CN114603578A - Soft continuum robot for searching and rescuing in ruins - Google Patents
Soft continuum robot for searching and rescuing in ruins Download PDFInfo
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- CN114603578A CN114603578A CN202210387540.4A CN202210387540A CN114603578A CN 114603578 A CN114603578 A CN 114603578A CN 202210387540 A CN202210387540 A CN 202210387540A CN 114603578 A CN114603578 A CN 114603578A
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- outer pipe
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- 229920001778 nylon Polymers 0.000 claims abstract description 50
- 239000004677 Nylon Substances 0.000 claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 239000000835 fiber Substances 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims abstract description 4
- 239000007789 gas Substances 0.000 claims description 27
- 239000007788 liquid Substances 0.000 claims description 20
- 235000013343 vitamin Nutrition 0.000 claims description 16
- 229940088594 vitamin Drugs 0.000 claims description 16
- 229930003231 vitamin Natural products 0.000 claims description 16
- 239000011782 vitamin Substances 0.000 claims description 16
- 150000003722 vitamin derivatives Chemical class 0.000 claims description 16
- 238000004804 winding Methods 0.000 claims description 10
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 8
- 210000000078 claw Anatomy 0.000 claims description 8
- 239000001301 oxygen Substances 0.000 claims description 8
- 229910052760 oxygen Inorganic materials 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 239000003822 epoxy resin Substances 0.000 claims description 3
- 229920000647 polyepoxide Polymers 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000009412 basement excavation Methods 0.000 description 6
- 239000000126 substance Substances 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 235000015097 nutrients Nutrition 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004083 survival effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000013305 flexible fiber Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 235000020188 drinking water Nutrition 0.000 description 1
- 239000003651 drinking water Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B99/00—Subject matter not provided for in other groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible continuum robot for searching and rescuing in the ruins, wherein a flexible continuum module comprises a nylon corrugated outer pipe and an inner hose; the inner hose is formed into a double-layer pipe body structure by sleeving an inner pipe body and an outer pipe body at intervals; the inner side pipe body forms an installation cavity, the outer side pipe body and the inner side pipe body are connected through a plurality of separating soft strips, and a plurality of pneumatic control cavities are formed; a supporting pressure spring is sleeved on the inner side wall of the installation cavity in a fitting manner; a fiber sac tube and a functional pipeline are integrally arranged in the installation cavity, and nylon wires are filled in the fiber sac tube; each pneumatic control cavity is connected with a driving air pipe; the driving air pipe and the fiber sac pipe are respectively connected with a pneumatic mechanism; the gear feeding mechanism is meshed with the outer side corrugation of the nylon corrugated outer pipe through a gear, and realizes displacement driving of the nylon corrugated outer pipe through rotation of the gear; the working head is fixed at one end of the nylon corrugated outer pipe and is fixed with the end head of the inner hose, and a functional piece corresponding to the functional pipeline is integrally installed on the working head.
Description
Technical Field
The invention relates to the technical field of search and rescue equipment, rescue robots and soft robots, in particular to a life-prolonging soft continuum robot for ruins search and rescue.
Background
The rescue robot is a robot for executing special tasks, and the emergence of the rescue robot greatly improves the success rate of rescue after disasters.
The existing rescue robots can be divided into two types, one is an excavation and obstacle-breaking robot, and the other is a detection and positioning robot. The excavation and obstacle breaking robot is large in size and mostly composed of rigid components, so that the robot is unfair to some narrow and small environments, a trapped person is trapped in a complex closed environment prone to secondary collapse, the limitation of the rescue robot is amplified, the excavation and obstacle breaking robot is used with severe requirements on the environment, and therefore the excavation and obstacle breaking robot mostly adopts manually operated small-sized breaking and dismantling equipment for excavation. The detection and positioning robot mainly aims at post-disaster environment to detect vital signs and position a vital body, and cannot be used for remarkably helping a wounded person trapped for a long time.
Therefore, it is an urgent need to solve the problem of the art to design a rescue robot that is suitable for a complicated and narrow environment and can provide basic conditions for survival for people trapped for a long time.
