CN211163958U

CN211163958U - Software robot with life detection and guarantee functions for earthquake search and rescue

Info

Publication number: CN211163958U
Application number: CN201821892609.4U
Authority: CN
Inventors: 林朝阳; 石宏
Original assignee: Dongguan University of Technology
Current assignee: Dongguan University of Technology
Priority date: 2018-11-16
Filing date: 2018-11-16
Publication date: 2020-08-04
Anticipated expiration: 2028-11-16

Abstract

The utility model discloses a soft robot with life detection and guarantee functions for earthquake search and rescue, relating to the technical field of soft robots for earthquake search and rescue, in particular to a shell, a supporting block and an air inlet valve, wherein the left side and the right side of the shell are both provided with soft feet, the soft robot with life detection and guarantee functions for earthquake search and rescue can ensure that a spring can pull the double-layer air bag through the contraction of the double-layer air bag through the arrangement of the connection relation between the double-layer air bag and the spring, thereby moving a sealed grease block, providing convenience for the connection work between the supporting block and other objects, and further leading the soft robot to adjust the contraction and expansion degrees of the double-layer air bag according to the shape of the object and the smoothness of the road surface, thereby leading the supporting block to adjust the contact area between the supporting block and the contact object through creases, and further leading the soft robot to rapidly move on the smoothness different road surfaces, thereby improving the flexibility of the device.

Description

Software robot with life detection and guarantee functions for earthquake search and rescue

Technical Field

The invention relates to the technical field of earthquake search and rescue software robots, in particular to an earthquake search and rescue software robot with life detection and guarantee functions.

Background

The soft robot is a novel flexible robot and can be driven only by air, the soft robot which is newly researched by scientists is made of paper and silicon rubber and can bend, twist and grab objects with the weight more than 100 times of the own weight, and along with the continuous development of science and technology, the soft robot is widely applied to dangerous places of different types and replaces people to complete some work which cannot be completed, so that the soft robot for earthquake search and rescue is innovated and designed, and the development of the robot industry plays an important role.

The turnable soft crawling robot disclosed in the chinese patent application publication CN108313151A has multiple functions of advancing, retreating, turning left, turning right, etc., and can reach a designated position relatively conveniently and quickly, so as to be suitable for more practical scenes, but the soft crawling robot cannot perform multi-directional photographic detection in an area with dark earthquake search and rescue light, and cannot regulate and control the contact area between the crawling part and the contact surface according to the smoothness of a driving road surface, and cannot reduce the contact area between the soft crawling robot body and the contact surface, so that the soft crawling robot has the defects of severe abrasion to the soft robot body due to large contact area between the crawling part and the contact surface in the moving process, and the service life of the soft crawling robot body is influenced.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a soft robot with life detection and guarantee functions for earthquake search and rescue, which solves the problems that the soft robot cannot carry out multi-directional photographic detection in an area with dark earthquake search and rescue light, the contact area between a peristaltic part and a contact surface cannot be regulated according to the smoothness of a driving road surface, and the contact area between a soft robot body and the contact surface cannot be reduced, so that the soft robot body is seriously abraded in the moving process due to the large contact area between the soft robot body and the contact surface, and the service life of the soft robot body is influenced.

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides an earthquake search and rescue uses software robot with life detection and guarantee function, includes casing, supporting shoe and admission valve, the left and right sides of casing all is provided with the software foot, the supporting shoe sets up in the bottom surface of software foot, the aspiration pump is installed in the inside left side of casing, and the left side of aspiration pump is connected with a bundle hose, the admission valve sets up in the bottom surface of a bundle hose, and the top surface of a bundle hose is connected with the aspiration valve.

Optionally, the soft legs are uniformly distributed on the left side and the right side of the shell at equal intervals, the supporting blocks and the soft legs form an integrated structure through stamping, and the outer wall surface of the sealing air bag is tightly attached to the outer wall surface of the limiting layer.

