CN1076653C - Miniature walking robot for climbing up wall and its drive method - Google Patents
Miniature walking robot for climbing up wall and its drive method Download PDFInfo
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- CN1076653C CN1076653C CN99115045A CN99115045A CN1076653C CN 1076653 C CN1076653 C CN 1076653C CN 99115045 A CN99115045 A CN 99115045A CN 99115045 A CN99115045 A CN 99115045A CN 1076653 C CN1076653 C CN 1076653C
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Abstract
The present invention belongs to the field of robot development, which mainly solves the drive problem of a robot. The present invention provides that the robot is driven directly to walk by using electromagnetic force, so a miniature walking robot for climbing on a wall is provided. The robot is composed of a body and two feet, wherein the body comprises a machine frame, a permanent magnet and a guide way, and the feet comprise slide blocks, drive coils and adsorption coils. The on-off state of the current of different foot adsorption coils is controlled to change a walking supporting point of the robot, and the current of the drive coils of the two feet is switched on to drive the body and the other foot to move forwards. The robot of the present invention has the advantages of simple structure and small size, the robot is suitable for work in narrow space and pipelines, and the robot can carry out various kinds of detection and operation after a miniature sensor is arranged.
Description
The invention belongs to robot development field.It should range the tiny robot system with tens millimeters magnitudes of accurate mechanical ﹠ electrical technology development.
Continuous development along with science and technology, the kind of robot is increasing, performance is updated, career field constantly enlarges, the occasion that is difficult to work the various mankind, robot also can play a role well, micro-robot application prospect more and more widely wherein, impel in the world advanced countries such as U.S., day, method all to drop into great amount of manpower and fund is gone development, and China is starting late aspect the development of micro-robot, be in the level that falls behind relatively, this makes China be in very disadvantageous status in world's high-technology field keen competition.As far as we know; the walking manner of robot can be divided into the wheel formula; crawler type and legged; the suction type of robot is divided into vacuum suction and electromagnetism absorption; no matter adopt any walking manner; all need motor to make drive source; and the straight line moving of robot; need the circular motion of motor to be converted to the rectilinear motion of mechanism again by some mechanical devices; when wall is climbed by the needs robot; negative pressure of vacuum suction type robot as mainly adopting both at home and abroad also needs parts such as complementary pump usually, and this makes present known machine people's complex structure; the control difficulty is big, and capacity usage ratio is low.
The objective of the invention is to avoid above-mentioned deficiency of the prior art, and a kind of simple in structure, reliable operation is provided, control is flexible, energy conversion efficiency is high, and size is tens grams in tens millimeters magnitudes, weight, can enters small, narrow space on the magnetic conductivity wall and Miniature walking robot for climbing up wall of walking in the pipeline and driving method thereof.
Purpose of the present invention can reach by following scheme:
Miniature walking robot for climbing up wall, it is made up of body and bipod, and body is made up of frame, permanent magnet and guide rail; Permanent magnet is fixed on the frame, and guide rail is fixed on both sides, frame front and back, and stop is installed at the guide rail two ends; Pin is made up of slide block, drive coil, absorption coil and iron core, and slide block and guide rail are slidingly matched, and drive coil is installed on the slide block, the affixed iron core in slide block lower end, and the absorption coil is wrapped on the iron core; The permanent magnet mounted in pairs forms magnetic field and acts on drive coil, and the magnetic field that drive coil energising back forms acts on permanent magnet.Frame is made by non-magnetic lightweight material, and guide rail is the low non-magnetic conductive part of good rigidity, surface roughness, and permanent magnet is made by high-magnetodensity degree material, and slide block is the lightweight material of good rigidity, and iron core is a permalloy.
Purpose of the present invention can also reach by following scheme:
The driving method of Miniature walking robot for climbing up wall, utilize electromagnetic force directly to drive this robot and finish following action:
1) left foot absorption coil electricity produces magnetic force, it is adsorbed on the magnetic conduction face fulcrum that moves as body and right crus of diaphragm; Left and right pin drive coil passes to forward current simultaneously and produces magnetic field, with the effect of homonymy permanent magnet, body is moved forward simultaneously with respect to body with respect to left foot, right crus of diaphragm respectively, finishes the right crus of diaphragm single step and moves; Left foot adsorbs coil blackout then, right crus of diaphragm absorption coil electricity, produce magnetic force, it is adsorbed on the magnetic conduction face, as the fulcrum that body and left foot move, the electrical current of left and right pin drive coil oppositely produces magnetic field, respectively with the effect of homonymy permanent magnet, body is moved forward with respect to body simultaneously with respect to right crus of diaphragm, left foot, finish the left foot single step and move; Like this, Miniature walking robot for climbing up wall left and right sides pin is just gone forward respectively and is made a move;
2) current reversal of left and right sides pin drive coil action 1), Miniature walking robot for climbing up wall is oppositely walked;
3) bipod absorption and drive coil electrical current increase frequency action 1), Miniature walking robot for climbing up wall quickens walking, and power frequency reduces, and Miniature walking robot for climbing up wall slows down and walks;
4) adjust the position of guide rail two ends stop action 1), make wherein that a step width of cloth reduces, another step width of cloth remains unchanged, the side that Miniature walking robot for climbing up wall reduces to the stride walking of turning;
5) bipod absorption coil is increased to 7.5 volts with the drive coil voltage magnitude by 3.5 volts action 1), and the driving Miniature walking robot for climbing up wall is spent to the 90 magnetic conduction walls of the spending row that swashes 0.