Disclosure of Invention
In view of the above, the invention provides a life-support flexible continuum robot for ruins search and rescue, and aims to solve the technical problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a life-saving flexible continuum robot for searching and rescuing ruins comprises:
a soft continuum module; the flexible continuum module comprises a nylon corrugated outer pipe and an inner flexible pipe sleeved inside the nylon corrugated outer pipe; the inner hose is formed into a double-layer pipe body structure by sleeving an inner pipe body and an outer pipe body at intervals; the inner side pipe body forms an installation cavity, the outer side pipe body and the inner side pipe body are connected through a plurality of axially arranged separating soft strips, a plurality of pneumatic control cavities arranged around the inner side pipe body are formed, and two ends of each pneumatic control cavity are sealed; a supporting pressure spring is fitted and sleeved on the inner side wall of the mounting cavity; a fiber sac tube and a functional pipeline are integrally arranged in the installation cavity, and a nylon wire is filled in the fiber sac tube; each pneumatic control cavity is connected with a driving air pipe, and the driving air pipe is positioned between the outer pipe body and the nylon corrugated outer pipe; the driving air pipe and the fiber sac pipe are respectively connected with a pneumatic mechanism;
a gear feed mechanism; the gear feeding mechanism is meshed with the outer side corrugation of the nylon corrugated outer pipe through a gear, and realizes displacement driving of the nylon corrugated outer pipe through rotation of the gear;
a working head; the working head is fixed at one end of the nylon corrugated outer pipe and fixed with the end head of the inner hose, and a functional piece corresponding to the functional pipeline is integrally installed on the working head.
Through the technical scheme, the soft continuum module can quickly cross obstacles to reach the vicinity of trapped people by utilizing a motion mode combining passive compliance and active deformation based on the inherent compliance characteristic of the soft robot under the driving of the gear feeding mechanism; the rigidity of the robot is changed in a fiber interference mode through a fiber bag tube integrated in the center in the movement process, the trafficability of the robot with the soft continuum is improved, the direction of the head is adjusted and changed through inflation and air exhaust control of a pneumatic control cavity, survival conditions required by a trapped person can be maintained in a certain time through functional pieces integrated on the head, the rescue time is prolonged, and the success rate of rescue after disasters is improved.
Preferably, in the above ruin-oriented flexible continuum robot, the functional lines include a liquid pipe, a gas pipe, and an electric wire cable; one end of each of the liquid pipe and the gas pipe extends to the outside of the installation cavity and is respectively connected with a water pump and an oxygen pump, the other end of each of the liquid pipe and the gas pipe is fixed on the end face of the working head, and the end head of each of the liquid pipe and the gas pipe is provided with a silica gel dustproof film; one end of the electric wire cable extends to the outside of the installation cavity and is electrically connected with the electric control system, and the other end of the electric wire cable is electrically connected with the corresponding functional part. When the software robot searches stranded personnel, soft continuum mechanical arm can release oxygen through integrated gas pipe, can effectively improve the oxygen concentration of narrow and small environment, can also carry vitamin substances such as drinking water, nutrient solution to stranded personnel with the help of the liquid pipe simultaneously.
Preferably, in the above life-support flexible continuum robot for searching and rescuing in the ruins, the functional elements include a microphone, a camera, a speaker, an LED lamp and a gas sensor, which are electrically connected to the electric wire cable, so as to feed back real-time topographic environment information in the ruins environment in real time, and the gas sensor can monitor air quality, oxygen concentration and the like in the ruins, thereby facilitating rescue workers to adjust a rescue scheme.
Preferably, in the above-mentioned ruins search and rescue oriented flexible continuum robot, the working head comprises a claw part and a head part shell; the claw part comprises a double-layer pipe fixed at the end of the nylon corrugated outer pipe and the end of the inner hose, the inner pipe of the double-layer pipe is used for the functional pipeline to pass through, and the outer pipe of the double-layer pipe is uniformly provided with a plurality of hollowed-out grooves; a driving ring is connected to the inner tube of the double-layer tube in a sliding manner, supporting rods are hinged to the positions, corresponding to the hollowed grooves, of one end, away from the nylon corrugated outer tube, of the inner tube of the double-layer tube, connecting rods are hinged to the driving ring, the number of the connecting rods is the same as that of the supporting rods, and one end, away from the driving ring, of each connecting rod is hinged to the middle of each supporting rod; the driving ring is driven by a folding telescopic mechanism to slide on the inner pipe of the double-layer pipe in a reciprocating manner, and the folding telescopic mechanism is connected with the pneumatic mechanism through a pipeline arranged between the nylon corrugated outer pipe and the outer pipe body; the head shell is fixed at one end of the double-layer pipe far away from the nylon corrugated outer pipe, the functional pipeline penetrating through the inner pipe of the double-layer pipe enters the head shell, and the end heads of the liquid pipe and the gas pipe are exposed out of the end face of the head shell; the microphone, the camera, the loudspeaker, the LED lamp and the gas sensor are integrally fixed on the head shell. The claw part can realize the extension and retraction of the supporting rod under the driving of the folding telescopic mechanism and play a role of supporting at a specific position; the head shell can protect the internal pipeline.
