CN105035198A - Bionic bounce robot used for environment detection - Google Patents
Bionic bounce robot used for environment detection Download PDFInfo
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- CN105035198A CN105035198A CN201510488365.8A CN201510488365A CN105035198A CN 105035198 A CN105035198 A CN 105035198A CN 201510488365 A CN201510488365 A CN 201510488365A CN 105035198 A CN105035198 A CN 105035198A
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Abstract
The invention discloses a bionic bounce robot used for environment detection. The bionic bounce robot is characterized by comprising a bounce mechanical mechanism, an environment detection mechanism, a communication mechanism and a control mechanism. The environment detection mechanism and the communication mechanism are connected with the upper portion of the bounce mechanical mechanism. The control mechanism is connected with a second wireless transmitting and receiving end of the communication mechanism. According to the bionic bounce robot used for environment detection, the bounce mechanism is provided by means of the locust body structure, and bounce movement is achieved by means of the incomplete gear and rack combination, so that the bionic bounce robot can stably bounce in a hostile environment in a goal-directed mode, and more importantly, the designed bionic bounce robot used for environment detection can detect the temperature, noise, air composition and metal existing phenomena of the environment according to working requirements.
Description
Technical field
The present invention relates to bio-robot field, particularly a kind of bionic hopping robot for environment detection.
Background technology
Bionic hopping robot at present in the world still in conceptual phase, the domestic subject study to it is also just started.Bionic hopping robot is except possessing general hopping robot's leaping over obstacles, outside the ability of escape from danger, also there is higher alerting ability, stronger ground adaptive capacity, if hopping robot explores on the soccer star of acceleration due to gravity far below the earth, the consumption of range of movement and energy has more advantage by than wheeled SEEK BUS now, therefore enjoys the concern of domestic and international research institution.
Chinese patent CN202508192U discloses the spring mechanical mechanism of a kind of imitative locust, and this invention utilizes the motion characteristics of cam and ratchet, elastic potential energy is converted into the mechanism of the kinetic energy of spring.This invention just utilizes bionics principle to devise mechanical mechanism to realize bounce motion, and does not possess the function of environment detection, the situation of the existence of the temperature of environment, noise, composition of air, metal residing for detection spring mechanical mechanism.
Summary of the invention
For the deficiency of above-mentioned technology, the invention discloses a kind of bionic hopping robot for environment detection, this robot utilizes the body structure of locust to invent the mechanism of spring, partial gear and rack combination is utilized to complete bounce motion, not only can in rugged environment steady autotelic bounce motion, can also as required, the temperature of the environment residing for detection, noise, composition of air, metal there is situation.
The technical scheme realizing the object of the invention is:
For a bionic hopping robot for environment detection, comprise spring mechanical mechanism, environment detection mechanism, communication agency and control mechanism composition, wherein: environment detection mechanism, communication agency are connected with the top of spring mechanical mechanism respectively; Control mechanism is connected with the second wireless receiving and dispatching end of communication agency.
Described spring mechanical mechanism is made up of body leg module, body module and hopping leg module, and the bottom of body module and body leg model calling, hopping leg module is connected with the rear portion of body module.Wherein:
Described body leg module is made up of left front leg, RAT, left back leg and right rear leg, and left front leg, RAT, left back leg and right rear leg four legs are by leg end connecting rod, leg link, lower body guide rod, lower body connecting rod and the first spring, nut composition.Left front leg, RAT, left back leg and right rear leg are connected with upper body and lower body four angles respectively simultaneously; The leg pad of right rear leg is connected with leg end connecting rod one end, be connected with one end of leg link in the middle part of leg end connecting rod, one jiao of the leg end connecting rod other end and lower body is connected, the other end of leg link is connected with lower trunk guide rod, the lower body guide rod other end is connected with upper body one jiao, first spring housing in lower body guide rod, the first spring one end and upper body one angular contact, the first spring other end and lower body one angular contact.Nut is connected with lower body guide rod upper end.The effect of whole body leg module supports body part, and have shockproof function.