The present invention has following advantage compared to existing technology:
1) simple in structure, volume is little, in light weight
This Miniature walking robot for climbing up wall is made up of body and bipod, and body is made up of frame, permanent magnet and guide rail and stop; Pin is made up of slide block, drive coil, absorption coil and iron core; Therefore have simple in structure, volume is little, advantage such as in light weight, this micro-robot volume is about 40mm * 25mm * 18mm, weight is about 30 grams.
2) control is flexible
This Miniature walking robot for climbing up wall, replace break-make, change sense of current, the frequency of electric current, the position of stop, current strength (amplitude) by the control coil electric current, control robot absorption and walk, move forward and backward, acceleration and deceleration turning and at the 0-90 degree magnetic conduction wall row that swashes, control flexible.
3) the reliable operation fault rate is low
This Miniature walking robot for climbing up wall is simple in structure, volume is little, in light weight and control flexible, entire machine robot system reliable operation, fault rate is low, even break down, also is easy to get rid of and resume work.
4) energy conversion efficiency height
Owing to utilize electromagnetic force directly to drive Miniature walking robot for climbing up wall, do not have intermediary movements switching mechanism energy loss, thereby have the high advantage of energy conversion efficiency.
Checking by experiment, the Miniature walking robot for climbing up wall of this patent development has been realized the forward and reverse walking of straight line, acceleration and deceleration walking, turned and has climbed actions such as wall.Stride is controlled at 1-2mm, and speed is 6-12mm/s.
The drawing of accompanying drawing is described as follows:
Fig. 1: Miniature walking robot for climbing up wall three-dimensional structure diagram
Fig. 2: Miniature walking robot for climbing up wall side view
Fig. 3: Miniature walking robot for climbing up wall front view
Fig. 4: Miniature walking robot for climbing up wall vertical view
Fig. 5: Miniature walking robot for climbing up wall control sequential chart
Arrive Fig. 5 below in conjunction with Fig. 1, enforcement of the present invention is described in further detail: Fig. 1 is the three-dimensional structure diagram of Miniature walking robot for climbing up wall, it reflects the overall picture of this micro-robot, Fig. 2 to Fig. 4 respectively from side-looking, main the structure that different angles reflect this micro-robot such as look, overlook, Fig. 5 is the control sequential chart of this micro-robot walking.As shown in Figure 1, Miniature walking robot for climbing up wall mainly is made up of body and bipod, and body is made up of frame [5], permanent magnet [3], line slideway [7] and stop [6]; Bipod is made up of slide block [8], drive coil (containing iron core) [4], absorption coil [2] and iron core [1] respectively.Middle part in frame [5], every technical parameter is identical and permanent magnet [3] that magnetic pole is opposite in two of parallel installations, go up fixed installation two groups of non-magnetic line slideways [7] in frame [5], two slide blocks [8] constitute the axially movable moving sets of symmetrical energy with line slideway [7], with the number of turn is that the drive coil [4] of 400 to 600 circles is installed on the slide block [8], and the center line that makes drive coil [4] is positioned on the central plane of upper and lower surface of permanent magnet [3], make the end face of drive coil [4] be parallel to the magnetic pole end face of permanent magnet [3] simultaneously, space length between drive coil and the permanent magnet should guarantee that drive coil [4] and permanent magnet [3] magnetic field energy interact, and make drive coil and permanent magnet magnetic field action form driving force; The affixed iron core with 400 to 800 circles absorption coil in slide block [8] lower end, the electromagnetic force that produces during energising can be adsorbed in robot on the magnetic conduction face.