Preferably, in the above-mentioned flexible continuum robot for searching and rescuing in the ruins, the head casing is a transparent casing made of epoxy resin material. The head shell is in a bullet shape, so that the advancing barrier can be overcome, and the narrow passage can be conveniently passed.
Preferably, in the above ruins search and rescue oriented flexible continuum robot, the electronic control system comprises a PC terminal and an interphone. The PC terminal is a notebook computer, can acquire data of the camera and the gas sensor, can control the LED lamp, and can perform conversation through the interphone.
Preferably, in the above vitamin soft continuum robot for searching and rescuing in the ruins, the number of the hollowed-out grooves is 3. Three sets of bracing piece structures are joined in marriage promptly to 3 fretwork recesses, can satisfy the support demand.
Preferably, in the above-mentioned ruin search and rescue oriented flexible continuum robot, the number of the pneumatic control cavities is 3. Compressed gas with different air pressures is introduced into the pneumatic control cavity, so that bending, deflection and extension in different directions can be realized.
Preferably, in the above life-support robot for searching and rescuing in the ruins, the gear feeding mechanism comprises a case body and two gears rotatably connected to the case body, and the two gears are correspondingly arranged on the upper and lower sides of the corrugated nylon outer tube and are in corrugated engagement with the outer side of the corrugated nylon outer tube; and the box body is provided with a driving motor for driving one gear to rotate. The gears of the feeding box are meshed to control the feeding speed, direction and force, so that the robot can be more accurately controlled.
Preferably, in the above life-support robot for searching and rescuing in the ruins, the life-support robot further comprises a winding collection frame, wherein the winding collection frame is located on one side of the gear feeding mechanism, which is far away from the working head, and is used for winding the nylon corrugated outer pipe. The rolling after convenient to use is accomodate.
According to the technical scheme, compared with the prior art, the invention discloses the vitamin soft continuum robot for searching and rescuing in ruins, and the robot has the following beneficial effects:
1. the invention provides a life-saving soft continuum robot for searching and rescuing ruins, aiming at the problem that the existing rescue robot is difficult to deploy in a complex and narrow environment in the existing deep-buried rescue process.
2. Aiming at the problems that in the existing deep-buried rescue process, the manual rescue speed is low, and the survival rate of trapped people is continuously reduced along with the rescue time, the head at the tail end of the soft robot is integrated with functional components such as a gas-liquid guide pipe, a gas sensor and the like, and substances for maintaining life such as oxygen, water, nutrient solution and the like are provided through the gas-liquid guide pipe.
