention can adapt to different working states and environments, can be self-adaptively adjusted in the knocking process, and improves the operation safety of the device.

Description

Flexible rapping device

Technical Field

The invention relates to the technical field of rapping devices, in particular to a flexible rapping device.

Background

In the prior art, CN209548360 discloses a back knocking and patting robot, which comprises a base, wherein an upright post is arranged on the base, a machine head is arranged on the upright post, a machine base is arranged in the machine head, a driving mechanism is arranged on the machine base, a patting mechanism is arranged on the left side of the driving mechanism in the machine head, the patting mechanism comprises a patting arm, a patting hand is connected on the patting arm, an opening for the patting arm to slide is arranged on the machine head, and a controller for controlling the rotating speed of a motor is also arranged in the machine head.

CN 2120067165 discloses a sitting limb type massage robot. The sitting limb type massage robot is provided with a seat and a robot main body, wherein the seat comprises a seat back, the back of the seat back is provided with the robot main body through an up-down lifting device, and the robot main body is provided with a beating device for massaging and beating the part through a left-right moving device; the left-right moving device comprises a second lead screw, a second guide rail and a beating planker; the rapping device comprises a hammer head and a connecting rod, one end of the connecting rod is rotatably connected to a rapping carriage, the other end of the connecting rod is fixedly connected with the hammer head, and the rapping carriage is also provided with a cam for driving the connecting rod to rotate; the beating planker is provided with a spring for resetting the hammer.

However, the existing robot is generally rigid when being used for beating or massaging, has poor flexibility, and cannot adjust the force and the like according to actual requirements, so that the requirements of users cannot be better met.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides the flexible knocking device, and the device is more flexible and high in applicability by arranging the knocking execution assembly, can realize self-adaptive adjustment in the knocking process, and has better practicability and applicability.

The invention provides a flexible knocking device which comprises a movable vehicle body assembly, a three-movement assembly and a knocking execution assembly. The movable vehicle body assembly comprises Mecanum wheels, a brushless motor and a vehicle body frame, a shell of the brushless motor and first ends of the Mecanum wheels are fixedly connected with the lower surface of the vehicle body frame respectively, and output shafts of the brushless motor and second ends of the Mecanum wheels are fixedly connected. The third moving assembly comprises a first lead screw module, a first module sliding block, a second lead screw module, a second module sliding block, a third lead screw module, a third module sliding block, a first connecting plate and a second connecting plate, wherein the first end of the first lead screw module is fixedly connected with the upper surface of the vehicle body frame, the second end of the first lead screw module is connected with the first end of the first module sliding block, the second end of the first module sliding block is fixedly connected with the first end of the first connecting plate, the second end of the first connecting plate is fixedly connected with the first end of the second lead screw module, the second end of the second lead screw module is fixedly connected with the first end of the second module sliding block, the second end of the second module sliding block is fixedly connected with the first end of the second connecting plate, the second end of the second connecting plate is fixedly connected with the first end of the third lead screw module, and the second end of the third lead screw module is connected with the first end of the third module sliding block. The beating executing assembly comprises a third connecting plate, a first steering engine support, a motor support, a direct-current brushless motor, a coupler, a first connecting rod, a second connecting rod, a third connecting rod, a spring catch, a left clamping block, a second steering engine support, a right clamping block, a beating sheet, a fixing support, a photoelectric switch support, a first pin shaft, a second pin shaft, a third pin shaft, a fourth pin shaft, a photoelectric switch, a torsional spring, a steering engine and a vision module.

Preferably, in the rapping execution assembly, a first end of the third connecting plate is fixedly connected with a second end of the third module slider, a second end of the third connecting plate is connected with a first end of the first steering engine bracket, a second end of the first steering engine bracket is connected with a first end of the steering engine, a second end of the steering engine is connected with a first end of the second steering engine bracket, a second end of the second steering engine bracket is fixedly connected with a first end of the motor bracket, a second end of the motor bracket is fixedly connected with a housing of the dc brushless motor, the photoelectric switch is fixedly connected with a first end of the photoelectric switch bracket, a second end of the photoelectric switch bracket is fixedly connected with a fourth end of the motor bracket, and the vision module is fixedly connected with a fifth end of the motor bracket.

Preferably, the number of the mecanum wheels is equal to the number of the brushless motors, and the mecanum wheels and the brushless motors are symmetrically distributed at four corners of the vehicle body frame.