Described body module is by metathorax frame, electromagnet, upper body, lower body, second spring, 3rd spring, first time body connecting rod, second time body connecting rod, motor base, reducing motor combines, end cap, clutch shaft bearing, second bearing, major axis, axle sleeve, first finishing bevel gear cuter, second finishing bevel gear cuter, first partial gear and the second partial gear composition, be connected with the second spring one end below the front end of upper body, the second spring other end is connected with above the front end of lower body, be connected with electromagnet below the middle part of upper body, 3rd spring one end is enclosed within the surface of electromagnet, the 3rd spring other end is connected with above the middle part of lower body, be connected with first time body connecting rod one end below lower body front end, be connected with second time body connecting rod one end below in the middle part of lower body, first time body connecting rod is connected with lever one end, second time body connecting rod is connected with the lever other end, the middle part of lever is connected with upper body, be connected with metathorax frame below the rear portion of upper body, motor base is connected with below metathorax frame, reducing motor combination is arranged on motor base, the output shaft that first finishing bevel gear cuter combines with reducing motor is connected, major axis is through the both sides, bottom of motor base, one end of major axis is connected with end cap, clutch shaft bearing, partial gear, second bearing is arranged on one end of major axis respectively, the side of clutch shaft bearing contacts with end cap, clutch shaft bearing opposite side and partial gear one side contacts, a side contacts of partial gear opposite side and the second bearing, second bearing opposite side contacts with motor base, the first axle sleeve, second cone gear, second axle sleeve is arranged on the middle part of major axis respectively, first axle sleeve side and the second bearing one side contacts, cone gear side contacts with the first axle sleeve opposite side, and a side contacts of cone gear opposite side and the second bearing is installed with the second cone gear, and the first cone gear engages with the second cone gear.The effect of whole body module drives partial gear, and the energy of savings spring mechanical mechanism.
Described hopping leg module is made up of tibia connecting rod, tibia, spring guide pillar, the 4th spring, spring guide, tooth bar, adapter plate, rolling post, back leg bar and back leg pad.Spring guide pillar one end is connected with tibia one end, the spring guide pillar other end and spring guide one end fits, one end of 4th spring is fixed on one end of spring guide pillar, the 4th spring other end is fixed on one end of spring guide, the spring guide other end is connected with the upper end of motor base, back leg bar one end is connected with tibia one end, the back leg bar other end is connected with major axis one end, the middle part of back leg bar is connected with guide rail fixed plate, one end of tooth bar is engaged with partial gear, the tooth bar other end is connected with tibia connecting rod one end, guide rail rolling post supports in the middle part of tooth bar, the tibia connecting rod other end is connected with tibia one end, back leg pad is connected with the tibia other end.The effect of whole hopping leg module carries bionic hopping robot to complete skip motion.
Described environmental monitoring mechanism is made up of infrared thermometer, gas detecting instrument, noise sensing instrument and metal detector.Infrared thermometer, gas detecting instrument, noise sensing instrument, metal detector are connected with the first wireless receiving and dispatching end of communication agency, and the first wireless receiving and dispatching end is arranged on the top of body.Its effect is the temperature of monitoring hopping robot place environment, noise, composition of air, metal there is situation.
Described communication agency penetrates end by the first wireless receiving and dispatching, the second wireless receiving and dispatching end forms, and the first wireless receiving and dispatching is penetrated end and is connected with environmental monitoring mechanism, and spring mechanical mechanism is connected with the first wireless receiving and dispatching end, and the second wireless receiving and dispatching end is connected with control mechanism.Its effect is the signal of reception and transmission and processing environment mechanism for monitoring and control mechanism.
Described control mechanism is made up of Single Chip Microcomputer (SCM) system module and display module, and Single Chip Microcomputer (SCM) system is connected with the second wireless receiving and dispatching end, and display module is connected with Single Chip Microcomputer (SCM) system.Its effect is the signal of process wireless receiving and dispatching end and the state of display environment monitoring.
The present invention compared with prior art, has following beneficial effect:
The present invention utilizes the body structure of locust to invent the mechanism of spring, partial gear and rack combination is utilized to complete bounce motion, not only can in rugged environment steady autotelic bounce motion, the more important thing is that environment detection bionic hopping robot that the present invention designs can according to need of work, the temperature of the environment residing for detection, noise, composition of air, metal there is situation.
