CN217597093U

CN217597093U - Gas transmission snake-shaped robot

Info

Publication number: CN217597093U
Application number: CN202121256873.0U
Authority: CN
Inventors: 周成宇; 于广滨; 毛汉成
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2021-06-07
Filing date: 2021-06-07
Publication date: 2022-10-18
Anticipated expiration: 2031-06-07

Abstract

A gas transmission snake-shaped robot belongs to the technical field of bionic robots. The gas transmission robot comprises a flexible material bag, a gas separation film, a gas separation device, a cylinder for storing and releasing the flexible bag, a gas charging and discharging driving device and a belt driving device. The flexible material bag is made of foldable flexible materials, is cylindrical and has airtightness, a certain amount of gas is filled in the flexible material bag, the flexible material bag is divided into eight airtight spaces by an internal gas separation film and a gas separation device, the front airtight space and the rear airtight space are divided into four groups, the four groups of airtight spaces are controlled to expand and contract at different speeds by respectively controlling the power of the four gas filling and exhausting devices, and further the movement speed and the movement direction of the snake-shaped robot are controlled, and the forward movement or the backward movement of the snake-shaped robot can be controlled. The invention uses the flexible material bag to greatly reduce the weight; when a complex and narrow space environment is met, the obstacle can be overcome by changing the area of the cross section; and may be moved forward or backward.

Description

Gas transmission snake-shaped robot

Technical Field

The invention relates to a gas transmission snake-shaped robot, and belongs to the technical field of bionic robots.

Background

In recent years, the bionic robot is occupying more and more important positions in the field of robots, the snake-shaped robot becomes a research hotspot in the field of the bionic due to the structural particularity, the traditional snake-shaped robot uses metal mechanical structures such as parallel connection joints, orthogonal connection joints, universal joint connection joints, P-R joints and the like to control the motion direction, the snake-shaped robot is heavy and inflexible, and the traditional snake-shaped robot cannot move reversely.

Disclosure of Invention

The invention aims to provide a gas transmission snake-shaped robot which is used for complex, narrow and dangerous environments such as exploration, rescue and medical treatment.

The invention adopts the following technical scheme: comprises a flexible material bag, a gas separating film, a gas separating device, a cylinder for storing and releasing the flexible bag, an air charging and exhausting body driving device and a belt driving device; the flexible material bag is made of foldable flexible materials, is cylindrical and has sealing performance, a certain amount of gas is filled in the flexible material bag, a certain friction force is arranged on the outer surface of the flexible material bag, so that the gas transmission snake-shaped robot generates friction force with the ground and is converted into forward driving force, the flexible material bag is supported by head balls of a separation gas device and the internal gas, the flexible material bag penetrates through a cylinder for storing the flexible bag after being folded and contracted, and contacts the outer surface of a belt in a belt driving device when penetrating through the cylinder for storing the flexible bag to generate friction with the flexible material bag, so that the flexible material bag generates forward force, the circulation in the flexible material bag is promoted, and the driving force is provided for the snake-shaped robot, the cylinder for storing the flexible bag is a hollow cylinder and is positioned at the center of the whole structure, and the center plane of the cylinder for storing the flexible bag is provided with four belt driving devices which are parallel to a central axis and are vertical to each other;

the gas separation membrane is made of foldable waterproof airtight materials and divides the whole flexible bag into eight closed spaces in a halving mode, the gas separation membrane is sleeved on the gas separation device and can contract along with the contraction of the gas separation device and the flexible material bag, and therefore the eight closed spaces divided in the gas transmission snake-shaped robot are guaranteed to be always kept closed;

the four air inflation and extraction driving devices are parallel to the flexible bag folding and unfolding cylinder and are arranged circumferentially, and each air inflation and extraction driving device is respectively arranged at the central positions of the upper closed space and the lower closed space;