Optionally, the right side of aspiration pump is provided with the motor, and the left end surface of motor is connected with the reduction gear, and the left end surface of reduction gear is connected with the clutch, the left end surface of clutch is connected with the gear, and the top surface of gear is connected with the rotation axis, be connected for rotating between gear and the clutch, the top surface mounting of casing has the sunshade.

Optionally, the inside of software foot is provided with sealed gasbag, and sealed gasbag's outer wall surface is provided with the limiting layer, be provided with the rotor plate directly over the casing, and the internally mounted of rotor plate has the probe, be connected for rotating between rotor plate and the rotation axis, the left and right sides of probe all is provided with the light, the protection gasbag is installed on the top of rotor plate.

Optionally, the rotating plate forms a rotating structure with the housing through the rotating shaft, the circle center between the probes and the circle center of the rotating plate are on the same straight line, and the illuminating lamps are symmetrical with each other about the vertical center line of the probes.

Optionally, the diameter of the protective airbag is larger than that of the rotating plate, the protective airbag is in an arc-shaped structure, and the probe is arranged at the concave surface of the rotating plate.

Optionally, the inside of supporting shoe is provided with double-deck gasbag, and the inside of double-deck gasbag is provided with spacing stick, the bottom outer wall surface of supporting shoe is provided with the crease, and the inside through-hole that is provided with in bottom of supporting shoe, the inside of through-hole is fixed with sealed fat piece, and the upper and lower both ends of sealed fat piece all are fixed with the spring, be provided with the connecting wire between spring and the double-deck gasbag, and the upper and lower both ends outer wall surface of connecting wire all is fixed with the fixture block.

Optionally, the double-layer air bag is connected with the spring through a connecting line, and the size of the double-layer air bag is matched with that of the inner wall surface of the supporting block.

Optionally, the outer wall surface of the sealing grease block is tightly attached to the inner wall surface of the through hole, the sealing grease block forms a sliding structure with the through hole through a spring, and the diameters of the two ends of the through hole are larger than that of the middle part of the through hole.

Optionally, a circuit board is fixed inside the top end of the rotating plate, rubber blocks are arranged on the surfaces of the upper end and the lower end of the circuit board, a shaft rod is arranged inside the bottom end of the shell, and a roller is connected to the surface of the outer wall of the shaft rod.

The invention provides a soft robot with life detection and guarantee functions for earthquake search and rescue, which has the following beneficial effects:

1. the soft robot for earthquake search and rescue with the functions of life detection and guarantee can maintain the balance of the soft robot by setting the number of the soft feet, and can move by quickly creeping the soft feet, the friction force between the soft robot and the ground can be reduced by rolling the rollers, thereby avoiding the abrasion of a certain degree on the contact surface between the soft robot and the ground due to the direct contact between the soft robot and the ground, further influencing the service life of the robot, assisting the creeping forward work of the soft feet by rolling the rollers, further enabling the soft robot to move more slowly and quickly by the mutual matching between the rollers, further improving the flexibility of the robot and ensuring the balance of the soft robot by setting the number of the soft feet, the soft foot crawls fast to move, friction between the soft robot and the ground can be reduced by rolling of the roller, so that the problem that the robot directly contacts with the ground and the contact surface between the soft robot and the ground is abraded to a certain degree is avoided, the service life of the robot is influenced, and the soft foot crawl can be assisted by rolling of the roller, so that the soft robot can move more slowly and fast by mutual matching between the roller and the soft foot crawl, and the flexibility of the robot is improved.

2. This software robot is used in earthquake search and rescue with life detection and guarantee function, can take pictures to the inside in gap of collapsing through the probe, and can turn off the light regional darker through the light, and then can detect the regional inside of collapsing through remote control, and through the revolution mechanic who constitutes between rotor plate and the casing, but make this soft robot multi-angle to the regional monitoring of collapsing, and survey around this region through relevant life detecting instrument, through mutual cooperation between it, can provide convenience for going on of earthquake rescue work, and then the performance of this software robot has been improved.