Accompanying drawing explanation
Fig. 1 is the connection block diagram of the present invention for the bionic hopping robot of environment detection;
Fig. 2 is the front view of spring mechanical mechanism;
Fig. 3 is the left view of spring mechanical mechanism;
Fig. 4 is the birds-eye view of spring mechanical mechanism.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further elaborated, but be not limitation of the invention:
For a bionic hopping robot for environment detection, comprise spring mechanical mechanism 44, environment detection mechanism 48, communication agency 53 and control mechanism 56 and form.
Wherein environment detection mechanism 48 is connected with the top of the upper body 10 of spring mechanical mechanism 44;
The top downlink connection of the upper body 10 of communication agency 53 and spring mechanical mechanism 44;
Control mechanism 56 is connected with the second wireless receiving and dispatching end 55 of communication agency 53.
Described spring mechanical mechanism 44 is made up of described body leg module 45, body module 46 and hopping leg module 47; Wherein the bottom of body module 46 is connected with body leg module 45, and hopping leg module 47 is connected with the rear portion of body module 46.
Described body leg module 45 is made up of left front leg 40, RAT 41, left back leg 39 and right rear leg 42.Left front leg 40, RAT 41, left back leg 39 and right rear leg 42 4 legs are all made up of leg end connecting rod 37, leg link 25, lower body guide rod 26, first spring 24, nut 23;
Connection mode: left front leg 40, RAT 41, left back leg 39 and right rear leg 42 are connected with upper body 10 and lower body 12 4 angles respectively simultaneously; The middle part of leg end connecting rod 37 is connected with one end of leg link 25, the other end of leg end connecting rod 36 is connected with one jiao of lower body 12, the other end of leg link 25 is connected with lower body guide rod 26 one end, one jiao of lower body guide rod 26 other end and upper body 10 is connected, first spring 24 is enclosed within lower body guide rod 26 one end, first spring 24 one end and upper body 10 1 angular contact, first spring 24 other end and lower body 12 1 angular contact, nut 24 is connected with lower body guide rod 26 upper end;
Effect: support body part, and have shockproof function.
Described body module 46 is made up of metathorax frame 6, electromagnet 8, upper body 10, lower body 12, second spring 11, the 3rd spring 9, first time body connecting rod 13, second time body connecting rod 7, lever 14, motor base 21, reducing motor combination 22, end cap 35, clutch shaft bearing 34, second bearing 36, major axis 32, first axle sleeve 28, second axle sleeve 31, first finishing bevel gear cuter 30, second finishing bevel gear cuter 29, partial gear 33;
Connection mode: be connected with second spring 11 one end below the front end of upper body 10, second spring 11 other end is connected with above the front end of lower body 12, be connected with electromagnet 8 below the middle part of upper body 10, 3rd spring 9 one end is enclosed within the surface of electromagnet 8, 3rd spring 9 other end is connected with above the middle part of lower body 12, be connected with first time body connecting rod 13 one end below lower body 12 front end, be connected with second time body connecting rod 7 one end below in the middle part of lower body 12, first time body connecting rod 13 is connected with lever 14 one end, second time body connecting rod 7 is connected with lever 14 other end, the middle part of lever 14 is connected with upper body 10, be connected with metathorax frame 6 below the rear portion of upper body 10, motor base 21 is connected with below metathorax frame 6, reducing motor combination 22 is arranged on motor base 21, the output shaft that first finishing bevel gear cuter 30 and reducing motor combine 22 is connected, major axis 32 is through the both sides, bottom of motor base 21, one end of major axis 32 is connected with end cap 35, second bearing 36, partial gear 33, clutch shaft bearing 34 is arranged on one end of major axis respectively, the side of the second bearing 36 contacts with end cap 35, second bearing 36 opposite side and partial gear 33 1 side contacts, one side contacts of partial gear 33 opposite side and clutch shaft bearing 34, clutch shaft bearing 34 opposite side contacts with motor base 21, first axle sleeve 28, second cone gear 29, second axle sleeve 31 is arranged on the middle part of major axis 32 respectively, second axle sleeve 31 side and clutch shaft bearing 34 1 side contacts, second cone gear 29 side contacts with the second axle sleeve 31 opposite side, one side contacts of the second cone gear 29 opposite side and clutch shaft bearing 28, first cone gear 30 engages with the second cone gear 29,
Effect: drive partial gear, and the energy of savings spring mechanical mechanism;
Described hopping leg module 47 is made up of tibia connecting rod 1, tibia 2, spring guide pillar 3, the 4th spring 4, spring guide 5, tooth bar 17, guide rail fixed plate 18, guide rail rolling post 19, back leg bar 20 and back leg pad 27;
