CN111168659A - Snakelike bionic robot and control system thereof - Google Patents
Snakelike bionic robot and control system thereof Download PDFInfo
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- CN111168659A CN111168659A CN202010045419.4A CN202010045419A CN111168659A CN 111168659 A CN111168659 A CN 111168659A CN 202010045419 A CN202010045419 A CN 202010045419A CN 111168659 A CN111168659 A CN 111168659A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention discloses a snakelike bionic robot and a control system thereof, and relates to the technical field of bionic robots. The invention comprises a head joint, a tail joint and a universal joint connected between the head joint and the tail joint, wherein the head joint comprises a first shell, a camera, a functional module control circuit, a functional module communication circuit and the like; the tail joint comprises a second shell, a snake tail joint control circuit, a power supply circuit, a cable socket and the like; the universal joint comprises a third shell, a joint plug-in circuit, a steering engine, a joint control circuit and the like; the tail of the tail joint is connected with a power supply controller through a control line, and is connected to an upper computer console through a USB line and controls the snake-shaped bionic robot through a remote control handle. The invention can be suitable for application scenes with narrow space, complex environment and difficult access of people, can be applied to internal operation of narrow pipelines, cable channels and large equipment cavities, can also be applied to scenes such as earthquake rescue, military inspection and the like, and has the characteristic of strong adaptability to complex environment.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to an S-shaped bionic robot and a control system of the S-shaped bionic robot.
Background
The invention belongs to snake robots, which mainly relate to the field of academic research at present, wherein the snake robots mainly comprise: 1. international research institute: GMD-snake developed by the German national information technology research center carries a pressure sensor, a camera sensor and the like; the Omnitead OT series of the university of Michigen adopts a pneumatic multi-degree-of-freedom joint; uncle Sam of the university of Meilong, a modular robot; anna Konda, norwegian university of science and technology, for use in fighting fires. 2. The domestic main research comprises the following steps: a patrolman series robot developed by Shenyang automation research institute; the CSR robot is developed by Shanghai communication and is suitable for crawling; NUDTSR robot of the university of defense science and technology and Chinese dragon developed by Beijing university of information technology. The snake-shaped robots in the academic field have different shapes, are mainly used for technical research, and some snake-shaped robots are only prototype products. The invention is most similar to the snake-shaped robot of the university of Meilong in the card, is a modular joint, but has different specifications, sizes, appearance forms and internal components, and has great difference. 3. The snake-like robot which is commercialized comprises the following components: a snake-type robot from OC robotics, a Festo bionic robot bionics robot, and a snake-type robot from xinsong corporation. The three robot products belong to snake-like mechanical arms, and are most different from snake-like robots in that the tail ends of the three robot products are fixed, cannot independently operate and are similar to the actions of a snake only in action forms. Which is very different from the present invention.
The snake-shaped robot in the academic field is similar to the snake-shaped robot in appearance and motion modes, but is mainly used for technical research, generally a robot prototype, and has the defects of insufficient productization and poor reliability.
Although some companies have commercialized commercial snake-type robot arm products, the products are greatly different from the present invention, and only have a motion shape similar to that of a snake. The tail end of the snake-shaped bionic robot is generally fixed and cannot move independently, the application scene and the application mode are different from those of the snake-shaped bionic robot, the operation range of the robot is limited by the size of the robot, and the application scene is limited, so that the snake-shaped bionic robot and the control system thereof provided by the invention have important significance for solving the problems.