Preferably, the screws in the first screw module, the second screw module and the third screw module are perpendicular to each other two by two.

Preferably, a central axis of the photoelectric switch is parallel to a side surface of the motor bracket, and the central axis of the photoelectric switch is perpendicular to the side surface of the third link.

Preferably, the spring catch, the left clamping block, the right clamping block, the fourth pin shaft and the torsion spring form a flexible connecting assembly.

Compared with the prior art, the invention has the following advantages:

1. according to the invention, the knocking execution component can enable the knocking piece to complete the knocking action through the going-way and returning-way movement of the four-bar mechanism, and the torsional spring arranged on the rotating pair is used as the flexible component, so that the knocking piece can continue to move downwards by means of inertia when the going-way is transited to the returning-way, the torsional spring is deformed, the downward movement of the knocking piece is prevented at the moment of the returning-way, and the knocking energy is prevented from being consumed. Therefore, the flexible design improves the knocking force and enlarges the effective knocking range, and the flexible design can be adjusted in a self-adaptive manner in the knocking process.

2. The three-moving assembly can be matched with the steering engine to adjust the posture of the end effector under the condition that the vehicle body does not move, and can meet the requirement that the knocking execution assembly knocks at different positions and different heights, so that the whole device is more suitable for use.

3. The steering engine is provided with the vision module, the irradiation position of the vision module can be adjusted by rotating the steering engine, and the position can be identified by the vision of the vision module, so that each power source of the whole device is controlled, and the purpose of automatic tapping is achieved.

4. When the tail end beating execution component is used, the action of adjusting beating force and beating frequency can be achieved by controlling the rotating speed and the rotating rule of the direct current brushless motor according to the requirements of different users in the beating process, and the requirements of different beating force and beating frequency of different users are better met.

Drawings

Fig. 1 is a schematic perspective view of a flexible rapping device in accordance with the present invention;

FIG. 2 is a schematic view of the structure of the moving body assembly of the flexible rapping device of the present invention;

FIG. 3 is a schematic structural view of three moving assemblies of the flexible rapping device of the present invention;

fig. 4 is a schematic view of a rapping actuating assembly in a flexible rapping device in accordance with the present invention;

fig. 5 is a bottom view of the structure of the rapping actuating assembly in the flexible rapping device of the present invention.

The main reference numbers:

the device comprises a movable vehicle body component 1, three movable components 2, a rapping actuating component 3, a mecanum wheel 11, a brushless motor 12, a vehicle body frame 13, a first lead screw module 21, a first module slider 22, a second lead screw module 24, a second module slider 25, a third lead screw module 27, a third module slider 28, a first connecting plate 23, a second connecting plate 26, a third connecting plate 31, a steering engine first bracket 32, a motor bracket 33, a direct-current brushless motor 34, a coupling 35, a first connecting rod 36, a second connecting rod 37, a third connecting rod 38, a spring catch 39, a left clamping block 310, a steering engine second bracket 311, a right clamping block 312, a rapping piece 313, a fixed bracket 314, a photoelectric switch bracket 315, a first pin shaft 316, a second pin shaft 317, a third pin shaft 318, a fourth pin shaft 319, a photoelectric switch 320, a torsion spring 321, a steering engine 322 and a vision module 323.

Detailed Description

The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.

The flexible rapping device, as shown in fig. 1, comprises a moving car body assembly 1, a three-moving assembly 2 and a rapping actuating assembly 3.

Moving body assembly 1, as shown in fig. 2, includes mecanum wheels 11, brushless motor 12, and body frame 13. The moving adjustment mode of the moving body assembly 1 can be driven by a stepping motor, a hydraulic drive, a universal wheel or manual power, besides the Mecanum wheel 11 driven by the brushless motor 12.

The housing of the brushless motor 12 and the first end of the mecanum wheel 11 are fixedly connected with the lower surface of the vehicle body frame 13, respectively, and the output shaft of the brushless motor 12 is fixedly connected with the second end of the mecanum wheel 11.

In a preferred embodiment of the present invention, the number of mecanum wheels 11 is equal to the number of brushless motors 12, and the number of mecanum wheels 11 is four, the mecanum wheels 11 are in contact with the ground, the four mecanum wheels 11 and the four brushless motors 12 are symmetrically installed at four top corners of a vehicle body frame 13 in the same assembly manner, the four brushless motors 12 cooperate to drive the mecanum wheels 11 to rotate, so that the arbitrary movement in the two-dimensional plane of the whole device can be realized, the four mecanum wheels 11 independently driven by the four brushless motors 12 can freely move in arbitrary directions, and after reaching a designated position, the four brushless motors 12 stop rotating to fix the position of the device.

