CN107672683A - A kind of bio-robot - Google Patents
A kind of bio-robot Download PDFInfo
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- CN107672683A CN107672683A CN201710890654.XA CN201710890654A CN107672683A CN 107672683 A CN107672683 A CN 107672683A CN 201710890654 A CN201710890654 A CN 201710890654A CN 107672683 A CN107672683 A CN 107672683A
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- motor
- sole
- thigh
- rotating part
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention discloses a kind of bio-robot, crawled climbing robot based on the bionical dry leg formula for sticking technology, including body, control module and leg formula structure, leg formula structure is connected with body, leg formula structure is multiple, including thigh fixed seat, thigh rotating part, thigh lifts leg part, shank rotating part, stick sole, first motor, second motor and the 3rd motor, thigh fixed seat is fixed on body, first motor driving thigh rotating part rotates, second motor driving thigh lift leg parts turn, 3rd motor driving shank rotating part rotates, sole is rotatablely connected with shank rotating part, control module controls the first motor respectively, the rotation of second motor and the 3rd motor.The present invention is by setting flexible leg formula structure and excellent sticking sole, so that bio-robot is not only adapted to space microgravity environment, and there is excellent obstacle climbing ability, so as to realize in space capsule in small space the complicated landform such as cable, right-angle surface transition.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of bio-robot.
Background technology
With the rapid development of manned spaceflight technology, in order to reduce astronaut's operation's load, the cost of manned space flight is reduced,
It is more and more stronger for in-orbit service machine Man's Demands.Especially for narrow and small complex space in space capsule, (astronaut is difficult to
The space arrived at, such as in space capsule between electric equipment slit space, interior equipment and nacelle small space) it is fire-retardant, clear
The detection and maintenance of the problems such as clean, line fault, currently without In-flight measurement robot applicatory.
Current In-flight measurement both at home and abroad focuses primarily upon the research of big machinery arm, such as Canadian SRMS systems with arch maintenance robot
System, U.S. DARPA phoenix plans, but the detection and maintenance to narrow and small complex space in space capsule can not be realized.And small space
Motion study is concentrated mainly on the motion under bionic insect climbing robot and minitype wheeled robot gravity environment, above institute
The robot stated can not all adapt to the microgravity environment residing for space capsule, can not tackle cable run complicated in space, straight
The problems such as edged surface transition.
Species based on the dry bio-robot for sticking technology is more, as Stanford Univ USA is a kind of in proposition in 2006
Entitled Stickybot gecko-emulated robot, although can realize that vertical plane is creeped, turning and obstacle detouring can not be realized.California
The MechoGecko of university's Berkeley development, by three on driving wheel stick it is full it is existing metope is sticked, but nothing
Method sticks motion in non-smooth surface.Domestic Nanjing Aero-Space University have developed IBSS-6 can vertical smooth surface (glass,
Plastics) creep, and realize turning.It can be seen that although based on the existing ripe research of the dry bio-robot for sticking technology, it is directed to
Lack research in the In-flight measurement robot of the narrow and small complex space of space microgravity.
For above-mentioned the deficiencies in the prior art, the present invention proposes a kind of new suitable for narrow and small complex space inspection in space capsule
The bio-robot of survey, it is crawled climbing robot based on the bionical dry leg formula for sticking technology.What it had bionical dry sticks
Sole is adapted to the microgravity environment in space capsule, and reliable adhesive force is provided for the detection operation motion of robot；Its spirit
Tui Shi mechanisms living so that bio-robot has excellent obstacle climbing ability, can be achieved to complicated landforms such as cable, right-angle surfaces
Transition；The crawling structure of crawling of its imitative wall gecko type so that bio-robot has the ability in small space motion.The present invention's
The detection for being embodied as narrow and small complex space in space capsule provides a kind of robot, to improve the security in space capsule, reduces space
Boat person's live load, reduce the operating cost of manned space flight.