Disclosure of Invention
The invention relates to a snake-shaped bionic robot and a control system thereof, belonging to the invention of a bionic robot product; the robot is similar to a snake in appearance style and motion form, so that the robot can be called as a snake-type robot; the robot can also belong to one of special robots, is suitable for application scenes with narrow space, complex environment and difficult arrival of people, for example, can operate in narrow pipelines, cable channels and large equipment cavities, can also be applied to scenes such as earthquake rescue, military inspection and the like, and has the characteristic of strong adaptability to complex environments.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a snake-shaped bionic robot and a control system thereof, which comprises a head joint, a tail joint and at least eight universal joints movably connected between the head joint and the tail joint;
the head joint comprises a cylindrical first shell, a circle of LED illuminating lamps arranged at the front end of the first shell in a surrounding mode, a camera positioned in the middle of the first shell, a function module control circuit arranged in the first shell and used for controlling the LED illuminating lamps and the camera, a function module communication circuit arranged in the first shell, first joint installation mechanical interfaces and first bearings which are respectively positioned on two sides of a U-shaped connecting base of the head joint; the functional module communication circuit is provided with a first indicator lamp for displaying the working state of the head joint, a functional module communication interface for connecting the LED illuminating lamp and the camera, and a first analog communication interface for transmitting joint control signals to realize base connection control communication and data transmission;
the tail joint comprises a cylindrical second shell, a snake tail joint control circuit arranged in the second shell, a power supply circuit arranged at the tail of the second shell and connected with the tail joint control circuit, and a cable socket arranged at the tail end of the second shell and connected with the snake tail joint control circuit, the snake-shaped robot joint power supply device comprises a first indicator light, a second bearing, a first joint installation mechanical interface, a second bearing, a sliding ring structure and a first shell, wherein the first indicator light is arranged on a power supply circuit and used for displaying the power supply state of a tail joint, the third indicator light is arranged on a snake-shaped tail joint control circuit and used for displaying the integral communication state of the snake-shaped robot joint, the second bearing and the first joint installation mechanical interface are symmetrically arranged on two sides of a U-shaped connecting base at the top end of a second shell, the second bearing is arranged at the tail end of the tail joint and corresponds to a cable;
the universal joint comprises a cylindrical third shell, a joint plug-in circuit arranged in the third shell, a steering engine which is arranged at the inner top of the third shell and is provided with a steering wheel and a third bearing in a symmetrically extending mode on the outer two sides, a joint control circuit which is connected between the joint plug-in circuit and the steering engine and is used for conducting joint control signals to realize steering engine connection control communication, a joint control circuit which is plugged in the joint plug-in circuit and is electrically connected with the steering engine, a second communication interface which is arranged on the joint plug-in circuit and is used for transmitting data, a third joint installation mechanical interface and a third bearing which are symmetrically arranged on a U-shaped connecting base at the bottom end of the universal joint, and a fourth indicator lamp which is arranged on the joint plug-in;
the tail of the tail joint is electrically connected with a snake tail joint control circuit through a slip ring structure by a control line and then is connected with a power supply controller, the power supply controller is powered by a battery power supply, is connected to an upper computer console by a USB (universal serial bus) line and controls the snake-shaped bionic robot through a remote control handle; the adjacent head joints and the adjacent universal joints are rotatably connected with a first joint installation mechanical interface and a third joint installation mechanical interface through a rudder disc and a first bearing, the adjacent two universal joints are rotatably connected with the rudder disc through a crossed third joint installation mechanical interface, and the adjacent universal joints and the tail joints are rotatably connected with a second joint installation mechanical interface and a second bearing through the rudder disc and the third joint installation mechanical interface.
Furthermore, the adjacent cephalad joint, the universal joint and the caudal joint are arranged in series in a staggered mode at an angle of 90 degrees.
Further, the camera adopts a visible light camera or an infrared camera.
Further, the maximum rotation angle between the adjacent caudal joint, the common joint and the cephalad joint is 180 degrees.
Furthermore, a copper customized contact pin is arranged on the joint connection and insertion circuit, a copper insertion needle cylinder which is opposite to the copper customized contact pin and is in insertion fit with the copper customized contact pin is arranged on the joint control circuit, and communication is achieved through series connection of the insertion circuits.