fill and take out fluid drive arrangement and constitute by filling partial device of taking out fluid, fill and take out partial device of fluid and include pressure vent, cylinder body, air vent, preceding baffle, stifled gas hole rubber buffer outer edge, sealing rubber circle, backplate, spliced pole, motor, casing, install the cylinder body upper end pressure vent, pressure vent is made by opening cross open-ended reversible deformation material, the cylinder body is inside to be included preceding baffle, sealing rubber circle the backplate, sealing rubber circle with the contact of cylinder body inner wall, preceding baffle with the backplate with cylinder body inner wall leaves certain gap, and the gap that leaves is less than sealing rubber circle's diameter, sealing rubber circle with stifled gas hole rubber plug in preceding baffle with in the backplate and with leave certain clearance between two boards, preceding baffle with it has two symmetries to open on the backplate the air vent, around two baffles air vent with stifled gas hole interference fit, stifled gas hole edge portion has the stifled gas hole rubber buffer outer edge, the rubber plug with the spliced pole with the motor is connected with the casing.

Compared with the prior art, the invention has the beneficial effects that:

1. the snake-shaped robot can be used for performing tasks in complex and narrow dangerous places, the traditional snake-shaped robot cannot change the volume so that the tasks cannot be smoothly completed in complex and narrow environments, and the invention can change the gas quantity in the body so as to change the cross section area to pass through the complex and narrow environments; 2. the snake-shaped robot is driven by the air charging and exhausting body device, when the snake-shaped robot moves forwards, the air charging and exhausting body device extracts air from the rear end closed space and conveys the air to the front end closed space, so that the front end expands and the rear end contracts to enable the snake-shaped robot to move forwards, and when the snake-shaped robot moves backwards, the air charging and exhausting body device extracts air from the front end closed space and conveys the air to the rear end closed space, so that the rear end expands and the front end contracts to enable the snake-shaped robot to move backwards, and therefore the snake-shaped robot can move forwards or backwards;

3. the invention uses the flexible material bag and four air-filling and exhausting body devices, and controls the expansion and contraction speeds of four groups of eight closed spaces with a group of front and back closed spaces by respectively controlling the power of the four air-filling and exhausting body devices so as to control the movement speed and the movement direction of the snake-shaped robot. Compared with the traditional snake-shaped robot which uses a metal mechanical structure to control the movement direction, the snake-shaped robot is more flexible, lighter in weight and more convenient to transport.

Drawings

FIG. 1 is a schematic overall front cross-sectional view of the present invention;

FIG. 2 is a schematic view of the overall top cross-sectional structure of the present invention;

FIG. 3 is a schematic view of a part of the structure of the gas separation apparatus of the present invention;

FIG. 4 is a schematic view of a portion of the inflation and exhaust gas driving apparatus of the present invention;

FIG. 5 is a schematic view of the internal cross-section of the inflation and evacuation gas apparatus of the present invention;

FIG. 6 is a schematic view of a part of the structure of the belt driving apparatus of the present invention;

the symbols in the figure illustrate: 1. a bag of flexible material; 2. a gas separation membrane; 3. a separate gas device; 4. retracting and placing the flexible bag cylinder; 5. an inflation/deflation gas drive unit; 6. a belt drive device; 31. a ball bearing; 32. a telescopic cylinder; 33. a rear end cylinder; 34. a spring; 51. a gas filling and pumping part device; 52. a bar gear; 53. an intermittent gear; 54. a driven gear; 55. a driving gear; 56. a shaft; 57. a motor; 510. a pressure vent; 511. a cylinder body; 512. a vent hole; 513. a front baffle; 514. a rubber plug for blocking the air hole; 515. the outer edge of the air hole blocking rubber plug; 516. sealing the rubber ring; 517. a tailgate; 518 connecting column; 519. a motor; 520. a housing; 61. a driven pulley; 62. a pinch roller; 63. a drive pulley; 64. a motor; 65. a belt.

Detailed Description

The technical solutions in the present invention will be described clearly and completely with reference to the accompanying 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 invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any creative work based on the embodiments of the present invention belong to the protection scope of the present invention.