The content of the invention
It is an object of the invention to provide a kind of bio-robot, by setting flexible leg formula structure so that bionic machine
People has the ride-through capability of excellent obstacle climbing ability and small space, so as to realize the mistake to complicated landforms such as cable, right-angle surfaces
Cross.
To achieve the above object, the invention provides following scheme：
The present invention provides a kind of bio-robot, including body, control module and leg formula structure, the leg formula structure and institute
State body to be connected, the leg formula structure is multiple, including thigh fixed seat, thigh rotating part, thigh lift leg part, shank revolves
Turning part, sole, the first motor, the second motor and the 3rd motor, the thigh fixed seat is fixed on the body, and described
One motor drives the thigh rotating part to rotate, the second motor driving thigh lift leg parts turn, and the described 3rd
Motor drives the shank rotating part to rotate, and the bionical sole is rotatablely connected with the shank rotating part, the control
Module controls the rotation of first motor, second motor and the 3rd motor respectively.
Preferably, in addition to image unit, it is provided with the body and is connect for the shooting being connected with the image unit
Mouthful, the control module is connected with the camera interface.
Preferably, the sole includes sole main body and sole extension, and the sole extension is multiple and is in toe
Shape is distributed in the sole body side.
Preferably, the sole main body is connected with the shank rotating part by rod member, the rod member lower end with it is described
Sole main body is connected by ball-joint, and spring, the spring housing are provided between the sole main body and the shank rotating part
On the rod member.
Preferably, the lower surface of the sole main body and the sole extension is provided with imitative gecko bristle and sticks material
Material.
Preferably, the lower surface of the sole extension and the lower surface of the sole main body are coplanar, the sole extension
The thickness in portion is by gradually thinning close to one end of the sole main body to one end away from the sole main body.
Preferably, it is provided with the leg formula structure and controls first motor, second motor and described respectively
The first magnetic switch, the second magnetic switch and the 3rd magnetic switch of three motors work slewing area, the thigh fixed seat, institute
It is nonmagnetic substance to state thigh rotating part, thigh lift leg part, the shank rotating part and the sole.
Preferably, the thigh fixed seat, the thigh rotating part, thigh lift leg part and shank rotation
Part is aluminum alloy materials, and the sole is flexible material.
Preferably, be provided with battery on the body, the battery be respectively the control module, first motor,
Second motor and the 3rd motor power supply.
The present invention achieves following technique effect relative to prior art：
Bio-robot provided by the invention, its dry microgravity ring for sticking sole and being adapted in space capsule having
Border, reliable adhesive force is provided for the detection operation motion of robot；Its flexible Tui Shi mechanism so that bio-robot has
Excellent obstacle climbing ability, the transition to complicated landforms such as cable, right-angle surfaces can be achieved；The crawling structure of crawling of its imitative wall gecko type,
So that bio-robot has the ability in small space motion.The inspection for being embodied as narrow and small complex space in space capsule of the present invention
Survey and a kind of bio-robot is provided, to improve the security in space capsule, reduce astronaut's operation's load, reduce manned space flight
Operating cost.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is bio-robot structural representation of the present invention；
Fig. 2 is body construction front view；
Fig. 3 is body construction top view；
Fig. 4 is body construction left view；
Fig. 5 is thigh fixed seat front view；
Fig. 6 is thigh fixed seat top view；
Fig. 7 is thigh fixed seat left view；
Fig. 8 is thigh rotating part front view；
Fig. 9 is thigh rotating part top view；
Figure 10 is thigh rotating part left view；
Figure 11 is that thigh lifts leg part front view；
Figure 12 is that thigh lifts leg part top view；
Figure 13 is that thigh lifts leg part left view；
Figure 14 is shank rotating part front view；
Figure 15 is shank rotating part top view；