The three moving assemblies 2, as shown in fig. 3, include a first lead screw module 21, a first module slider 22, a second lead screw module 24, a second module slider 25, a third lead screw module 27, a third module slider 28, a first connecting plate 23 and a second connecting plate 26. Preferably, the moving adjustment mode of the moving vehicle body assembly not only adopts a brushless motor to drive the mecanum wheels, but also can be driven by a stepping motor, a hydraulic drive, universal wheels or manual force. Preferably, the three-moving assembly 2 can be adjusted by a mechanical arm or manually, besides adopting a three-linear-screw module mode. The three-movement assembly 2 can control the movement of the end effector in a specific three-dimensional space so as to achieve the purpose that the end effector can accurately and flexibly reach a working position.

The first end of the first lead screw module 21 is fixedly connected with the upper surface of the vehicle body frame 3, the second end of the first lead screw module 21 is connected with the first end of the first module sliding block 22, the second end of the first module sliding block 22 is fixedly connected with the first end of the first connecting plate 23, the second end of the first connecting plate 23 is fixedly connected with the first end of the second lead screw module 24, the second end of the second lead screw module 24 is fixedly connected with the first end of the second module sliding block 25, the second end of the second module sliding block 25 is fixedly connected with the first end of the second connecting plate 26, the second end of the second connecting plate 26 is fixedly connected with the first end of the third lead screw module 27, and the second end of the third lead screw module 27 is connected with the first end of the third module sliding block 28. The lead screws in the first lead screw module 21, the second lead screw module 24 and the third lead screw module 27 are perpendicular to each other two by two.

The lead screw of the first lead screw module 21 can make the first module slide block 22 realize the movement of the y axis when rotating, so as to drive the rapping actuating component 3 to realize the movement of the y axis, the lead screw of the second lead screw module 24 can make the second module slide block 25 realize the movement of the z axis when rotating, so as to drive the rapping actuating component 3 to realize the movement of the z axis, and the lead screw of the third lead screw module 27 can make the third module slide block 28 realize the movement of the x axis when rotating, so as to drive the rapping actuating component 3 to realize the movement of the x axis.

As shown in fig. 4 and 5, the rapping actuating assembly 3 includes a third connecting plate 31, a first steering engine bracket 32, a motor bracket 33, a dc brushless motor 34, a coupling 35, a first connecting rod 36, a second connecting rod 37, a third connecting rod 38, a spring catch 39, a left clamping block 310, a second steering engine bracket 311, a right clamping block 312, a rapping plate 313, a fixing bracket 314, an optoelectronic switch bracket 315, a first pin 316, a second pin 317, a third pin 318, a fourth pin 319, an optoelectronic switch 320, a torsion spring 321, a steering engine 322, and a vision module 323, where the coupling 35 is a rigid coupling, which can make the device more stable during operation. The rapping execution component 3 controls the posture of the end effector through the steering engine 322, and controls the end effector to execute rapping motions through the direct current brushless motor 34.

The posture adjusting mode of the knocking executing component 3 can be driven by a steering engine 322, and can also be driven by a motor, a hydraulic cylinder, a hydraulic motor or manually adjusted; the flexible element in the flexible structure of the rapping actuating assembly 3 may be rubber, a compression spring, or an elastic stick, instead of the torsion spring 321; the beating executing component 3 can use a beating wooden stick, a beating rubber stick or a beating hammer besides the beating sheet 313; the beating execution assembly 3 can adopt a crank-slider, a motor direct drive or a cam mechanism instead of adopting a crank-rocker mechanism consisting of a first connecting rod 36, a second connecting rod 37 and a third connecting rod 38 to transmit torque and force; a vision module 323 installed in the tapping execution assembly 3 is used for visual recognition; besides the photoelectric switch 320 for leveling the four-bar linkage, a touch switch or a limit switch can be installed in the rapping actuating assembly 3.

Further, in order to improve the flexibility of the device, the spring stop piece 39, the left clamping block 310, the right clamping block 312, the fourth pin shaft 319 and the torsion spring 321 form a flexible connecting component.