3. According to the invention, a flexible fiber material is inserted into a soft body part in a fiber interference mode, the variable stiffness problem of the existing ultra-long flexible continuum robot is solved through negative pressure variable stiffness, the obstacle crossing capability of the flexible continuum robot is improved, and the accuracy and controllability of long-distance motion are ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a life-saving flexible continuum robot for searching and rescuing ruins, provided by the invention;
FIG. 2 is a schematic diagram of the external structure of the soft continuum module and the working head provided by the invention;
FIG. 3 is a schematic diagram of the internal structure of a soft continuum module provided by the invention;
FIG. 4 is a schematic structural view of an inner hose according to the present invention;
FIG. 5 is a cross-sectional view A-A of FIG. 4 in accordance with the present invention;
FIG. 6 is a schematic view of a vitamin soft continuum robot provided by the present invention passing through a common straight lane;
FIG. 7 is a schematic view of a vitamin soft continuum robot passively moving through a curve according to the invention;
FIG. 8 is a schematic diagram of a robot with a soft continuum in a passive motion state, which cannot pass through a curve, according to the present invention;
FIG. 9 is a schematic diagram of the robot with soft continuum in the active deformation mode based on FIG. 8;
FIG. 10 is a schematic view of the robot with soft continuum of the present invention successfully passing through the obstacle on the basis of FIG. 9;
FIG. 11 is a schematic view of a robot with a flexible continuum and no moving obstacle with unchanged rigidity, provided by the invention;
FIG. 12 is a schematic diagram of a robot with flexible and continuous body and a flexible and continuous body moving barrier after rigidity is changed;
FIG. 13 is a schematic view of a robot with soft continuum and difficulty in keeping linear motion under unchanged rigidity;
FIG. 14 is a schematic view of the robot with flexible vitamin continuum and capable of keeping linear motion under variable stiffness;
FIG. 15 is a schematic diagram of the realization of the function of the vitamin soft continuum robot provided by the invention.
Wherein:
1-a soft continuum module;
11-nylon corrugated outer tube; 12-an inner hose; 121-an inner tubular body; 122-an outer tube; 123-a mounting cavity; 124-separating soft strips; 125-a pneumatic control chamber; 13-supporting a compression spring; 14-fibrous capsule tube;
15-a functional line; 151-liquid tube; 152-a gas pipe; 153-wire cables; 16-driving the air pipe;
2-a gear feed mechanism;
21-a gear; 22-a box body;
3-working head;
31-a functional element; 32-a claw portion; 321-double-layer tube; 3211-hollowing out the grooves; 322-drive ring; 323-supporting rods; 324-a connecting rod; 33-a head housing;
4-a pneumatic mechanism;
5-an electronic control system.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to the accompanying drawings 1 to 5, the embodiment of the invention discloses a ruin search and rescue oriented flexible continuum robot, which comprises:
a soft continuum module 1; the soft continuum module 1 comprises a nylon corrugated outer pipe 11 and an inner hose 12 sleeved inside the nylon corrugated outer pipe 11; the inner hose 12 is formed by sleeving an inner pipe body 121 and an outer pipe body 122 at intervals to form a double-layer pipe body structure; the inner tube 121 forms an installation cavity 123, the outer tube 122 and the inner tube 121 are connected by a plurality of axially arranged separating soft strips 124, and form a plurality of pneumatic control cavities 125 arranged around the inner tube 121, and two ends of the pneumatic control cavities 125 are closed; a supporting pressure spring 13 is fitted and sleeved on the inner side wall of the mounting cavity 123; the fiber sac tube 14 and the functional pipeline 15 are integrally arranged in the installation cavity 123, and nylon wires are filled in the fiber sac tube 14; each pneumatic control cavity 125 is connected with a driving air pipe 16, and the driving air pipe 16 is positioned between the outer pipe body 122 and the nylon corrugated outer pipe 11; the driving air pipe 16 and the fiber sac pipe 14 are respectively connected with the pneumatic mechanism 4;
a gear feed mechanism 2; the gear feeding mechanism 2 is meshed with the outer side corrugation of the nylon corrugated outer tube 11 through a gear 21, and realizes displacement driving of the nylon corrugated outer tube 11 through rotation of the gear 21;
a working head 3; the working head 3 is fixed at one end of the nylon corrugated outer pipe 11 and is fixed with the end of the inner hose 12, and a functional piece 31 corresponding to the functional pipeline 15 is integrally installed on the working head 3.
In order to further optimize the above technical solution, the functional pipeline 15 comprises a liquid pipe 151, a gas pipe 152 and an electric wire cable 153; one ends of the liquid pipe 151 and the gas pipe 152 extend to the outside of the mounting cavity 123 and are respectively connected with a water pump and an oxygen pump, the other ends of the liquid pipe 151 and the gas pipe 152 are fixed on the end face of the working head 3, and the ends of the liquid pipe and the gas pipe are provided with silica gel dustproof films; one end of the wire cable 153 extends to the outside of the mounting cavity 123 and is electrically connected to the electronic control system 5, and the other end is electrically connected to the corresponding functional component 31.