Figure 16 is shank rotating part left view；
Figure 17 is sole structural front view；
Figure 18 is sole structure top view；
Figure 19 is sole structure left view；
Description of reference numerals：1st, sole；2nd, shank rotating part；3rd, thigh lift leg part；4th, thigh rotating part；5th, it is big
Leg fixed seat；6th, control module；7th, body；8th, camera interface；9th, fixed seat mounting hole；10th, control module mounting hole；11st, take the photograph
As interface slot；12nd, mounting groove；13rd, the first motor installing hole；14th, thigh fixed seat mounting hole；15th, first axle；16th, first
Cartridge housing seating groove；17th, the first motor connection hole；181st, the first magnet steel mounting hole；182nd, the second magnet steel mounting hole；19th, second is solid
Determine hole；20th, the first fixing hole；21st, the second motor connection hole；22nd, the 3rd motor installing hole；23rd, the second motor installing hole；24、
Second motor position hole；251st, the second cartridge housing seating groove；252nd, the 3rd cartridge housing seating groove；26th, fin；27th, sole mounting hole；
28th, the 3rd motor connection hole；29th, the 3rd magnet steel mounting hole；30th, reinforcement；31st, the 3rd fixing hole；32nd, rod member；33rd, spring spiral shell
Pit；34th, sole extension；35th, ball-joint.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
There is excellent obstacle climbing ability it is an object of the invention to provide a kind of, can in space capsule the narrow and small complicated ring of microgravity
Border carries out creeping movement bio-robot.
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
As shown in figure 1, the present invention provides a kind of bio-robot, including body 7, control module 6 and four leg formula structures.
Leg formula structure is connected with body 7, is distributed in the surrounding of body 7, including thigh fixed seat 5, thigh rotating part 4, thigh lift leg
Part 3, shank rotating part 2, sole 1, the first motor, the second motor and the 3rd motor.
The structure of body 7 is as in Figure 2-4.The upper surface of body 7 is provided with mounting groove 12, and control module 6 is arranged at installation
In groove 12.Body bottom portion is provided with battery, and battery is respectively that control module 6, the first motor, the second motor and the 3rd motor supply
Electricity.The side of body 7 is provided with the camera interface 8 for being connected with image unit, and control module 6 is connected with camera interface 8.
Thigh fixed seat 5 is fixed at the fixed seat mounting hole 9 on body 7, thigh rotating part 4 and thigh fixed seat 5
It is rotatablely connected around first axle 15, the first motor driving thigh rotating part 4 rotates.Thigh lift leg part 3 and thigh rotation zero
Part 4 is rotatablely connected around second axis, and the second motor driving thigh lift leg part 3 rotates.Shank rotating part 2 and thigh lift leg zero
Part 3 is rotatablely connected around the 3rd axis, and the 3rd motor driving shank rotating part 2 rotates.Sole 1 rotates with shank rotating part 2
Connection, first axle 15 is parallel to the 3rd axis, and first axle 15 is perpendicular to second axis, and first axle 15 is perpendicular to body 7
Bottom surface.Control module 6 controls the rotation of the first motor, the second motor and the 3rd motor respectively.
The structure of thigh fixed seat 5 is as illustrated in figs. 5-7.First motor is installed on arc edge below Fig. 5.First motor
Output to thigh rotating part 4, driving thigh rotates the power of output centered on first axle 15 after reducing gear slows down
Part 4 rotates.First motor and its reducing gear are fixed on the first motor installing hole 13 in thigh fixed seat 5 by fastener
Place.
The structure of thigh rotating part is as seen in figs. 8-10.The clutch end of first motor stretches into the first motor connection hole
In 17.First motor connection hole 17 is class T-slot structure, and the cross section of the clutch end of the first motor is polymorphic structure, from
And contacted with the first motor connection hole 17 spacing, action of the thigh rotating part 4 to the first motor is responded.In order to
Make clutch end contact with the first motor connection hole 17 of the first motor closer, so that transmission is more stable, thigh rotation
Turn to be additionally provided with the first fixing hole 20 on part 4.The extension for being axially perpendicular to the first motor connection hole 17 of first fixing hole 20
Direction.