3. The soft robot for earthquake search and rescue with the life detection and guarantee functions can protect the rotating plate in all directions by the arrangement of the diameter between the protective air bag and the rotating plate, thereby avoiding the influence on the integrity of the soft robot due to scratches caused by the object to the outer wall of the soft robot caused by the contact between the soft robot and the object with a sharp shape when the soft robot moves in a collapse state, further causing the influence on the normal use of the soft robot, reducing the contact area between the soft robot and other objects due to the long-time contact between the soft robot and other objects, causing severe abrasion on the outer wall surface of the soft robot, and changing the volume of the protective air bag according to the size of a gap, therefore, the soft robot can move more flexibly in the collapse area, and the working efficiency of the soft robot is improved.

4. This earthquake search and rescue with life detection and guarantee function uses software robot, setting through the relation of connection between double-deck gasbag and the spring, make the shrink of the double-deck gasbag of spring accessible drag it, thereby remove sealed fat piece, thereby for providing convenience of connecting between supporting shoe and other objects, thereby make this software robot can be smooth-going according to object shape and road surface whether, shrink and the inflation degree to double-deck gasbag adjust, thereby make the supporting shoe adjust its and the area of contact between the contact through the crease, and then make this software robot can carry out quick removal on smooth-going different road surface, and then improved its flexibility can.

5. This software robot is used in earthquake search and rescue with life detection and guarantee function, setting through-hole both ends diameter, can adjust its and the inseparable degree between the sealed fat piece, thereby the diameter through-hole and the setting of inseparable degree between the sealed fat piece thereof, can adjust the supporting shoe to the absorption degree between the object, thereby for this software robot and other objects between stability can guarantee, thereby make this software robot can carry out diversified climbing in the inside of the region of collapsing, thereby make its inside of collapsing that can diversely survey, thereby it is convenient to rescue work for stranded personnel.

Drawings

FIG. 1 is a schematic front view of the internal structure of the present invention;

FIG. 2 is a schematic top view of the internal structure of the present invention;

FIG. 3 is a schematic top view of the present invention;

FIG. 4 is a schematic view of the internal structure of the support block of the present invention;

fig. 5 is an enlarged schematic view of the invention at plane a.

In the figure: 1. a housing; 2. soft feet; 3. a support block; 4. an air pump; 5. a bundle hose; 6. an intake valve; 7. an air extraction valve; 8. a motor; 9. a speed reducer; 10. a linkage; 11. a gear; 12. a rotating shaft; 13. a shutter; 14. sealing the air bag; 15. a limiting layer; 16. a rotating plate; 17. a probe; 18. an illuminating lamp; 19. a protective air bag; 20. a double-layer air bag; 21. a limiting rod; 22. folding; 23. a through hole; 24. sealing the grease block; 25. a spring; 26. a connecting wire; 27. a clamping block; 28. a circuit board; 29. a rubber block; 30. a shaft lever; 31. and a roller.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus are not to be construed as limiting the present invention, and furthermore, the terms "first", "second", "third", and the like are only used for descriptive purposes and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate, and those skilled in the art will understand the specific meaning of the above terms in the present invention in specific situations.

Referring to fig. 1 to 5, the present invention provides a technical solution: a soft robot with life detection and guarantee functions for earthquake search and rescue comprises a shell 1, supporting blocks 3 and an air inlet valve 6, wherein the left side and the right side of the shell 1 are respectively provided with soft feet 2, the soft feet 2 are uniformly distributed on the left side and the right side of the shell 1 at equal intervals, the supporting blocks 3 and the soft feet 2 form an integrated structure through stamping, the outer wall surface of a sealing air bag 14 is tightly attached to the outer wall surface of a limiting layer 15, the balance of the soft robot can be maintained through the arrangement of the number of the soft feet 2, the soft feet 2 can move through rapid creeping, the friction force between the soft robot and the ground can be reduced through rolling of a roller 31, and therefore the influence on the service life of the robot due to the fact that the soft feet are directly contacted with the ground and the contact surface between the soft feet is abraded to a certain degree is avoided, the flexible robot can move more slowly and quickly by the aid of the rolling of the flexible robot, so that the flexibility of the robot is improved, the sealing air bag 14 during scaling can be limited by the limiting layer 15, the phenomenon that the sealing air bag 14 is too large in contraction or expansion to influence the internal structure of the sealing air bag 14 and further influence the use performance of the flexible robot 2 is avoided, the supporting block 3 is arranged on the bottom end surface of the flexible robot 2, the air suction pump 4 is arranged on the left side inside the shell 1, the left side of the air suction pump 4 is connected with the bundle hose 5, the air inlet valve 6 is arranged on the bottom end surface of the bundle hose 5, the top end surface of the bundle hose 5 is connected with the air suction valve 7, the right side of the air suction pump 4 is provided with the motor 8, and the left end surface of the motor 8 is connected with the speed reducer 9, and the surface of the left end of the reducer 9 is connected with a clutch 10;