In order to further optimize the above technical solution, the functional part 31 comprises a microphone, a camera, a speaker, an LED lamp and a gas sensor electrically connected with the wire cable 153.
In order to further optimize the above technical solution, the working head 3 comprises a claw portion 32 and a head housing 33; the hook claw part 32 comprises a double-layer pipe 321 fixed at the end heads of the nylon corrugated outer pipe 11 and the inner hose 12, the inner pipe of the double-layer pipe 321 is used for the functional pipeline 15 to pass through, and the outer pipe of the double-layer pipe 321 is uniformly provided with a plurality of hollowed-out grooves 3211; a driving ring 322 is connected to the inner tube of the double-layer tube 321 in a sliding manner, supporting rods 323 are hinged to the positions, corresponding to the hollowed-out grooves 3211, of one end, away from the nylon corrugated outer tube 11, of the inner tube of the double-layer tube 321, connecting rods 324 are hinged to the driving ring 322, the number of the connecting rods 324 is the same as that of the supporting rods 323, and one end, away from the driving ring 322, of each connecting rod 324 is hinged to the middle of the corresponding supporting rod 323; the driving ring 322 is driven by a folding telescopic mechanism to slide on the inner pipe of the double-layer pipe 321 in a reciprocating manner, and the folding telescopic mechanism is connected with the pneumatic mechanism 4 through a pipeline arranged between the nylon corrugated outer pipe 11 and the outer pipe body 122; the head shell 33 is fixed at one end of the double-layer pipe 321 far away from the nylon corrugated outer pipe 11, the functional pipeline 15 passing through the inner pipe of the double-layer pipe 321 enters the inside of the head shell 33, and the ends of the liquid pipe 151 and the gas pipe 152 are exposed on the end face of the head shell 33; the microphone, camera, speaker, LED lamp and gas sensor are integrally fixed on the head housing 33.
The flexible continuous body robot for the vitamin provided by the embodiment is different from the existing excavation rescue mode, can pass through a complex and narrow unstructured unknown environment within one hour through a flexible continuous body mechanism, can reach the trapped person by the head at the tail end to obtain contact, and provides fresh air, nutrient substances and the like required by the vitamin.
The fiber bag tube 14 in the installation cavity 123 in the center of the robot is based on a fiber interference variable stiffness technology, wherein the nylon fiber \ optical fiber and other flexible fibers are blocked under a negative pressure environment, so that the stiffness change of the soft continuum robot can be realized; the robot increases the tail end force of the continuum robot by increasing the rigidity, and can clear away small obstacles in the advancing route, thereby avoiding increasing the difficulty of motion control by steering and bypassing, simultaneously solving the problem of low feeding force caused by low rigidity when the soft mechanical arm is too long, prolonging the working space of the soft robot, and enhancing the trafficability of the robot.
To further optimize the above technical solution, the head housing 33 is a transparent shell made of epoxy resin material.
In order to further optimize the above technical solution, the electronic control system 5 includes a PC terminal and an interphone.
In order to further optimize the above technical solution, the number of the hollowed-out grooves 3211 is 3.
In order to further optimize the above solution, the number of the pneumatic control chambers 125 is 3.
In order to further optimize the technical scheme, the gear feeding mechanism 2 comprises a box body 22 and two gears 21 which are rotatably connected to the box body 22, wherein the two gears 21 are correspondingly arranged on the upper side and the lower side of the nylon corrugated outer pipe 11 and are in corrugated engagement with the outer side of the nylon corrugated outer pipe; a driving motor for driving one gear 21 to rotate is mounted on the case 22.
In order to further optimize the technical scheme, the winding machine further comprises a winding wire collecting rack, wherein the winding wire collecting rack is positioned on one side of the gear feeding mechanism 2, which is far away from the working head 3, and is used for winding the nylon corrugated outer pipe 11.
The working principle and the control method of the embodiment are as follows:
the soft continuum robot for search and rescue is made of silica gel, and the functional module is integrated on the soft continuum robot, the soft continuum robot can move by utilizing the soft robot pliability, and the soft continuum robot is suitable for deep-buried ruin rescue formed by building collapse.