The action that first magnetic switch is used for the first motor is controlled, including the first box body and the first magnet steel.When
When the distance of one magnet steel and the first box body reaches a certain setting value, the first magnetic switch has interrupt signal input control module 6,
Stall the first motor.The first magnet steel mounting hole 181 is provided with thigh rotating part 4, first is provided with thigh fixed seat 5
Cartridge housing seating groove 16.
The structure of thigh lift leg part 3 is as figs 11-13.On thigh lift leg part 3 at the second motor position hole 24
Second motor is installed, by setting fastener to be fixed on the second motor and its reducing gear at the second motor installing hole 22
On thigh lift leg part 3.The second motor connection hole 21 is provided with thigh rotating part 4, the power of the second motor output is through subtracting
Output is to thigh rotating part 4 centered on second axis after fast mechanism slows down, and driving thigh lift leg part 3 is relative to thigh rotation
Part 4 rotates.
Second motor connection hole 21 is class T-slot structure, and the cross section of the clutch end of the second motor is polymorphic structure,
It is spacing so as to be contacted with the second motor connection hole 21, action of the thigh rotating part 4 to the second motor is responded.For
Make clutch end contact with the second motor connection hole 21 of the second motor closer, so that transmission is more stable, thigh
The second fixing hole 19 is additionally provided with rotating part 4.Second fixing hole 19 is axially perpendicular to prolonging for the second motor connection hole 21
Stretch direction.
The action that second magnetic switch is used for the second motor is controlled, including the second box body and the second magnet steel.When
When the distance of two magnet steel and the second box body reaches a certain setting value, the second magnetic switch has interrupt signal input control module 6,
Stall the second motor.It is provided with the second magnet steel mounting hole 182 on thigh rotating part 4, the is provided with thigh lift leg part 3
Two cartridge housing seating grooves 251.
The structure of shank rotating part 2 is as illustrated in figures 14-16.The 3rd motor installing hole is offered on thigh lift leg part 3
22, lift leg part by setting fastener that the 3rd motor and its reducing gear are fixed on into thigh at the 3rd motor installing hole 22
On 3.The 3rd motor connection hole 28 is provided with shank rotating part 2, the power of the 3rd motor output is after reducing gear slows down
Output to shank rotating part 2, driving shank rotating part 2 rotates relative to thigh lift leg part 3 centered on the 3rd axis.
The clutch end of 3rd motor is stretched into the 3rd motor connection hole 28.3rd motor connection hole 28 is class T-slot
Structure, the cross section of the clutch end of the 3rd motor is polymorphic structure, spacing so as to be contacted with the 3rd motor connection hole 28, is made
Thigh rotating part 4 can respond to the action of the 3rd motor.In order that the clutch end of the 3rd motor and the 3rd electricity
The contact of machine connecting hole 28 is closer, so that transmission is more stable, the 3rd fixing hole 31 is additionally provided with shank rotating part 2.
The bearing of trend for being axially perpendicular to the 3rd motor connection hole 28 of 3rd fixing hole 31.
The action that 3rd magnetic switch is used for the first motor is controlled, including the 3rd box body and the 3rd magnet steel.When
When the distance of three magnet steel and the 3rd box body reaches a certain setting value, the 3rd magnetic switch has interrupt signal input control module 6,
Stall the 3rd motor.It is provided with the 3rd magnet steel mounting hole 29 on shank rotating part 2, the is provided with thigh lift leg part 3
Three cartridge housing seating grooves 252.
A diameter of 4mm of first cartridge housing seating groove 16, the second cartridge housing seating groove 251 and the 3rd cartridge housing seating groove 252, before it
End has fixing screws to be used for positioning.
Because the second motor and the 3rd motor may be contained within thigh lift leg part 3, for the ease of radiating, thigh lift leg zero
Relative set fin 26 on part 3.