The first end of the third connecting plate 31 is fixedly connected with the second end of the third module sliding block 28, the second end of the third connecting plate 31 is connected with the first end of the first support 32 of the steering engine, the second end of the first support 32 of the steering engine is connected with the first end of the steering engine 322, the second end of the steering engine 322 is connected with the first end of the second support 311 of the steering engine, the second end of the second support 311 of the steering engine is fixedly connected with the first end of the motor support 33, and the second end of the motor support 33 is fixedly connected with the shell of the brushless direct-current motor 34.

The photoelectric switch 320 is fixedly connected with the first end of the photoelectric switch bracket 315, the second end of the photoelectric switch bracket 315 is fixedly connected with the fourth end of the motor bracket 33, and the vision module 323 is fixedly connected with the fifth end of the motor bracket 33. The central axis of the photoelectric switch 320 is parallel to the side surface of the motor bracket 33, and the central axis of the photoelectric switch 320 is perpendicular to the side surface of the third link 38.

The output shaft of the dc brushless motor 34 and the first end of the first link 36 are fixed by the coupling 35, so that the output shaft and the first link 36 rotate synchronously, the second end of the first link 36 is connected with the first end of the second link 37 by the first pin 316, the second end of the second link 37 is connected with the first end of the third link 38 by the second pin 317, the second end of the third link 38 is connected with the first end of the fixed bracket 314 by the third pin 318, the second end of the fixed bracket 314 is fixedly connected with the third end of the motor bracket 33, the third end of the third link 38 is connected with the first ends of the left clamping block 310 and the right clamping block 312 by the fourth pin 319, the striking plate 313 is located at the second ends of the left clamping block 310 and the right clamping block 312 and is fixedly connected with the second ends of the left clamping block 310 and the right clamping block 312 respectively, the torsion spring 321 is installed in the middle of the left clamping block 310 and the right clamping block 312 and passes through the fourth clamping block 312, the fourth pin 319, the left pin 319 and the right clamping block 312 are both in contact with the torsion spring 319, one end of the torsion spring 319, the first end of the fourth pin 321 and one end of the fourth pin 321 is in contact with the first end of the spring 321, and one end of the fourth pin, the fourth pin 321, and one end of the second end of the spring 321, and one end of the fourth pin are in contact with the spring 321, and one end of the spring 321.

Specifically, the angle of the torsion spring 321 is 180 degrees, one end is pressed by the lower surface of the right holding piece 312 and is stopped by the right side surface, and the other end is pressed by the spring stopper 39 and is stopped by the right side surface and the left side surface of the stopper of the third link 38.

The device realizes large-distance and rough movement of the whole assembly in a two-dimensional plane by moving the movable vehicle body assembly 1, and positions the assembly to a working design position; the three moving assemblies 2 can realize the accurate movement of the end effector, and the beating action on different parts of the body is completed through the matching use of the steering engine 322 and the three moving assemblies 2; after the movable vehicle body component 1 is positioned, the three movable components 2 can be moved to realize knocking at different positions with small distance; the movable vehicle body assembly 1 can be positioned for a plurality of times to knock some parts. The visual module 323 is installed on the beating execution assembly 3, the irradiation position of the visual module 323 can be adjusted through rotation of the steering engine 322, the position of a user can be visually identified, the purpose of beating accurately is achieved, bones and meat can be identified, and unnecessary damage caused by beating of beating pieces to the bones is prevented. Meanwhile, each power source can be controlled visually, so that the purpose of automatic tapping is achieved. The flexible beating mechanism is designed in the tail end executing assembly, the assembly becomes more flexible and extremely high in applicability through perfect matching of the rotating pair and the torsion spring 321, self-adaptive adjustment in a beating process can be achieved, damage to the assembly cannot be caused, and the flexible beating assembly is high in adaptability. When the user uses this subassembly through the remote control, do not need manpower assistance can accomplish and beat the task, with data standardization and regulation data visualization, have advantages such as easy operation, safe and reliable, automatic high level, the accurate strong adaptability in location.

The flexible rapping device of the present invention is further described below in connection with an embodiment:

the device carries out workflow planning on the use of the flexible rapping device according to the basic steps of rapping.

Firstly, the movable vehicle body component 1 is moved to a working position, and the specific operation steps are as follows: the moving vehicle body assembly 1 is provided with four Mecanum wheels 11 independently driven by four brushless motors 12, the moving vehicle body 1 is operated in a remote control mode and the like to realize free large-distance and rough movement of the whole assembly in any direction in a two-dimensional plane, and the device is positioned to a working design position; when the movable body assembly 1 reaches the designated working design position, the brushless motor 12 is stopped to fix the device position.