A control system of a serpentine biomimetic robot, comprising:
the head circuit consists of a functional module communication circuit and a functional module control circuit which are electrically connected with the LED illuminating lamp and the camera;
the universal joint circuit consists of a joint control circuit electrically connected with the steering engine and a joint plug-in circuit electrically connected with the joint control circuit in a plug-in manner;
the tail circuit consists of a power supply circuit and a snake tail joint control circuit electrically connected with the power supply circuit;
the head circuit and the universal joint circuit are connected through a rotating shaft hole which is inserted in the U-shaped connecting base and wiring grooves in the first shell and the third shell;
two adjacent universal joint circuits are connected through rotating shaft holes which are inserted in the U-shaped connecting base and wire distribution grooves in the third shell;
the tail circuit and the universal joint circuit are connected through a rotating shaft hole which is inserted in the U-shaped connecting base, wiring grooves in the second shell and the third shell, and a lead is connected to the snake tail joint control circuit;
the head circuit, the universal joint circuit and the tail circuit are sequentially connected through wires and then are connected with the power supply controller through the control line and the tail joint control circuit, the power supply controller is powered by a battery power supply and is connected to an upper computer console through a USB (universal serial bus) line and controls the snake-shaped bionic robot through the remote control handle.
Furthermore, a control line connected with the snake tail joint control circuit in the tail joint is electrically connected with a power supply controller in a 485 communication mode, and the power supply controller is powered by a 24-60V power supply.
Furthermore, a video image display area at the front end of the camera, joint state indicator lamps of the snake-shaped bionic robot and an operation state indication area of the snake-shaped bionic robot are arranged on the UI interface at the end of the upper computer console.
The invention has the following beneficial effects:
1. based on the size of the robot, the robot can drill into a narrow space to move, and meanwhile, a visible light camera or an infrared camera can be carried to shoot images or videos in real time, which is the capacity that other robots do not have;
2. the motion characteristic of the robot can adapt to complex terrains, is the capability which is not possessed by the traditional wheeled robot, has simple structure, large-range motion capability and low cost, and is the advantage which is not possessed by the multi-legged robot;
3. the product adopts a modular design, modules can be conveniently increased, reduced and replaced, and the length of the robot can be adjusted according to application scenes so as to adapt to different application requirements;
4. the product adopts a very simplified design, has fewer parts, and has a larger price advantage compared with other robot products with similar applications;
5. the connection control between each joint of this product is accurate high-efficient, structural design is nimble exquisite, control communication efficiency is high.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of an overall structure of a snake-shaped bionic robot according to an embodiment of the present invention;
FIG. 2 is a right side view of the structure of FIG. 1;
FIG. 3 is a schematic view of the head joint of the present invention;
FIG. 4 is a right side view of the structure of FIG. 3;
FIG. 5 is a front view of the structure of FIG. 3;
FIG. 6 is a schematic view of the connection of a cephalad joint, two universal joints and a caudal joint;
FIG. 7 is a schematic structural view of a universal joint of the present invention;
FIG. 8 is a schematic view of the connection structure of two adjacent universal joints;
FIG. 9 is a right side view of the structure of FIG. 8;
FIG. 10 is a schematic view of the connection structure of the joint patch circuit and the joint control circuit;
FIG. 11 is a schematic structural view of the caudal joint of the present invention;
FIG. 12 is a schematic diagram of a control system of a snake-shaped bionic robot according to the invention;
FIG. 13 is a schematic structural diagram of a control system of a snake-shaped bionic robot according to the present invention;
FIG. 14 is a UI end interface diagram on the console end of the present invention;
in the drawings, the components represented by the respective reference numerals are listed below:
1-head joint, 101-LED lighting lamp, 102-camera, 103-first joint mounting mechanical interface, 104-first housing, 105-function module communication circuit, 107-first indicator lamp, 108-function module communication interface, 109-first analog communication interface, 111-first bearing, 2-tail joint, 201-second housing, 202-second indicator lamp, 203-power supply circuit, 204-cable socket, 205-second bearing, 206-snake tail joint control circuit, 207-tail joint control circuit, 208-slip ring structure, 209-second bearing, 210-second joint mounting mechanical interface, 3-universal joint, 301-third housing, 302-steering wheel, 303-joint control circuit, 3031-copper pin cylinder, 304-third bearing, 306-fourth indicator light, 307-joint plug circuit, 3071-copper customized pin, 308-second communication interface, 309-third joint installation mechanical interface, 310-third bearing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "front end", "inside", "both sides", "rear", etc., indicate orientations or positional relationships and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-11, the present invention relates to a snake-shaped bionic robot and a control system thereof, which comprises a head joint 1, a tail joint 2 and fourteen universal joints 3 movably connected between the head joint 1 and the tail joint 2;
the head joint 1 comprises a cylindrical first shell 104, a circle of LED illuminating lamps 101 arranged at the front end of the first shell 104 in a surrounding manner, a camera 102 positioned in the middle, a function module control circuit 106 arranged in the first shell 104 and used for controlling the LED illuminating lamps 101 and the camera 102, a function module communication circuit 105 arranged in the first shell 104, and first joint installation mechanical interfaces 103 and first bearings 111 respectively arranged on two sides of a U-shaped connecting base of the head joint 1; the functional module communication circuit 105 is provided with a first indicator light 107 for displaying the working state of the head joint 1, a functional module communication interface 108 for connecting the LED illuminating lamp 101 with the camera 102, a base connection control communication interface (110) for conducting joint control signals and a first analog communication interface 109 for transmitting data, and the functional module control circuit 106 is arranged in the first shell 104;
the caudal joint 2 comprises a cylindrical second shell 201, a snake caudal joint control circuit 206 arranged in the second shell 201, a power supply circuit 203 arranged at the caudal part of the second shell 201 and connected with the caudal joint control circuit 207, a cable socket 204 arranged at the caudal end of the second shell 201 and connected with the snake caudal joint control circuit 206, a second indicator light 202 arranged on the power supply circuit 203 and used for displaying the power supply state of the tail joint 2, a third indicator light arranged on the snake tail joint control circuit 206 and used for displaying the whole communication state of the snake-shaped robot joint, a second bearing 205 and a second joint installation mechanical interface 210 symmetrically arranged on two sides of a U-shaped connecting base at the top end of the second shell 201, a second bearing 209 arranged at the tail end of the tail joint 2 and corresponding to the cable plug interface 204 and used for limiting a control line, and a slip ring structure 208 arranged between the second bearing 209 and the snake tail joint control circuit 206;
the universal joint 3 comprises a cylindrical third shell 301, a joint plug-in circuit 307 installed in the third shell 301, a steering engine installed at the top of the third shell 301 and provided with a steering wheel 302 and a third bearing 304 which symmetrically extend out from two sides of the outer side of the third shell, a joint control circuit 303 inserted in the joint plug-in circuit 307 and electrically connected with the steering engine, a second communication interface 308 arranged on the joint plug-in circuit 307 and used for transmitting data, a third joint installation mechanical interface 309 and a third bearing 310 which are symmetrically arranged on a U-shaped connecting base at the bottom end of the universal joint 3, and a fourth indicator light 306 installed on the joint plug-in circuit 307);
the tail of the tail joint 2 is electrically connected with a snake tail joint control circuit 206 through a slip ring structure 208 by a control line and then is connected with a power supply controller, the power supply controller is powered by a battery power supply, is connected to an upper computer console by a USB (universal serial bus) line and controls the snake-shaped bionic robot through a remote control handle; the adjacent head joints 1 and the universal joints 3 are rotatably connected with the first joint installation mechanical interface 103 and the first bearing 111 and the third joint installation mechanical interface 309 through the rudder disc 302, the adjacent two universal joints 3 are rotatably connected with the rudder disc 302 through the crossed third joint installation mechanical interface 309, and the adjacent universal joints 3 and the tail joints 2 are rotatably connected with the second joint installation mechanical interface 210 and the second bearing 209 through the rudder disc 302 and the third joint installation mechanical interface 309.
Wherein, adjacent cephalic joint 1, universal joint 3 and caudal joint 2 are arranged in series in a staggered way at 90 degrees.
The camera 102 may be a visible light camera or an infrared camera, and is configured to capture images and record videos.
Wherein the maximum rotation angle between the adjacent caudal joint 2, the universal joint 3 and the cephalad joint 1 is 180 degrees.