The structure of sole 1 is as in figs. 17-19.Sole 1 includes sole main body and sole extension 34, sole extension 34
To be multiple and be distributed in sole body side in toe shape.Sole mounting hole 27, sole installation are provided with shank rotating part 2
Hole 27 is cylindrical hole.Sole main body is connected with shank rotating part 2 by rod member 32, and sole mounting hole 27 is stretched into the upper end of rod member 32
Interior, the lower end of rod member 32 is connected with sole main body by ball-joint 35.Spring is provided between sole main body and shank rotating part 2,
Spring housing is on rod member 32.The lower surface of sole main body and sole extension 34 is provided with imitative gecko bristle pasting material.
The lower surface of sole extension 34 and the lower surface of sole main body are coplanar, and the thickness of sole extension 34 is by close to sole main body
One end is gradually thinning to one end away from sole main body.
Sole 1 can both move up and down under the action of the spring, can also be swung around ball-joint 35, while can also around rod
The axis rotation of part 32, spring can be such that sole 1 resets in time.The flexibility moved by improving sole 1, improves bionical machine
The obstacle climbing ability of device people.
The imitative gecko bristle pasting material set on sole 1 almost all has Adhesion property to all surface, so as to ensure
Bio-robot stably sticks and climbed under microgravity environment.
Thigh fixed seat 5, thigh rotating part 4, thigh lift leg part 3 and shank rotating part 2 are aluminum alloy materials, pin
The palm 1 is flexible material, and leg formula construction machine intensity is on the one hand improved while weight is reduced, is on the other hand avoided to magnetic
Switch has an impact.
In four leg formula structures, the free degree of sole 1 is the uncontrollable free degree, and controllable degrees of freedom has three, respectively by
First motor, the second motor and the driving of the 3rd motor, by the first magnetic switch, the second magnetic switch, the 3rd magnetic switch and control
Molding block is controlled.Control module 6 includes single-chip microcomputer and control circuit, and the pulse signal sent by single-chip microcomputer is come to stepping
The rotating speed and rotational angle of motor are controlled, and the first motor, second are used as by the use of magnetic field induction signal caused by magnetic switch
The limit signal of motor and the 3rd motor movement, so as to the gait track of control machine people.
The bionic machine that present embodiment provides artificially imitates four-footed and crawled the formula robot of crawling of animal traveling mode.Phase
Than in the vertical animal of traditional four-footed, the four-footed animal (such as gecko) that crawls can be moved rapidly in small space, reason
It is the unique construction of its leg bone.Each joint rotation axis of leg structure of traditional vertical animal of four-footed is parallel to the ground,
And the leg joint rotation axis for the animal that crawls is perpendicular to the ground so that the body of bio-robot is flat, barycenter is low, Neng Gou
Small space is quickly walked.The present invention is using design of the animal leg articulation structure as robot leg structure of crawling
Prototype so that two cradle heads of robot are perpendicular to the ground, creep sticking of being stablized in small space and soon
The motor pattern switching of speed.
First axle 15 is parallel to the 3rd axis in present embodiment, and first axle 15 is perpendicular to second axis, first axle
Line 15 is perpendicular to the bottom surface of body 7.During walking, body 7 is, thus present embodiment parallel with ground or metope
The leg formula structure of disclosed bio-robot is to extend laterally setting, leg formula structure and body in the surrounding of robot body
Positioned at sustained height layer, its whole height is low, occupies little space, and center of gravity is relatively low, can be walked in small space.And because the
One axis and the 3rd axis perpendicular to ground, i.e., when it is advanced the manner of execution of leg formula structure predominantly around body oscillatory, thus
No matter when by horizontal, longitudinal or oblique slit, significant change will not occur for the whole height of robot, can be light
Pass through slit, this is that robot of the prior art is unable to reach.Realize leg formula structure along front and back by two motors
To two-stage rotary oscillation, can not only increase the space at robot foot end, and accelerate the swing speed of leg, improve
Traveling efficiency.