Then, the three moving assemblies 2 are moved and positioned, and the specific operation steps are as follows: when the movable vehicle body assembly 1 reaches a designated position and is fixed in time, in order to adapt to differences caused by different crowd physical characteristics, appearance postures, environmental factors and beating positions, the three-movable assembly 2 is controlled to move in a specific three-dimensional space in a remote control mode and the like, so that the beating execution assembly 3 is efficiently, accurately and flexibly moved to a proper position.

Then, initial zero setting is performed on the steering engine 322 and the dc brushless motor 34, and the specific operation steps are as follows: after the three-mobile-component 2 reaches the designated position, the steering engine 322 is controlled by the remote controller to realize the zero-setting of the attitude, that is, the whole knocking execution component 3 returns to the initial attitude relative to the three-mobile-component 2. The remote controller controls the brushless dc motor 34 to rotate slowly to find the initial horizontal position of the tapping actuator 3, and when the photoelectric switch 320 detects that the third link 38 reaches the designated position, the brushless dc motor 34 is controlled to stop rotating.

Then, initializing, and specifically comprising the following operation steps: the steering engine 322 is controlled by the remote controller to rotate by a designated angle to drive the whole knocking executing assembly 3 to adjust the posture so as to adapt to different knocking positions. The third moving module 27 is controlled by the remote controller to drive the entire rapping actuating assembly 3 to approach the rapping position. When the photoelectric switch 320 detects that the entire rapping actuating member 3 is close to and contacts a designated rapping position, the third module slider 28 stops moving, and the rapping actuating member 3 reaches a designated working position.

Then, beating with a hot body, and the specific operation steps are as follows: the brushless DC motor 34 is controlled by the remote controller to rotate slowly, the brushless DC motor 34 drives the first link 36 to rotate slowly through the coupling 35, and then the crank-rocker mechanism composed of the first link 36, the second link 37 and the third link 38 starts to operate. The striking plate 313 starts to strike the area to be struck slowly via the transfer of the flexible connecting assembly. During the slow tapping process, the steering engine 322 and the three-movement assembly 2 can be subjected to fine adjustment operation according to the reaction of a user.

And finally, beating the work, wherein the specific operation steps are as follows: the beating force of the beating sheet 313 is continuously increased by slowly increasing the rotation speed of the dc brushless motor 34 until the beating force is adapted to the demand. When the striking force of a specific user is determined, the rotation speed of the dc brushless motor 34 at that time is recorded for the next use by the user. When the appropriate striking force is found by the user, the rotation speed of the dc brushless motor 34 is maintained to perform the continuous effective striking.

After a certain part is knocked, the position to be knocked is identified by the vision module 323, and the steering engine 322 and the three-movement assembly 2 are adjusted to realize multi-position and multi-posture knocking. Finally, the designated part can be knocked, knocked or pressed through multiple positioning of the movable vehicle body assembly 1.

The device adopts the torsion spring 321 arranged on the rotating pair as a flexible design, can adapt to different working states and environments when in use, can be adjusted in a self-adaptive manner in the beating process, and improves the beating force of the component on the premise of ensuring the safety; the three moving assemblies 2 are installed in a mode that three lead screw modules are perpendicular to each other in pairs, so that the end effector has a motion space and does not interfere with each other; the structure can ensure that the knocking execution component 3 can knock different positions and different heights under the condition that the movable vehicle body component 1 does not move, and the structure has the advantages of high flexibility, simple operation, high automation degree and the like; the steering engine 322 is added in the knocking execution assembly 3 to adjust the posture of the end effector, so that the knocking range is wider, the range of the region to be knocked is wider, and the knocking is more comprehensive. The visual module 323 is installed on the rapping actuating assembly 3, the irradiation position of the visual module 323 can be adjusted through rotation of the steering engine 322, the position where a user wants to place can be visually identified, so that the aim of accurate rapping can be achieved, the region to be rapped and the region to be prevented from being rapped can also be identified, and the rapping piece 313 is prevented from being rapped to the region to be prevented from being rapped. Meanwhile, each power source can be controlled visually, and the purpose of full-automatic striking is achieved.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A flexible beating device comprises a movable vehicle body component, a three-movement component and a beating execution component, and is characterized in that,