Connection mode: spring guide pillar 3 one end is connected with tibia 2 one end, spring guide pillar 3 other end and spring guide 5 one end fits, one end of 4th spring 4 is fixed on one end of spring guide pillar 3, 4th spring 4 other end is fixed on one end of spring guide 5, spring guide 5 other end is connected with the upper end of motor base 21, back leg bar 20 one end is connected with tibia 2 one end, back leg bar 20 other end is connected with major axis 32 one end, the middle part of back leg bar 20 is connected with guide rail fixed plate 18, one end of tooth bar 17 is engaged with partial gear 33, tooth bar 17 other end is connected with tibia connecting rod 1 one end, guide rail rolling post 19 supports in the middle part of tooth bar, tibia connecting rod 1 other end is connected with tibia 2 one end, back leg pad 27 is connected with tibia 2 other end,
Effect: carry bionic hopping robot and complete skip motion.
Described environmental monitoring mechanism 48 is made up of infrared thermometer 49, gas detecting instrument 50, noise sensing instrument 51 and metal detector 52;
Annexation: infrared thermometer 49, gas detecting instrument 50, noise sensing instrument 51, metal detector 52 are connected with the first wireless receiving and dispatching end 54 of communication agency 53, and the first wireless receiving and dispatching end 54 is arranged on the top of body 10;
Effect: the temperature of monitoring hopping robot place environment, noise, composition of air, metal there is situation.
Described communication agency 53 is penetrated end 54, second wireless receiving and dispatching end 55 by the first wireless receiving and dispatching and is formed;
Annexation: the first wireless receiving and dispatching is penetrated end 54 and is connected with environmental monitoring mechanism 48, spring mechanical mechanism 44 is connected with the first wireless receiving and dispatching end 54, and the second wireless receiving and dispatching end 55 is connected with control mechanism 56.
Effect: the signal of reception and transmission and processing environment mechanism for monitoring and control mechanism.
Described control mechanism 56 is made up of Single Chip Microcomputer (SCM) system module 57 and display module 58.
Connection mode: Single Chip Microcomputer (SCM) system 57 is connected with the second wireless receiving and dispatching end 55, and display module 58 is connected with Single Chip Microcomputer (SCM) system module 57.
Effect: the signal of process wireless receiving and dispatching end and the state of display environment monitoring.
Working process of the present invention: after communication agency 53 normally work, control mechanism 56 performs the action of a lifting to electromagnet 8 signal, electromagnet 8 electric after adhesive to lower body 12, adhesive combined 22 1 signals to reducing motor after 2 seconds, the electromagnet 8 that during beginning, lower trunk 12 rear portion is subject to electric adsorbs, and health tilts backwards on head and lifts; Then reducing motor combination 22 is rotated, and partial gear 16 and tooth bar 17 enter mesh regional, and tooth bar 17 pulls tibia 2 inwardly to rotate, and the pulling force that now tibia 2 is subject to spring 4 is lifted the minimum length to spring guide 3; Tibia 2 lifts and does by guide rod dieback, tooth bar 17 still starts in the acting with gears meshing reduction combinations motor 22 savings all acting on spring capacity; Partial gear 16 and tooth bar 17 enter non-meshing zone, and tibia 2 is only subject to the restoring force effect of spring, regains rapidly, produce huge to pedal soil fertility, robot is upspring, now controls electromagnet 8 dead electricity, for stable landing is prepared; Hopping robot lands, and the second spring 11 between upper body 10 and lower body 12 and the 3rd spring 9 play the effect of damping energy-absorbing.At hopping robot stable landing after 30 seconds, first, be that infrared thermometer 49 carries out mode of operation, gained information is sent to ambient temperature residing for the timely display device people of display module 58 by the first wireless receiving and dispatching end 54 and whether meets the robot operating ambient temperature of setting as (1 ° to 300 °).As detect residing environment temperature be greater than 300 ° time, hopping robot performs spring-like movement next time at once, until the temperature detected meets the ambient temperature that hopping robot normally works, effective like this high temperature that prevents is to the injury of hopping robot.If meet the ambient temperature of the normal work of robot, gas detecting instrument 50 in succession, noise sensing instrument 51, metal detector 52 are started working, be sent to display module 58 by the first wireless receiving and dispatching end 54 to show, after staff's record, continue to do the motion of next time bouncing to robot, arrive the situation that environment residing for corresponding sniffing robot is carried out in next place again.