The first embodiment is as follows: as shown in fig. 1-2, the invention discloses a gas transmission snake-shaped robot, which comprises a flexible material bag 1, a gas separation film 2, a gas separation device 3, a flexible bag folding cylinder 4, an inflation and deflation gas driving device 5 and a belt driving device 6;

the outer surface of the gas transmission snake-shaped robot is enclosed by the flexible material bag 1, the flexible material bag 1 is made of foldable flexible materials and is in a cylindrical shape, a certain amount of gas is filled in the sealed flexible material bag 1, the outer surface of the flexible material bag 1 has certain friction force, so that the gas transmission snake-shaped robot generates friction force with the ground and is converted into forward driving force, the flexible material bag 1 is supported by the head ball 31 of the gas separation device 3 and the internal gas, penetrates through the flexible bag folding and unfolding cylinder 4 after being folded and contracted, contacts the outer surface of a belt 65 in the belt driving device 6 when penetrating through the flexible bag folding and unfolding cylinder 4 and generates friction with the flexible material bag 1, so that the flexible material bag 1 generates forward force, so that the front end expansion and contraction of the flexible material bag are promoted to be continuously circulated, the outer surface of the flexible material bag generates friction force with the ground so as to provide driving force for the snake-shaped robot, the flexible bag folding and unfolding cylinder 4 is a hollow cylinder and is positioned at the center of the whole structure, four belt driving devices 6 are installed in the flexible bag folding and are distributed on the circumference of the flexible bag folding and unfolding cylinder 4;

the gas separation membrane 2 is made of foldable waterproof and air-proof materials, the whole flexible bag is divided into eight closed spaces in a halving mode, the gas separation membrane 2 is sleeved on the gas separation device 3 and can contract along with the contraction of the gas separation device 3 and the flexible material bag 1, and therefore the eight closed spaces divided in the gas transmission snake-shaped robot in a halving mode are guaranteed to be always kept closed. Receive and release and install four in the flexible bag cylinder 4 belt drive arrangement 6, 6 circumference distributions of belt drive arrangement are in receive and release on the flexible bag cylinder 4, four fill and exhaust gas body drive arrangement 5 and install respectively and put at two airtight space central points from top to bottom, every fills two airtight spaces about exhausting gas body drive arrangement 5 and control its place respectively, two airtight spaces from top to bottom are a set of eight airtight spaces of four groups altogether, through controlling four respectively fill and exhaust gas body drive arrangement 5's power, thereby control the velocity of motion and the direction of motion of four eight airtight space expansion contraction speeds control snake-shaped robot of group. Adjust one side it is big to fill gas body drive arrangement 5's power, the opposite side it is little to fill gas body drive arrangement 5's power to it is fast to correspond two airtight space one side inflation speeds in the control four groups, and the opposite side inflation speed is slow, thereby makes the snake robot turn to towards the slow one side of inflation speed, thereby realizes the control to snake robot direction of motion.

The second embodiment is as follows: as shown in fig. 4 and 5, this embodiment is further described with respect to the first embodiment, the inflation/exhaust gas driving device 5 includes a gas inflation/exhaust portion device 51, the gas inflation/exhaust portion device 51 includes a cylinder body 511, a pressure vent 510 at the upper end of the cylinder body 511 is made of rubber with a cross opening, when the inflation/exhaust gas driving device 5 works, the cylinder body 511 is filled with a large amount of gas, and the pressure vent 510 is opened to discharge or fill gas when the pressure is too high or when the pressure is too low, the cylinder body 511 includes a front baffle 513, a sealing rubber ring 516, and a rear baffle 517, the sealing rubber ring contacts the inner wall of the cylinder body 511, a gap is left between the front baffle 513 and the rear baffle 517 and the inner wall of the cylinder body 511, the gap is smaller than the diameter of the sealing rubber ring 516, the sealing rubber ring 516 and the air-blocking rubber plug 514 are disposed in the front baffle 513 and the rear baffle 517 and have a gap with two air-blocking holes 512, the front baffle 513 and the rear baffle 517 have two air-blocking holes 514, the two air-blocking holes are disposed symmetrically, the front baffle 512 and the two air-blocking holes 514 are connected with the rubber plug shell 512, and the rubber plug shell 518 are connected with the motor shell to prevent the rubber plug from being inserted into the air-blocking hole 512, and the rubber plug shell 518;