the movable vehicle body assembly comprises Mecanum wheels, a brushless motor and a vehicle body frame, wherein a shell of the brushless motor and first ends of the Mecanum wheels are fixedly connected with the lower surface of the vehicle body frame respectively, and output shafts of the brushless motor and second ends of the Mecanum wheels are fixedly connected;

the third moving assembly comprises a first lead screw module, a first module sliding block, a second lead screw module, a second module sliding block, a third lead screw module, a third module sliding block, a first connecting plate and a second connecting plate, wherein the first end of the first lead screw module is fixedly connected with the upper surface of the vehicle body frame, the second end of the first lead screw module is connected with the first end of the first module sliding block, the second end of the first module sliding block is fixedly connected with the first end of the first connecting plate, the second end of the first connecting plate is fixedly connected with the first end of the second lead screw module, the second end of the second lead screw module is fixedly connected with the first end of the second module sliding block, the second end of the second module sliding block is fixedly connected with the first end of the second connecting plate, the second end of the second connecting plate is fixedly connected with the first end of the third lead screw module, and the second end of the third lead screw module is connected with the first end of the third lead screw module sliding block;

the beating execution assembly comprises a third connecting plate, a first steering engine support, a motor support, a direct-current brushless motor, a coupler, a first connecting rod, a second connecting rod, a third connecting rod, a spring catch, a left clamping block, a second steering engine support, a right clamping block, a beating sheet, a fixed support, a photoelectric switch support, a first pin shaft, a second pin shaft, a third pin shaft, a fourth pin shaft, a photoelectric switch, a torsional spring, a steering engine and a vision module, wherein the spring catch, the left clamping block, the right clamping block, the fourth pin shaft and the torsional spring form a flexible connecting assembly; an output shaft of the direct current brushless motor is fixedly connected with a first end of a first connecting rod through a coupler, a second end of the first connecting rod is connected with a first end of a second connecting rod through a first pin shaft, a second end of the second connecting rod is connected with a first end of a third connecting rod through a second pin shaft, a second end of the third connecting rod is connected with a first end of a fixed support through a third pin shaft, a second end of the fixed support is fixedly connected with a third end of the motor support, the third end of the third connecting rod is respectively connected with first ends of the left clamping block and the right clamping block through a fourth pin shaft, the striking piece is located at the second end of the left clamping block and the second end of the right clamping block and is respectively fixedly connected with the second ends of the left clamping block and the right clamping block, the torsion spring is sleeved on the fourth pin shaft, the first end of the torsion spring is in contact with the inner side of the first end of the right clamping block, the second end of the torsion spring is in contact with the first end of the spring blocking piece, and the second end of the spring blocking piece is fixedly connected with a fourth end of the third connecting rod;

in the beating execution assembly, a first end of a third connecting plate is fixedly connected with a second end of a third module sliding block, a second end of the third connecting plate is connected with a first end of a first support of a steering engine, a second end of the first support of the steering engine is connected with a first end of the steering engine, a second end of the second support of the steering engine is connected with a first end of a second support of the steering engine, a second end of the second support of the steering engine is fixedly connected with a first end of a support of a motor, a second end of the support of the motor is fixedly connected with a shell of a brushless direct-current motor, a photoelectric switch is fixedly connected with a first end of the support of the photoelectric switch, a second end of the support of the photoelectric switch is fixedly connected with a fourth end of the support of the motor, and a visual module is fixedly connected with a fifth end of the support of the motor;

the torsional spring installed on the rotating pair is used as a flexible assembly, so that the beating sheet continues to move downwards by means of inertia when going to the return transition, the torsional spring deforms, the beating sheet is prevented from moving downwards in the instant of return, the beating force can be improved, the beating effective range can be enlarged, and self-adaptive adjustment can be achieved in the beating process.

2. The flexible rapping device of claim 1, wherein the number of the mecanum wheels and the number of the brushless motors are equal, and the mecanum wheels and the brushless motors are symmetrically distributed at four top corners of the vehicle body frame.

3. The rapping device of claim 1, wherein the screws in the first screw module, the second screw module, and the third screw module are perpendicular to each other two by two.

4. The flexible rapping device of claim 1 or 2, wherein the central axis of the opto-electronic switch is parallel to a side surface of the motor bracket, and the central axis of the opto-electronic switch is perpendicular to a side surface of the third link.