Claims (8)
1. for a bionic hopping robot for environment detection, it is characterized in that: comprise spring mechanical mechanism, environment detection mechanism, communication agency and control mechanism composition, wherein: environment detection mechanism, communication agency are connected with the top of spring mechanical mechanism respectively; Control mechanism is connected with the second wireless receiving and dispatching end of communication agency.
2. bionic hopping robot according to claim 1, it is characterized in that: described spring mechanical mechanism is made up of body leg module, body module and hopping leg module, the bottom of body module and body leg model calling, hopping leg module is connected with the rear portion of body module.
3. bionic hopping robot according to claim 2, it is characterized in that: described body leg module is made up of left front leg, RAT, left back leg and right rear leg, left front leg, RAT, left back leg and right rear leg four legs are by leg end connecting rod, leg link, lower body guide rod, lower body connecting rod and the first spring, nut composition; Left front leg, RAT, left back leg and right rear leg are connected with upper body and lower body four angles respectively simultaneously; The leg pad of right rear leg is connected with leg end connecting rod one end, be connected with one end of leg link in the middle part of leg end connecting rod, one jiao of the leg end connecting rod other end and lower body is connected, the other end of leg link is connected with lower trunk guide rod, the lower body guide rod other end is connected with upper body one jiao, the first spring housing in lower body guide rod, the first spring one end and upper body one angular contact, the first spring other end and lower body one angular contact, nut is connected with lower body guide rod upper end.
4. bionic hopping robot according to claim 1, is characterized in that: described body module is by metathorax frame, electromagnet, upper body, lower body, second spring, 3rd spring, first time body connecting rod, second time body connecting rod, motor base, reducing motor combines, end cap, clutch shaft bearing, second bearing, major axis, axle sleeve, first finishing bevel gear cuter, second finishing bevel gear cuter, first partial gear and the second partial gear composition, be connected with the second spring one end below the front end of upper body, the second spring other end is connected with above the front end of lower body, be connected with electromagnet below the middle part of upper body, 3rd spring one end is enclosed within the surface of electromagnet, the 3rd spring other end is connected with above the middle part of lower body, be connected with first time body connecting rod one end below lower body front end, be connected with second time body connecting rod one end below in the middle part of lower body, first time body connecting rod is connected with lever one end, second time body connecting rod is connected with the lever other end, the middle part of lever is connected with upper body, be connected with metathorax frame below the rear portion of upper body, motor base is connected with below metathorax frame, reducing motor combination is arranged on motor base, the output shaft that first finishing bevel gear cuter combines with reducing motor is connected, major axis is through the both sides, bottom of motor base, one end of major axis is connected with end cap, clutch shaft bearing, partial gear, second bearing is arranged on one end of major axis respectively, the side of clutch shaft bearing contacts with end cap, clutch shaft bearing opposite side and partial gear one side contacts, a side contacts of partial gear opposite side and the second bearing, second bearing opposite side contacts with motor base, the first axle sleeve, second cone gear, second axle sleeve is arranged on the middle part of major axis respectively, first axle sleeve side and the second bearing one side contacts, cone gear side contacts with the first axle sleeve opposite side, and a side contacts of cone gear opposite side and the second bearing is installed with the second cone gear, and the first cone gear engages with the second cone gear.