Below in conjunction with Fig. 5 the driving control procedure of this Miniature walking robot for climbing up wall is described in further detail: the present invention is by replacing the electric current of break-make absorption coil and drive coil, control this micro-robot bipod and alternately adsorb and walk, promptly utilize electromagnetic force directly to drive Miniature walking robot for climbing up wall.Fig. 5 is Miniature walking robot for climbing up wall control sequential chart, waveform 1 is left foot absorption coil current control sequential among the figure, waveform 2 is a left foot drive coil Current Control sequential, and waveform 3 is right crus of diaphragm absorption coil current control sequential, and waveform 4 is a right crus of diaphragm drive coil Current Control sequential.As shown in Figure 5, be in t when controlling sequential
1Constantly, waveform 3 shows right crus of diaphragm absorption coil electricity, and this coil produces electromagnetic force right crus of diaphragm is adsorbed on the magnetic conduction face; Waveform 1 shows left foot absorption coil blackout; Waveform 4 shows that the right crus of diaphragm drive coil passes to forward current, and at this moment, robot is fulcrum with the right crus of diaphragm, drives the body reach; Waveform 2 shows that the left foot drive coil passes to reversing the current, and the driving left foot again to reach, has realized that robot left foot list pin moves forward a step with respect to body thus.When the control sequential is in t
2Constantly, waveform 3 shows right crus of diaphragm absorption coil blackout; Waveform 1 shows left foot absorption coil electricity, and this coil produces electromagnetic force left foot is adsorbed on the magnetic conduction face; Waveform 4 shows that the right crus of diaphragm drive coil still passes to forward current, and waveform 2 shows that this moment, the left foot drive coil still passed to reversing the current, promptly at t
2Constantly only control break the absorption pin.When the control sequential is in t
3Constantly, waveform 3 shows right crus of diaphragm absorption coil blackout; Waveform 1 shows left foot absorption coil electricity, and this coil produces electromagnetic force left foot is adsorbed on the magnetic conduction face; Waveform 2 shows that the left foot drive coil passes to forward current, and at this moment, robot is fulcrum with the left foot, drives the body reach; Waveform 4 shows that the right crus of diaphragm drive coil passes to reversing the current, and the driving right crus of diaphragm again to reach, has realized that robot right crus of diaphragm list pin moves forward a step with respect to body thus.When the control sequential is in t
4Constantly, waveform 3 shows right crus of diaphragm absorption coil electricity, and this coil produces electromagnetic force right crus of diaphragm is adsorbed on the magnetic conduction face; Waveform 1 shows left foot absorption coil blackout; Waveform 4 shows that the right crus of diaphragm drive coil passes to reversing the current; Waveform 2 shows that the left foot drive coil passes to forward current, promptly at t
4Constantly also only control break the absorption pin.By t
1To t
4Each has walked a step one-period of this robot ambulation SECO that Here it is forward promptly to have realized these robot both feet.
Drive Miniature walking robot for climbing up wall as desire and oppositely walk, can realize by the direction that changes two drive coil electrical currents; As desire to make Miniature walking robot for climbing up wall to quicken and deceleration, and can be by the frequency of two groups of absorption of change with the drive coil electrical current, raising energising frequency during acceleration, reduction energising frequency during deceleration; Driving Miniature walking robot for climbing up wall as desire turns, can be by changing the position of guide rail two ends stop, making wherein, a step width of cloth reduces, another step width of cloth remains unchanged, drive according to aforementioned traveling method, Miniature walking robot for climbing up wall is turned, change direction of travel, walk to the skidding that stride reduces.Drive Miniature walking robot for climbing up wall at the 0-90 degree magnetic conduction wall row that swashes as desire, can increase absorption affinity by the current strength (being the coil current amplitude) that change is applied on the two absorption coils, and current strength (being the coil current amplitude) the increase driving force that change is applied on two drive coils realizes.
Because Miniature walking robot for climbing up wall volume of the present invention is little, in light weight, volume is about 40mm * 25mm * 18mm, and weight is about 30 grams.It will be widely used in small, narrow space and the pipeline, cooperation position Detection ﹠ Controling and microsensor carry out various detections and operation, will be in the quality-monitoring and the control of the precision optical machinery industry in following 10 years, auto industry etc., obtain extensive use in the detection of physical quantity such as the temperature in oil pipeline, natural gas line, the nuclear radiation environment, pressure, electromagnetic field, nuclear radiation and chemistry amount.