when the snake-shaped robot moves forward, the motor 519 rotates forward to drive the 518 connecting column to move backward, so that the air blocking hole rubber plug 514 blocks the back vent hole 512, the outer edge 515 of the air blocking hole rubber plug contacts with the back baffle 517, at the moment, the vent hole 512 on the front baffle 513 is opened, the vent hole 512 on the back baffle 517 is closed, the bar gear 52 drives all components in the cylinder body 511 to do reciprocating motion, the bar gear 52 drives all components in the cylinder body 511 to move forward, the sealing rubber ring 516 contacts with the back baffle 517, and the back baffle 517 and the gap of the inner wall of the cylinder body 511 are blocked, so that the cylinder body 511 forms a closed space, and when the gas inside the cylinder body is compressed to reach a certain pressure, the pressure vent 510 is opened, the gas in the closed space where the lower half part of the cylinder body 511 is located is discharged, and is discharged into the closed space where the upper half part of the cylinder body 511 is located. When the bar gear 52 drives all components in the cylinder 511 to move backwards, the sealing rubber ring 516 is in contact with the front baffle 513 to block a gap between the front baffle 513 and the inner wall of the cylinder 511, at this time, the vent holes 512 on the front baffle 513 and a gap between the rear baffle 517 and the cylinder 511 are opened, gas in the closed space where the lower half part of the cylinder 511 is located enters the cylinder 511, the bar gear 52 drives all components in the cylinder 511 to reciprocate and enter the next cycle, so that the gas in the closed space where the lower half part of the cylinder 511 is located is conveyed to the closed space where the upper half part of the cylinder 511 is located, the front end of the flexible material bag is expanded and the rear end is contracted, and the snake-shaped robot moves forwards;

when the snake robot backward motion, the motor 519 reversal drives 518 the spliced pole moves forward, makes stifled vent rubber buffer 514 blocks up preceding vent 512, stifled vent rubber buffer outer edge 515 with preceding baffle 513 contacts, this moment preceding baffle 513 is last vent 512 is closed, on the backplate 517 vent 512 is opened, bar gear 52 drives when all components and parts move forward in the cylinder 511, sealing rubber circle 516 with backplate 517 contacts, blocks backplate 517 with the gap of cylinder 511 inner wall, this moment on the backplate 517 vent 512 with the gap between preceding baffle 513 and cylinder 511 is opened, the gas in the airtight space that cylinder 511 the lower half place gets into in the cylinder 511, bar gear 52 drives when all components and parts move backward in the cylinder 511, sealing rubber circle 516 with preceding baffle 513 contacts, blocks preceding baffle 513 with the gap of cylinder 511 inner wall, makes the cylinder 511 form airtight space, when its internal pressure blow-through the cylinder body 510 is opened, makes the airtight space that the upper half place of the cylinder body 510 is located, the airtight space suction is in airtight space 511. The bar gear 52 drives all components in the cylinder 511 to reciprocate, and then the next cycle is performed, so that the gas in the closed space where the upper half part of the cylinder 511 is located is transmitted into the closed space where the lower half part of the cylinder 511 is located, and the rear end of the end flexible material bag is expanded and the front end is contracted, so that the snake-shaped robot moves backwards.

The third concrete implementation mode: as shown in fig. 6, the present embodiment further describes the second embodiment, and the inflation and deflation body driving device 5 is characterized in that the inflation and deflation body driving device 5 comprises an inflation and deflation part device 51, a bar gear 52, the tooth surface of the bar gear 52 contacts with the tooth surface of two intermittent gears 53, the two intermittent gears 53 are respectively coaxial with a driven gear 54 and a driving gear 55, and the driving gear 55 is connected with a motor 57 through a shaft 56. The motor 57 drives the shaft 56, the driving gear 55, and the intermittent gear 53 to rotate, the driving gear 55 is externally engaged with the driven gear 54 to drive the driven gear and the intermittent gear 53 to rotate, and the two intermittent gears 53 are externally engaged with the bar gear 52 to reciprocate the bar gear 52.