Driven by gravity and feed force, the robot moves to the vicinity of the trapped target along the gap formed by the collapsed building. By utilizing the flexible characteristic of the robot, when the included angle between the axis of the robot and the surface of the obstacle is in the range of [ -50 degrees and 50 degrees ], the robot conforms to and passes through the obstacle under the action of the feeding force and the bounce force of the obstacle; when the robot exceeds the range, the robot end module actively generates deformation to adapt to the obstacle and pass through the obstacle under the action of the feeding force.
As shown in fig. 6, the robot can advance in a common straight track under the driving of a feeding force.
As shown in fig. 7, the robot follows the obstacle by using the compliance characteristic of the robot in the curve and the feed force and the obstacle bounce force.
As shown in fig. 8-10, when the robot cannot pass through passively, the active deformation of the pneumatic control chamber 125 is controlled to pass through smoothly.
As shown in fig. 11-12, when the robot encounters a small obstacle, the robot changes the overall stiffness of the robot, and increases the end force of the robot, so that the small obstacle can be quickly cleared, and the traveling efficiency is prevented from being reduced by bypassing.
As shown in fig. 13-14, the robot can maintain linear motion in a state of varying stiffness.
As shown in fig. 15, it is a schematic diagram of the robot successfully rescuing the trapped person through the slit.
The outer surface of the robot is wrapped by a layer of nylon corrugated pipe, so that the effect of improving the bending efficiency of the soft robot is achieved, and the problem that the robot is scratched by a sharp object when the robot works in the ruin environment can be solved.
Through terminal integrated camera and the LED lamp of robot, can realize the remote control operation under the dark surrounds, improve the working space of robot. When the soft robot finds out trapped people, the soft robot can provide vitamin substances for the trapped people by utilizing the gas-liquid guide pipe integrated on the robot, and can also build a communication channel between the trapped people and rescue personnel by utilizing communication equipment carried by the soft robot, so that real-time internal environment information can be provided for the rescue personnel, and the rescue success rate is improved.
The innovation points of the invention are as follows:
(1) the multi-directional motion soft mechanical arm is designed by adopting a modularization method, and can penetrate through a complex environment by utilizing the deformation of the multi-directional motion soft mechanical arm.
(2) A fiber interference variable stiffness technology is provided, the stiffness of the soft manipulator is improved, and the environmental adaptability of the soft manipulator is improved.
(3) The flexibility of the mechanical arm is utilized, the mechanical arm can flexibly extrude through a hard barrier through active and passive control, accurate motion planning is not needed, and the mechanical arm is suitable for an unstructured environment.
(4) The provision of supplies is integrated into the software device to "deliver" water, oxygen, light and communication to the trapped.
(5) The designed work provides a new solution for the rescue work after disasters and brings new hopes for trapped people.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A life-support soft continuum robot for searching and rescuing in ruins is characterized by comprising:
a soft continuum module (1); the soft continuum module (1) comprises a nylon corrugated outer pipe (11) and an inner hose (12) sleeved inside the nylon corrugated outer pipe (11); the inner hose (12) is formed into a double-layer hose structure by sleeving an inner hose body (121) and an outer hose body (122) at intervals; the inner pipe body (121) forms a mounting cavity (123), the outer pipe body (122) and the inner pipe body (121) are connected through a plurality of axially arranged separating soft strips (124), a plurality of pneumatic control cavities (125) arranged around the inner pipe body (121) are formed, and two ends of each pneumatic control cavity (125) are closed; a supporting pressure spring (13) is fitted and sleeved on the inner side wall of the mounting cavity (123); a fiber sac tube (14) and a functional pipeline (15) are integrally arranged in the installation cavity (123), and nylon wires are filled in the fiber sac tube (14); each pneumatic control cavity (125) is connected with a driving air pipe (16), and the driving air pipe (16) is positioned between the outer pipe body (122) and the nylon corrugated outer pipe (11); the driving air pipe (16) and the fiber bag pipe (14) are respectively connected with a pneumatic mechanism (4);
a gear feed mechanism (2); the gear feeding mechanism (2) is in corrugated engagement with the outer side of the nylon corrugated outer pipe (11) through a gear (21), and realizes displacement driving of the nylon corrugated outer pipe (11) through rotation of the gear (21);
a working head (3); the working head (3) is fixed at one end of the nylon corrugated outer pipe (11) and is fixed with the end of the inner hose (12), and a functional piece (31) corresponding to the functional pipeline (15) is integrally installed on the working head (3).