Apply specific case in this specification to be set forth the principle and embodiment of the present invention, above example
Explanation be only intended to help understand the present invention method and its core concept；Meanwhile for those of ordinary skill in the art,
According to the thought of the present invention, in specific embodiments and applications there will be changes.In summary, in this specification
Appearance should not be construed as limiting the invention.
Claims (9)
- A kind of 1. bio-robot, it is characterised in that including body, control module and leg formula structure, the leg formula structure and institute State body to be connected, the leg formula structure is multiple, including thigh fixed seat, thigh rotating part, thigh lift leg part, shank revolves Turning part, sole, the first motor, the second motor and the 3rd motor, the thigh fixed seat is fixed on the body, and described One motor drives the thigh rotating part to rotate, the second motor driving thigh lift leg parts turn, and the described 3rd Motor drives the shank rotating part to rotate, and the sole is rotatablely connected with the shank rotating part, the control module The rotation of first motor, second motor and the 3rd motor is controlled respectively.
- 2. bio-robot according to claim 1, it is characterised in that also including image unit, set on the body There is the camera interface for being connected with the image unit, the control module is connected with the camera interface.
- 3. bio-robot according to claim 2, it is characterised in that the sole includes sole main body and sole extends Portion, the sole extension are multiple and are distributed in the sole body side in toe shape.
- 4. bio-robot according to claim 3, it is characterised in that the sole main body and the shank rotating part It is connected by rod member, the rod member lower end is connected with the sole main body by ball-joint, the sole main body and the shank Spring is provided between rotating part, the spring housing is on the rod member.
- 5. bio-robot according to claim 4, it is characterised in that the sole main body and the sole extension Lower surface is provided with imitative gecko bristle pasting material.
- 6. bio-robot according to claim 5, it is characterised in that the lower surface of the bionical sole extension and institute State that the lower surface of bionical sole main body is coplanar, the thickness of the sole extension is by close to one end of the sole main body to remote One end of the sole main body is gradually thinning.
- 7. bio-robot according to claim 1, it is characterised in that be provided with the leg formula structure and control institute respectively State the first magnetic switch, the second magnetic switch of the first motor, second motor and the 3rd motor work slewing area With the 3rd magnetic switch, the thigh fixed seat, the thigh rotating part, thigh lift leg part, shank rotation Part and the sole are nonmagnetic substance.
- 8. bio-robot according to claim 7, it is characterised in that the thigh fixed seat, thigh rotation zero Part, thigh lift leg part and the shank rotating part are aluminum alloy materials, and the sole is flexible material.
- 9. bio-robot according to claim 1, it is characterised in that battery, the battery are provided with the body Respectively described control module, first motor, second motor and the 3rd motor power supply.
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| CN108583941B (en) * | 2018-03-08 | 2023-07-25 | 南京航空航天大学 | Bionic wall climbing robot suitable for complex narrow space in microgravity environment of space station |
| CN108362640A (en) * | 2018-04-19 | 2018-08-03 | 南京航空航天大学 | A kind of bionical pasting material sticks force test device and its test method |
| CN108748128B (en) * | 2018-06-14 | 2021-04-09 | 哈尔滨工业大学 | Frog-imitating robot hip joint |
| CN111493732A (en) * | 2020-04-26 | 2020-08-07 | 陕西科技大学 | Gecko-like glass wiping robot and glass wiping method |
| CN113277118A (en) * | 2021-06-04 | 2021-08-20 | 西安交通大学 | Crawling robot for detecting blades of aero-engine |
| CN113277118B (en) * | 2021-06-04 | 2023-08-22 | 西安交通大学 | Crawling robot for detecting aero-engine blades |
| CN114851223A (en) * | 2022-05-24 | 2022-08-05 | 武汉理工大学 | Bionic robot for wall detection, image processing device and working method |
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Application publication date: 20180209 |