CN110979497A

CN110979497A - Passive driving type detection robot based on sea urchin bionics

Info

Publication number: CN110979497A
Application number: CN201911110102.8A
Authority: CN
Inventors: 姚燕安; 姚舜; 唐己明; 刘超; 吴墉
Original assignee: Beijing Jiaotong University
Current assignee: Beijing Jiaotong University
Priority date: 2019-11-13
Filing date: 2019-11-13
Publication date: 2020-04-10

Abstract

The invention provides a novel sea urchin-based bionic passive driving type detection robot. The detection robot adopts a multi-connecting-rod and spherical skeleton structure, and the contact surface between the thorns and the ground on the sphere is adjusted by controlling the rotation of the connecting rods, so that the motion track of the detection robot is changed, the acceleration, the deceleration and the steering are realized, and the detection capability of the sea urchin robot is improved.

Description

Passive driving type detection robot based on sea urchin bionics

Technical Field

The invention belongs to the technical field of automatic detection devices, and particularly relates to a sea urchin bionics-based passive driving type detection robot.

Background

Under the situation that energy and resources are increasingly tense, all countries actively explore the space and the undeveloped field of the earth, and along with the exploration and development of the ocean and the complex water areas by human beings, the earth is increasingly deeply developed. It is urgently needed to develop and apply robots capable of performing dangerous and artificially difficult tasks in complicated water areas instead of humans.

Aquatic organisms have diverse morphological structures capable of adapting to underwater environments and excellent motion capabilities, and designing underwater robots imitating the morphological structures and motion modes of the aquatic organisms has become a research focus of various countries in recent years. For example, a mechanical fish "Robotuna" successfully developed by the american national institute of science and technology imitating the structure of tuna, an octopus-imitating underwater robot cooperatively developed in 2009 by the artificial intelligence research center of germany-mazel-florounhu and germany DFKI, a micro double-fin fish-shaped robot developed by the university of japan famous ancient houses, and a bionic cow-nosed ray and the like developed by the university of beijing aerospace.

At present, the research on sea urchin bionic robots is less, and the U.S. space service administration (NASA) develops a "SuperBall Bot" deformable spherical robot which is a deformable sphere formed by a tension system consisting of pipes and wires, is rich in elasticity and can roll. The gravity center of the robot is changed by the telescopic pipe forming the spherical net structure, and the robot can roll and jump forwards. But the adaptability to complex terrains such as beaches is weak because the contact points are small.

Disclosure of Invention

In order to solve the technical problems, the invention provides a novel sea urchin bionic passive driving type detection robot.

The overall appearance of the detection robot is spherical, the main body of the detection robot adopts a skeleton structure, and the skeleton structure comprises a middle shaft (connecting rod 4), a spherical shell, spines and connecting

rods

1, 2, 3, 5 and 6; the middle shaft is in a circular tube shape, two ends of the middle shaft are respectively connected to the end parts of the

middle connecting rods

3 and 5 through a shaft and a bearing, and the two shafts are mutually vertical in the axial direction; the connecting rods are all in a square tube shape, are connected with the bearings through shafts and are vertical to each other in the axial direction.

The carrying platform consists of a fixed plate and an annular fixed shell; the rectangular fixing plate is located in the middle of the loading platform and is located within the surrounding of the annular fixing shell, the rectangular fixing plate and the rack rod 1 are integrated, and the annular fixing shell is fixed on the rack rod 1.

The diameter of the outer ring of the annular fixing plate is larger than the length of the remote control signal receiver with the longest length in the electronic devices, and all the electronic devices can be wrapped in the annular fixing plate.

The robot body mechanism is a Schatz mechanism, has a single degree of freedom, and is a typical space 6R (revolute pair) link mechanism. The material mixer is widely applied as a material mixer and is an application example of a space mechanism. Based on the Schatz mechanism, the moving device is provided with only one power machine and only one single degree of freedom from the mechanical point of view, can realize the ground moving function and can accurately control the moving direction of the moving device at any position point. We are based on the previously developed single power steerable crawling Schatz mechanism. The crawling rod (connecting rod 4) of the mechanism is reformed into a sea urchin shape. The sea urchin spikes are not contacted with the ground any more, and the mode of plane crawling and obstacle-encountering multi-foot walking movement is realized by the contact of the sea urchin spikes and the ground.

In the power source part, an original mechanism only has one degree of freedom, and a power source is added at a corresponding rotating position (connecting rod 6) and is opposite to the rotating direction of the connecting rod 2 with the same rotating speed and the same relative torque. The mechanism obtains larger torque, and the forward and backward movement of the robot can be controlled by controlling the forward and backward rotation of the motor.