The fourth concrete implementation mode: as shown in fig. 3, this embodiment is made for a further description of the first embodiment, the gas separation device 3 includes a rear cylinder 33, a telescopic cylinder 32 is nested in the front end of the rear cylinder 33, a ball 31 is pressed on the front end of the telescopic cylinder 32, a section of spring 34 is disposed in the telescopic cylinder 32 and the rear cylinder 33, one end of the spring 34 is fixedly connected to the end of the ball 31, the other end is fixedly connected to the end of the rear cylinder 33, the ball 31 slides and rubs against the inner surface of the flexible material bag 1, the flexible material bag 1 circulates when the snake-shaped robot moves, the gas separation device 3 does not damage the flexible material bag, the spring 34 is mounted inside the gas separation device 3 to keep the telescopic cylinder 32 in an extended state as much as possible, so as to ensure that eight enclosed spaces are always kept airtight. The separation gas film 2 is made of foldable waterproof airtight materials, the whole flexible material bag 1 is divided into eight closed spaces in equal, the separation gas film 2 is sleeved on the separation gas device 3 and can contract along with the contraction of the separation gas device 3 and the flexible material bag 1, and therefore the eight closed spaces divided by the gas transmission snake-shaped robot are always kept closed.

The fifth concrete implementation mode is as follows: as shown in fig. 6, the present embodiment is further described with respect to the first embodiment, and the belt driving device 6 is characterized in that the belt driving device 6 includes a driven pulley 61, a pressing wheel 62, a driving pulley 63, a motor 64, and a belt 65; the belt driving device 6 is set to be four, the belt driving device 6 is arranged on the central plane of the flexible bag cylinder 4 which is parallel to the central axis and perpendicular to the central plane of the flexible bag cylinder 4, the motor 64 drives the driving belt pulley 63, the driven belt pulley 61, the pressing wheel 62 and the belt 65 to rotate, the outer surface of the belt 61 is in contact with the flexible material bag 1 in the flexible bag cylinder 4, the flexible material bag 1 penetrates through the flexible bag cylinder 4 after being folded and contracted, and the outer surface of the belt 65 on one side of the pressing wheel 62 in the belt driving device 6 is in contact with the flexible material bag 1 to generate friction so that the flexible material bag 1 generates forward force to assist the forward internal circulation of the flexible material bag 1, and the air charging and exhausting body driving device 5 is matched to enable the front end of the flexible material bag to be expanded and contracted so as to enable the snake-shaped robot to move forward, or enable the front end of the flexible material bag to be expanded and contracted so as to enable the snake-shaped robot to move backward.

A use method (working principle) of a gas transmission snake-shaped robot is as follows:

(1) A certain amount of gas is filled in the snake-shaped robot, when the snake-shaped robot moves forwards, the gas filling and exhausting body driving device 5 works, the motor 519 rotates forwards to drive the 518 connecting column to move backwards, the gas blocking hole rubber plug 514 blocks the rear vent hole 512, the motor 57 works to convey the gas in the closed space of the lower half part of the cylinder body 511 to the closed space of the upper half part of the cylinder body 511, and the front end of the flexible material bag expands and the rear end contracts so as to enable the snake-shaped robot to move forwards; when the snake-shaped robot moves backwards, the air inflation and exhaust body driving device 5 works, the motor 519 rotates reversely to drive the 518 connecting column to move forwards, the air blocking rubber plug 514 blocks the front vent hole 512, the motor 57 works to convey air in the closed space where the upper half part of the cylinder body 511 is located into the closed space where the lower half part of the cylinder body 511 is located, and the rear end of the flexible material bag at the end is expanded, and the front end of the flexible material bag at the end is contracted so that the snake-shaped robot moves backwards; (2) Through controlling four respectively thereby fill and exhaust the power of gas drive arrangement 5, thereby control the velocity of motion and the direction of motion of four groups of eight airtight space inflation and contraction speeds control snake-shaped robot, adjust one side fill and exhaust the power of gas drive arrangement 5 big, the opposite side fill and exhaust the power of gas drive arrangement 5 little to it is fast to correspond two airtight space one side inflation speed in the control four groups, and opposite side inflation speed is slow, thereby makes snake-shaped robot turn to towards the slow one side of inflation speed, thereby realizes the control to snake-shaped robot direction of motion.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.