the left end surface of the linkage device 10 is connected with a gear 11, the top end surface of the gear 11 is connected with a rotating shaft 12, the gear 11 is rotatably connected with the linkage device 10, a shielding plate 13 is fixed on the top end surface of a shell 1, a sealing air bag 14 is arranged inside a soft foot 2, a limiting layer 15 is arranged on the outer wall surface of the sealing air bag 14, a rotating plate 16 is arranged right above the shell 1, a probe 17 is arranged inside the rotating plate 16, the rotating plate 16 is rotatably connected with the rotating shaft 12, the rotating plate 16 forms a rotating structure with the shell 1 through the rotating shaft 12, the circle center between the probes 17 and the circle center of the rotating plate 16 are on the same straight line, the illuminating lamps 18 are symmetrical about the vertical center line of the probe 17, the inside of a collapse gap can be photographed through the probe 17, an area with dark light line can be shut down through the illuminating lamp 18, and the inside of the area can be detected through, the soft robot can monitor the collapse area at multiple angles through a rotating structure formed between the rotating plate 16 and the shell 1, the periphery of the area is detected through related life detection instruments, convenience is provided for earthquake rescue work through mutual matching of the collapse area and the area, the service performance of the soft robot is further improved, and the illuminating lamps 18 are arranged on the left side and the right side of the probe 17;

the top end of the rotating plate 16 is provided with a protective air bag 19, the diameter of the protective air bag 19 is larger than that of the rotating plate 16, the protective air bag 19 is in an arc structure, the probe 17 is arranged at the concave surface of the rotating plate 16, the diameter between the protective air bag 19 and the rotating plate 16 is arranged, so that the rotating plate 16 can be protected in all directions, the influence on the normal use of the soft robot is avoided due to the fact that the soft robot moves in the collapse and the object is scratched on the outer wall of the soft robot due to the contact between the object and the object with a sharp shape, and the influence on the integrity of the soft robot is avoided, the arrangement of the arc structure of the protective air bag 19 can reduce the contact area between the soft robot and other objects, and the serious abrasion on the outer wall surface of the soft robot due to the long-time contact between the soft robot and other objects is reduced, and can change the volume of the protective air bag 19 according to the size of the gap size, thus make the movement of the soft robot in the collapse area more flexible, thus has raised the working efficiency of the soft robot, the inside of the supporting shoe 3 has double-deck air bags 20, and there are spacing sticks 21 in the inside of the double-deck air bag 20, the double-deck air bag 20 is connected with spring 25 through the connecting wire 26, and the size of the double-deck air bag 20 is identical to the size of the surface of inner wall of the supporting shoe 3, the setting of the relation of connection between double-deck air bag 20 and spring 25, make the spring 25 can pull it through the contraction of the double-deck air bag 20, thus move the sealed grease block 24, thus has offered the convenience for the connection work between supporting shoe 3 and other objects, thus make the soft robot can according to the shape of the object and road surface, regulate the contraction and expansion degree of the double-deck air bag 20, therefore, the supporting block 3 adjusts the contact area between the supporting block and a contact object through the crease 22, so that the soft robot can rapidly move on different smooth road surfaces, and the flexibility of the soft robot is improved;