Drawings

The invention is described in detail below with reference to the attached drawing figures:

FIG. 1 is a front view of a probing robot according to an embodiment of the present invention

FIG. 2 is a structural diagram of a carrier platform and a ring-shaped housing of a probing robot according to an embodiment of the invention

FIG. 3 is a perspective view of a pricking ball assembly of a detecting robot according to an embodiment of the present invention

FIG. 4 is a schematic diagram of a link of a probing robot according to an embodiment of the present invention

FIG. 5 is a schematic view of a probing robot link 1 according to an embodiment of the present invention

FIG. 6 is a schematic diagram of the

probing robot links

2 and 6 according to the embodiment of the invention

FIG. 7 is a schematic diagram of the

link

3, 5 of the probing robot according to the embodiment of the present invention

FIG. 8 is a schematic diagram of a probing robot link 4 according to an embodiment of the invention

Detailed Description

The detection robot of one embodiment of the invention has a spherical shell with the diameter of 50mm and a front view of the appearance as shown in figure 1. Twelve spines made of light high-strength carbon fiber 3D printing cylinders with the length of 74mm and the diameter of 10mm are provided, the top of each spine is a semicircle with the diameter of 10mm, one end of each spine is inserted into and glued in a round hole of the spherical shell, and the middle shaft is made of carbon fiber 3D printing pipes with the length of 100mm and the diameter of two mutually perpendicular shaft holes of 4mm and the distance of 80 mm. The connecting

rods

3 and 5 are made of carbon fiber pipes with the diameter of two mutually perpendicular shaft holes of 100mm being 4mm and the distance being 80 mm. As in fig. 1, they are connected two by using bolts and nuts and bearings. The connecting

rods

2 and 6 are constructed as shown in fig. 2, have the length of 40mm, are mutually perpendicular to the rotation holes and have the distance of 14.72mm, and are connected with the bearings, the connecting

rods

3 and 5 and the coupler through bolts and nuts.

The loading platform consists of a rectangular fixed plate and an annular fixed shell; wherein, the rectangular fixed plate 6 is integrated with the frame 1 and is positioned in the surrounding of the annular fixed shell, the annular fixed shell 4 is fixed on the frame 1, and the annular fixed shells are glued.

The cargo platform is used for placing control system, battery, and detection equipment etc. and the detection robot of this embodiment contains an Arduino nano V3 singlechip, L298n motor drive board, PS2 handle remote control model receiver, 12V aviation lithium cell. Wherein Arduino nano V3 singlechip, L298n motor drive board, PS2 handle remote control model receiver, install in the homonymy position of rectangle fixed plate, 12V aviation lithium electricity is installed in the offside position, guarantees the central point of barycenter position and frame 1 and puts the coincidence.

Two 6V PG15-050 planetary gear motors are fixedly connected with the two sides of the frame 1 through bolts. The OUT1, OUT2 ports of the motor drive plate L298n control the left side motor 1, OUT3, OUT4 ports control the right side motor 2. As shown in fig. 4, the connection of the motor drive board L298n to the battery and motor is shown. A 12 volt lithium battery is used for the power supply to the control circuit board.

The working principle is as follows: if both motors in fig. 1 are energized. The two motors are controlled by the L298n motor driving plate to simultaneously output the same rotating speed and opposite rotating directions, such as the positive pole high level and the voltage low level of the motor 1; the positive pole of the motor 2 is low, the negative pole of the motor is high, and the robot can be driven to move forward; when the controller outputs the level combination opposite to the former, the robot can be driven to move backwards; the robot can be driven to rotate left and right by controlling different rotating speeds and steering directions of the left motor and the right motor.

Claims

1. A passive driving type detection robot based on sea urchin bionics is characterized in that a connecting rod at the front part of the detection robot is spherical in appearance, a main body of the detection robot adopts a skeleton structure, and the skeleton structure comprises connecting rods 1, 2, 3, 4, 5 and 6 and radial spines; the skeleton structure sets up objective platform in connecting rod 1 department, and the equipment on the objective platform includes control circuit board, battery.

2. The inspection robot according to claim 1, wherein a ball having a hole is attached to the link 4 and one end of the ball is fixed to a thrust table of the link 4.

3. The probing robot as recited in claim 1 wherein said spines are all variable cross-section cylinders with a minor diameter inserted into a perforated spherical shell at one end and a hemisphere at the other end.

4. The detection robot as claimed in claim 1, wherein the stage is composed of a link 1, an outer annular stationary shell; wherein, the connecting rod 1 is positioned in the middle of the loading platform and is positioned in the surrounding of the annular fixed shell; the middle shaft passes through the connecting rod 1 and is vertical to the connecting rod; the connecting rod 1 is glued with an outer annular fixed shell.

5. The detection robot as claimed in claim 1, wherein the frame 1 is used for fixing a motor, a control circuit board, a remote control signal receiver, a battery; the front end of the annular shell is provided with a long-strip-shaped arc notch which is convenient for the connection and the closing of a circuit, and a gap is reserved between the annular shell and the rack 1 and used for allowing a pipeline and an electric wire to pass through.

6. The detection robot as claimed in claim 1, wherein the whole mechanism has one degree of freedom, and two planetary gear motors of the same type but with opposite rotation directions are added at the connecting rods 2 and 6 to increase the torque.

7. A probe robot as claimed in claim 1 or 6, wherein the robot centre of mass is displaced as far forward as possible on the sea urchin, and the load mass centre on the rear stage is located on the central axis of the gantry 1.

8. The detection robot as claimed in claim 1, wherein two couplings connected to the output shafts of the motors are provided at the two links 2, 6 of the single degree of freedom mechanism, and are respectively connected to the output shafts of the two motors fixed to the link 1, and the two motors have the same rotation speed and torque action time and opposite rotation directions.