Claims

1. A gas transmission snake-shaped robot is characterized by comprising a flexible material bag (1), a gas separation film (2), a gas separation device (3), a cylinder (4) for collecting and releasing the flexible bag, a gas filling and exhausting driving device (5) and a belt driving device (6); the flexible material bag (1) is made of foldable flexible materials, is cylindrical and airtight, and is filled with a certain amount of gas, the outer surface of the flexible material bag (1) has a certain friction force, the flexible material bag (1) is supported by the head ball (31) of the gas separating device (3) and the internal gas, penetrates through the flexible bag collecting and releasing cylinder (4) after being folded and contracted, and contacts the outer surface of a belt (65) in the belt driving device (6) to generate friction with the flexible material bag (1) when penetrating through the flexible bag collecting and releasing cylinder (4), so that the flexible material bag (1) generates a forward force, the flexible bag collecting and releasing cylinder (4) is a hollow cylinder and is positioned at the center of the whole structure, a plurality of belt driving devices (6) are installed in the flexible bag collecting and releasing cylinder (4), and the belt driving devices (6) are circumferentially distributed on the flexible bag collecting and releasing cylinder (4);

the gas separation membrane (2) is made of a foldable waterproof airtight material, an integral flexible bag is divided into a plurality of closed spaces in a halving mode, the gas separation membrane (2) is sleeved on the gas separation device (3) and can contract along with the contraction of the gas separation device (3) and the flexible material bag (1), and each gas charging and discharging body driving device (5) is respectively installed at the center positions of the upper closed space and the lower closed space;

fill and bleed body drive arrangement (5) and constitute by filling and bleeding body partial installation (51), fill and bleed body partial installation (51) including pressure vent hole (510), cylinder body (511), air vent (512), preceding baffle (513), gas vent hole rubber buffer (514), gas vent hole rubber buffer outer edge (515), sealing rubber circle (516), backplate (517), spliced pole (518), motor (519), casing (520), install cylinder body (511) upper end pressure vent hole (510), pressure vent hole (510) are made by opening cross open-shaped reversible deformation material, cylinder body (511) inside includes preceding baffle (513), sealing rubber circle (516), backplate (517), sealing rubber circle (516) with cylinder body (511) inner wall contact, preceding baffle (513) with backplate (517) with cylinder body (511) inner wall leaves certain gap, the gap that leaves is less than the diameter of sealing rubber circle (516), sealing rubber circle (516) with gas vent hole (514) before the rubber buffer hole (513) with two preceding baffles (512) between symmetrical baffle (517) and the baffle (512) between the gap, there are two after the baffle (512) and the baffle (517), two baffles around air vent (512) with stifled gas hole rubber buffer (514) interference fit, stifled gas hole rubber buffer (514) limit portion has stifled gas hole rubber buffer outer edge (515), stifled gas hole rubber buffer (514) with spliced pole (518) with motor (519) is connected, motor (519) with casing (520) fixed connection.

2. A gas transmission snake-shaped robot as claimed in claim 1, wherein the gas charging and exhausting body driving device (5) comprises a gas charging and exhausting part device (51), a bar gear (52), the tooth surface of the bar gear (52) contacts with the tooth surface of two intermittent gears (53), the two intermittent gears (53) are respectively coaxial with a driven gear (54) and a driving gear (55), and the driving gear (55) is connected with a motor (57) through a shaft (56).

3. A gas transmission serpentine robot as claimed in claim 1, wherein the gas separation means (3) comprises a rear cylinder (33) having a front end nested with a telescopic cylinder (32), the front end of the telescopic cylinder (32) being provided with a ball (31), the telescopic cylinder (32) and the rear cylinder (33) being provided with a spring (34), one end of the spring (34) being fixedly connected to the end of the ball (31) and the other end thereof being fixedly connected to the end of the rear cylinder (33).