5. bionic hopping robot according to claim 1, is characterized in that: described hopping leg module is made up of tibia connecting rod, tibia, spring guide pillar, the 4th spring, spring guide, tooth bar, adapter plate, rolling post, back leg bar and back leg pad, spring guide pillar one end is connected with tibia one end, the spring guide pillar other end and spring guide one end fits, one end of 4th spring is fixed on one end of spring guide pillar, the 4th spring other end is fixed on one end of spring guide, the spring guide other end is connected with the upper end of motor base, back leg bar one end is connected with tibia one end, the back leg bar other end is connected with major axis one end, the middle part of back leg bar is connected with guide rail fixed plate, one end of tooth bar is engaged with partial gear, the tooth bar other end is connected with tibia connecting rod one end, guide rail rolling post supports in the middle part of tooth bar, the tibia connecting rod other end is connected with tibia one end, back leg pad is connected with the tibia other end.
6. bionic hopping robot according to claim 1, it is characterized in that: described environmental monitoring mechanism is made up of infrared thermometer, gas detecting instrument, noise sensing instrument and metal detector, infrared thermometer, gas detecting instrument, noise sensing instrument, metal detector are connected with the first wireless receiving and dispatching end of communication agency, and the first wireless receiving and dispatching end is arranged on the top of body.
7. bionic hopping robot according to claim 1, it is characterized in that: described communication agency penetrates end by the first wireless receiving and dispatching, the second wireless receiving and dispatching end forms, first wireless receiving and dispatching is penetrated end and is connected with environmental monitoring mechanism, spring mechanical mechanism is connected with the first wireless receiving and dispatching end, and the second wireless receiving and dispatching end is connected with control mechanism.
8. bionic hopping robot according to claim 1, is characterized in that: described control mechanism is made up of Single Chip Microcomputer (SCM) system module and display module, and Single Chip Microcomputer (SCM) system is connected with the second wireless receiving and dispatching end, and display module is connected with Single Chip Microcomputer (SCM) system.
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| CN105739537A (en) * | 2016-03-29 | 2016-07-06 | 北京理工大学 | Active control method for adhesion motion on small celestial body surface |
| CN106995015A (en) * | 2017-05-10 | 2017-08-01 | 桂林电子科技大学 | A kind of hopping robot of imitative flea beetle |
| CN107128385A (en) * | 2017-05-24 | 2017-09-05 | 电子科技大学 | A kind of locust-simulated bouncing robot linked with leg with damping characteristics |
| CN107697179A (en) * | 2017-10-24 | 2018-02-16 | 桂林电子科技大学 | Double mode spherical robot mechanism and traveling method |
| CN108345557A (en) * | 2017-01-22 | 2018-07-31 | 中电科海洋信息技术研究院有限公司 | Communication system between a kind of small-sized bionic underwater robot platform |
| CN112141235A (en) * | 2020-09-21 | 2020-12-29 | 桂林电子科技大学 | Bionic tree-inhabiting reconnaissance monitoring robot |
| CN113428249A (en) * | 2021-07-29 | 2021-09-24 | 桂林电子科技大学 | Monkey-imitating robot for researching animal bounce |
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| CN107128385A (en) * | 2017-05-24 | 2017-09-05 | 电子科技大学 | A kind of locust-simulated bouncing robot linked with leg with damping characteristics |
| CN107128385B (en) * | 2017-05-24 | 2019-02-26 | 电子科技大学 | A kind of locust-simulated bouncing robot with leg linkage and damping characteristics |
| CN107697179A (en) * | 2017-10-24 | 2018-02-16 | 桂林电子科技大学 | Double mode spherical robot mechanism and traveling method |
| CN107697179B (en) * | 2017-10-24 | 2023-10-27 | 桂林电子科技大学 | Dual-mode spherical robot mechanism and walking method |
| CN112141235A (en) * | 2020-09-21 | 2020-12-29 | 桂林电子科技大学 | Bionic tree-inhabiting reconnaissance monitoring robot |
| CN113428249A (en) * | 2021-07-29 | 2021-09-24 | 桂林电子科技大学 | Monkey-imitating robot for researching animal bounce |
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