the bottom outer wall surface of the supporting block 3 is provided with a crease 22, the bottom of the supporting block 3 is internally provided with a through hole 23, the inside of the through hole 23 is fixed with a sealing grease block 24, the upper end and the lower end of the sealing grease block 24 are both fixed with springs 25, the outer wall surface of the sealing grease block 24 is tightly attached to the inner wall surface of the through hole 23, the sealing grease block 24 forms a sliding structure through the springs 25 and the through hole 23, the diameters of the two ends of the through hole 23 are larger than the diameter of the middle part, the diameters of the two ends of the through hole 23 can adjust the tightness between the sealing grease block 24, so that the adsorption degree between the supporting block 3 and the objects can be adjusted through the arrangement of the diameters of the through hole 23 and the tightness between the sealing grease blocks 24, thereby ensuring the stability between the soft robot and other objects, and further enabling the soft robot to climb in multiple directions in the collapse area, thereby make its inside of collapsing that can be diversified survey to providing convenience for going on of stranded personnel rescue work, being provided with connecting wire 26 between spring 25 and the double-deck gasbag 20, and the upper and lower both ends outer wall surface of connecting wire 26 all is fixed with the inside circuit board 28 that is fixed with in top of fixture block 27 rotor plate 16, and the upper and lower both ends surface of circuit board 28 all is provided with block rubber 29, the inside axostylus axostyle 30 that is provided with in bottom of casing 1, and the outer wall surface of axostylus axostyle 30 is connected with gyro wheel 31.

In summary, when the soft body robot for earthquake search and rescue with the life detection and guarantee function is used, firstly, the expansion and contraction of the sealing air bag 14 are adjusted through remote control, so that the soft body feet 2 crawl, and then the soft body robot moves, and the expansion and contraction of the double-layer air bag 20 can be adjusted and controlled according to whether the road surface is smooth or not, so that the supporting block 3 can be contracted through the crease 22, the contact area between the supporting block 3 and the contact surface can be adjusted, and the sealing air bag 14 during the expansion and contraction pulls or extrudes the spring 25 through the connecting wire 26, so that the sealing grease block 24 moves inside the through hole 23, when the sealing grease block moves to the top end of the through hole 23, because the diameter of the through hole 23 is larger, the air between the supporting block 3 and the contact surface enters the inside of the supporting block 3 through the through hole 23, therefore, the contact objects can be connected in an adsorption manner, on the contrary, when the sealed air bag 14 is inflated, the sealed air bag is pulled by the spring 25 on the surface of the bottom end of the sealed grease block 24, so that the sealed grease block 24 is shifted to the inside of the bottom end of the through hole 23, and the supporting block 3 and the contact surface can be inflated by the arrangement of the through hole 23 with a larger diameter, so that the supporting block 3 and the contact objects are separated, and through the mutual matching among the supporting blocks 3, the foot soft bodies 2 and the rollers 31, the soft robot can rapidly move on different pavements, so that convenience is brought to rescue work of trapped people;

and the outer wall surface of the soft robot can be protected by the protection air bag 19 with an arc structure during moving, and according to the diameter of the shuttle gap, the inflation and the air extraction of the protective air bag 19 are regulated, the surrounding situation of the soft robot can be photographed through the probe 17, the surrounding situation can be monitored through remote control, when the surrounding light is dark, the area can be illuminated by an illuminating lamp 18, and the soft robot can photograph and monitor the interior of the collapse area from multiple angles by arranging a rotating structure between the rotating plate 16 and the shell 1, and the surrounding of the soft robot is detected by a life detecting instrument in the robot, and the signal sent by the robot is received, analyzed and processed by remote control, therefore, the use process of the soft robot for earthquake search and rescue with the life detection and guarantee functions is completed.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The utility model provides an earthquake search and rescue uses software robot with life detection and guarantee function, includes casing (1), supporting shoe (3) and admission valve (6), its characterized in that: the left and right sides of casing (1) all is provided with software foot (2), supporting shoe (3) set up in the bottom surface of software foot (2), aspiration pump (4) are installed on the inside left side of casing (1), and the left side of aspiration pump (4) is connected with a bundle hose (5), admission valve (6) set up in the bottom surface of a bundle hose (5), and the top surface of a bundle hose (5) is connected with bleeder valve (7).