Claims (2)
1. Miniature walking robot for climbing up wall, it is made up of body and bipod, it is characterized in that body is made up of frame, permanent magnet and guide rail; Permanent magnet is fixed on the frame, and guide rail is fixed on both sides, frame front and back, and stop is installed at the guide rail two ends; Pin is made up of slide block, drive coil, absorption coil and iron core, and slide block and guide rail are slidingly matched, and drive coil is installed on the slide block, the affixed iron core in slide block lower end, and the absorption coil is wrapped on the iron core; The permanent magnet mounted in pairs forms magnetic field and acts on drive coil, and the magnetic field that drive coil energising back forms acts on permanent magnet; Frame is made by non-magnetic lightweight material, and guide rail is the low non-magnetic conductive part of good rigidity, surface roughness, and permanent magnet is made by high-magnetodensity degree material, and slide block is the lightweight material of good rigidity, and iron core is a permalloy.
2. the driving method of Miniature walking robot for climbing up wall is characterized in that utilizing electromagnetic force directly to drive this robot and finishes following action:
1) left foot absorption coil electricity produces magnetic force, it is adsorbed on the magnetic conduction face fulcrum that moves as body and right crus of diaphragm; Left and right pin drive coil passes to forward current simultaneously and produces magnetic field, with the effect of homonymy permanent magnet, body is moved forward simultaneously with respect to body with respect to left foot, right crus of diaphragm respectively, finishes the right crus of diaphragm single step and moves; Left foot adsorbs coil blackout then, right crus of diaphragm absorption coil electricity, produce magnetic force, it is adsorbed on the magnetic conduction face, as the fulcrum that body and left foot move, the electrical current of left and right pin drive coil oppositely produces magnetic field, respectively with the effect of homonymy permanent magnet, body is moved forward with respect to body simultaneously with respect to right crus of diaphragm, left foot, finish the left foot single step and move; Like this, Miniature walking robot for climbing up wall left and right sides pin is just gone forward respectively and is made a move;
2) electric current of left and right sides pin absorption coil remains unchanged action 1), the current reversal of left and right sides pin drive coil, and Miniature walking robot for climbing up wall is oppositely walked;
3) bipod absorption and drive coil electrical current increase frequency action 1), Miniature walking robot for climbing up wall quickens walking, and power frequency reduces, and Miniature walking robot for climbing up wall slows down and walks;
4) adjust the position of guide rail two ends stop action 1), make wherein that a step width of cloth reduces, another step width of cloth remains unchanged, the side that Miniature walking robot for climbing up wall reduces to the stride walking of turning;
5) bipod absorption coil is increased to 7.5 volts with the drive coil voltage magnitude by 3.5 volts action 1), and the driving Miniature walking robot for climbing up wall is spent to the 90 magnetic conduction walls of the spending row that swashes 0.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99115045A CN1076653C (en) | 1999-07-27 | 1999-07-27 | Miniature walking robot for climbing up wall and its drive method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99115045A CN1076653C (en) | 1999-07-27 | 1999-07-27 | Miniature walking robot for climbing up wall and its drive method |
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| Publication Number | Publication Date |
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| CN1254636A CN1254636A (en) | 2000-05-31 |
| CN1076653C true CN1076653C (en) | 2001-12-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN99115045A Expired - Fee Related CN1076653C (en) | 1999-07-27 | 1999-07-27 | Miniature walking robot for climbing up wall and its drive method |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101725834B (en) * | 2008-10-24 | 2012-12-12 | 中国石油天然气管道局 | Magnetic sensor for pipeline crawling device |
| CN102269995B (en) * | 2011-06-22 | 2013-09-25 | 重庆大学 | Variable structure control method of wheeled mobile robot |
| CN105857428B (en) * | 2016-03-31 | 2018-06-22 | 华北理工大学 | A kind of Magnetic driving climbs wall device motion and movement technique |
| CN110949557A (en) * | 2019-12-13 | 2020-04-03 | 中国海洋大学 | Permanent magnetism adsorption equipment with adjustable based on pipe climbing robot |
| CN111015683A (en) * | 2019-12-26 | 2020-04-17 | 哈尔滨工业大学 | Outfield-driven double-leg standing walking magnetic micro robot and gait control method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08323675A (en) * | 1995-06-02 | 1996-12-10 | Kubota Corp | Finger for robot hand |
| DE19750098A1 (en) * | 1997-08-23 | 1999-03-04 | Peter Dr Ing Dresler | Electrostatic immersion bath |
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1999
- 1999-07-27 CN CN99115045A patent/CN1076653C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08323675A (en) * | 1995-06-02 | 1996-12-10 | Kubota Corp | Finger for robot hand |
| DE19750098A1 (en) * | 1997-08-23 | 1999-03-04 | Peter Dr Ing Dresler | Electrostatic immersion bath |
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| CN1254636A (en) | 2000-05-31 |
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