2. The ruin search and rescue oriented vitamin soft continuum robot according to claim 1, wherein the functional pipeline (15) comprises a liquid pipe (151), a gas pipe (152) and an electric wire cable (153); one ends of the liquid pipe (151) and the gas pipe (152) extend to the outside of the mounting cavity (123) and are respectively connected with a water pump and an oxygen pump, the other ends of the liquid pipe and the gas pipe are fixed on the end face of the working head (3), and the ends of the liquid pipe and the gas pipe are provided with silica gel dustproof films; one end of the electric wire cable (153) extends to the outside of the installation cavity (123) and is electrically connected with the electric control system (5), and the other end of the electric wire cable is electrically connected with the corresponding functional part (31).
3. The ruin search and rescue oriented vitamin soft continuum robot according to claim 2, wherein the functional pieces (31) comprise a microphone, a camera, a speaker, an LED lamp and a gas sensor which are electrically connected with the wire cable (153).
4. The ruin-oriented search and rescue vitamin soft continuum robot according to claim 3, wherein the working head (3) comprises a claw part (32) and a head shell (33); the hook claw part (32) comprises a double-layer pipe (321) fixed at the end heads of the nylon corrugated outer pipe (11) and the inner hose (12), an inner pipe of the double-layer pipe (321) is used for the functional pipeline (15) to pass through, and a plurality of hollowed-out grooves (3211) are uniformly formed in an outer pipe of the double-layer pipe (321); a driving ring (322) is connected to an inner pipe of the double-layer pipe (321) in a sliding manner, supporting rods (323) are hinged to positions, corresponding to the hollowed-out grooves (3211), of one end, far away from the nylon corrugated outer pipe (11), of the inner pipe of the double-layer pipe (321), connecting rods (324) of the same number as the supporting rods (323) are hinged to the driving ring (322), and one end, far away from the driving ring (322), of each connecting rod (324) is hinged to the middle of the corresponding supporting rod (323); the driving ring (322) is driven by a folding telescopic mechanism to slide on an inner pipe of the double-layer pipe (321) in a reciprocating manner, and the folding telescopic mechanism is connected with the pneumatic mechanism (4) through a pipeline arranged between the nylon corrugated outer pipe (11) and the outer pipe body (122); the head shell (33) is fixed at one end of the double-layer pipe (321) far away from the nylon corrugated outer pipe (11), the functional pipeline (15) penetrating through the inner pipe of the double-layer pipe (321) enters the interior of the head shell (33), and the ends of the liquid pipe (151) and the gas pipe (152) are exposed on the end face of the head shell (33); the microphone, the camera, the loudspeaker, the LED lamp and the gas sensor are integrally fixed on the head shell (33).
5. The ruin search and rescue oriented vitamin soft continuum robot according to claim 4, wherein the head shell (33) is a transparent shell made of epoxy resin material.
6. The ruin search and rescue oriented vitamin soft continuum robot according to claim 4, wherein the electronic control system (5) comprises a PC terminal and an interphone.
7. The ruin search and rescue oriented flexible continuum robot according to claim 5, wherein the number of the hollowed-out grooves (3211) is 3.
8. The ruin search and rescue oriented vitamin soft continuum robot according to claim 1, wherein the number of the pneumatic control cavities (125) is 3.
9. The ruin-oriented searching and rescuing flexible continuum robot as claimed in claim 1, wherein the gear feeding mechanism (2) comprises a case (22) and two gears (21) rotatably connected to the case (22), the two gears (21) are correspondingly arranged on the upper and lower sides of the nylon corrugated outer tube (11) and are in corrugated engagement with the outer side of the nylon corrugated outer tube; and a driving motor for driving one gear (21) to rotate is arranged on the box body (22).
10. The ruin-oriented searching and rescuing flexible continuum robot is characterized by further comprising a wire winding collecting rack, wherein the wire winding collecting rack is located on one side, away from the working head (3), of the gear feeding mechanism (2) and is used for winding the nylon corrugated outer pipe (11).
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| CN202210387540.4A CN114603578B (en) | 2022-04-13 | 2022-04-13 | Ruins search and rescue-oriented vitamin soft continuum robot |
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