2. The soft robot for earthquake search and rescue with life detection and guarantee functions as claimed in claim 1, wherein: the soft feet (2) are uniformly distributed on the left side and the right side of the shell (1) at equal intervals, the supporting blocks (3) and the soft feet (2) form an integrated structure through stamping, and the outer wall surface of the sealing air bag (14) is tightly attached to the outer wall surface of the limiting layer (15).

3. The soft robot for earthquake search and rescue with life detection and guarantee functions as claimed in claim 1, wherein: the right side of aspiration pump (4) is provided with motor (8), and the left end surface of motor (8) is connected with reduction gear (9), and the left end surface of reduction gear (9) is connected with clutch (10), the left end surface of clutch (10) is connected with gear (11), and the top surface of gear (11) is connected with rotation axis (12), be connected for rotating between gear (11) and clutch (10), the top fixed surface of casing (1) has sunshade (13).

4. The soft robot for earthquake search and rescue with life detection and guarantee functions as claimed in claim 1, wherein: the utility model discloses a solar energy protection device, including software foot (2), the inside of software foot (2) is provided with sealed gasbag (14), and the outer wall surface of sealed gasbag (14) is provided with spacing layer (15), be provided with rotor plate (16) directly over casing (1), and the internally mounted of rotor plate (16) has probe (17), be connected for rotating between rotor plate (16) and rotation axis (12), the left and right sides of probe (17) all is provided with light (18), protective air bag (19) are installed on the top of rotor plate (16).

5. The soft robot for earthquake search and rescue with life detection and guarantee functions as claimed in claim 4, wherein: the rotating plate (16) and the shell (1) form a rotating structure through the rotating shaft (12), the circle centers of the probes (17) and the rotating plate (16) are on the same straight line, and the illuminating lamps (18) are symmetrical about the vertical center line of the probes (17).

6. The soft robot for earthquake search and rescue with life detection and guarantee functions as claimed in claim 4, wherein: the diameter of the protective air bag (19) is larger than that of the rotating plate (16), the protective air bag (19) is arranged in an arc-shaped structure, and the probe (17) is arranged at the concave surface of the rotating plate (16).

7. The soft robot for earthquake search and rescue with life detection and guarantee functions as claimed in claim 1, wherein: the utility model discloses a sealing device, including supporting shoe (3), bottom outer wall surface, through-hole (23), sealed fat piece (24) are fixed with to the inside of double-deck gasbag (20) that is provided with of supporting shoe (3), and the inside of double-deck gasbag (20) is provided with spacing stick (21), the bottom outer wall surface of supporting shoe (3) is provided with crease (22), and the bottom inside of supporting shoe (3) is provided with through-hole (23), the inside of through-hole (23) is fixed with sealed fat piece (24), and the upper and lower both ends of sealed fat piece (24) all are fixed with spring (25), be provided with connecting wire (26) between spring (25) and double.

8. The soft robot for earthquake search and rescue with life detection and guarantee functions as claimed in claim 7, wherein: the double-layer air bag (20) is connected with the spring (25) through a connecting line (26), and the size of the double-layer air bag (20) is matched with that of the inner wall surface of the supporting block (3).

9. The soft robot for earthquake search and rescue with life detection and guarantee functions as claimed in claim 7, wherein: the outer wall surface of the sealing grease block (24) is tightly attached to the inner wall surface of the through hole (23), the sealing grease block (24) forms a sliding structure with the through hole (23) through a spring (25), and the diameters of the two ends of the through hole (23) are larger than that of the middle part of the through hole.

10. The soft robot for earthquake search and rescue with life detection and guarantee functions as claimed in claim 4, wherein: the improved rotary table is characterized in that a circuit board (28) is fixed inside the top end of the rotary plate (16), rubber blocks (29) are arranged on the surfaces of the upper end and the lower end of the circuit board (28), a shaft rod (30) is arranged inside the bottom end of the shell (1), and a roller (31) is connected to the surface of the outer wall of the shaft rod (30).