The joint plugging circuit 307 is provided with a copper customized pin 3071, the joint control circuit 303 is provided with a copper pin barrel 3031 which is opposite to the copper customized pin 3071 and matched with the copper customized pin in a plugging manner, and the communication is realized by connecting the plugging circuits in series.
As shown in fig. 11 to 14, a control system of a snake-shaped bionic robot comprises:
a head circuit including a function module communication circuit 105 and a function module control circuit 106 electrically connected to the LED lighting lamp 101 and the camera 102;
the universal joint circuit consists of a joint control circuit 303 electrically connected with the steering engine and a joint plug-in circuit 307 electrically connected with the joint control circuit 303 in a plug-in manner;
the tail circuit consists of a power supply circuit 203 and a snake tail joint control circuit 206 electrically connected with the power supply circuit 203;
the head circuit and the universal joint circuit are connected through a rotating shaft hole which is inserted in the U-shaped connecting base and wiring grooves in the first shell 104 and the third shell 301, and a lead is connected with a joint control circuit 303 of one joint and a joint plug-in circuit 307 of the next joint;
two adjacent universal joint circuits are connected through a rotating shaft hole inserted in the U-shaped connecting base and a wiring groove in the third shell 301; the tail circuit is connected with the universal joint circuit through a rotating shaft hole which is inserted in the U-shaped connecting base and wiring grooves in the second shell 201 and the third shell 301;
the head circuit, the universal joint circuit and the tail circuit are sequentially connected through wires and then are connected with the power supply controller through the control line output by the tail joint control circuit 206, the power supply controller is powered by a battery power supply, is connected to an upper computer console through a USB (universal serial bus) wire and controls the snake-shaped bionic robot through the remote control handle.
Wherein, the control line connected with the snake tail joint control circuit 206 in the tail joint 2 is electrically connected with the power supply controller in a 485 communication mode, and the power supply controller adopts a 24-60V power supply for power supply.
The system comprises an upper computer console, a video camera, a snake-shaped bionic robot, a plurality of joint state indicating lamps, a plurality of joint state indicating areas and a plurality of operating state indicating areas, wherein the UI interface at the upper computer console is provided with a camera front-end video image display area, the snake-shaped bionic robot joint state indicating lamps and the snake-shaped bionic robot operating state indicating areas.
The invention belongs to a bionic robot product; the robot is similar to a snake in appearance and movement form, so that the robot can be considered as a snake-type robot. The robot can also belong to one of special robots, is suitable for application scenes with narrow space, complex environment and difficult access of people, for example, can operate in narrow pipelines, cable channels and large equipment cavities, and can also be applied to scenes such as earthquake rescue, military inspection and the like. The method has the characteristic of strong adaptability to complex environments; the invention focuses on commercializing the robot, and developing practical functions by combining practical application scenes. The product design, research and development comprehensively considers various factors such as technical difficulty, industrial design, BOM cost, product reliability and the like, high performance and high reliability are realized, meanwhile, the system structure is greatly simplified, the cost is reduced, and the product production degree is improved.
The snake-shaped robot product comprises the following components:
1. robot mechanical hardware architecture (including control circuitry); 2. a robot upper computer control system and an interactive interface; 3. accessories (power supply controller, communication line); the main dimension specifications of the snake-shaped robot of the invention are as follows: working voltage: 24-60V; peak power: 240W; envelope diameter: 70 mm; length: more than 300mm (the length is different according to the number of the installed joints); materials: a metal;
the product has the following functions:
1. the motion function, forward and backward crawling, transverse movement, in-situ rotation and turning, vertical pole climbing and pipeline crawling; 2. supporting visible video shooting; 3. supporting infrared video shooting; 4. the device is provided with a light supplement lamp, and the brightness is adjustable; 5. and (4) wireless remote control.
The use mode is as shown in fig. 12:
1. the robot is connected with a power supply controller through a control line, and the power supply controller supports a direct-current battery or a voltage stabilizing source to provide 24-60V voltage; 2. the power supply controller is connected with an upper computer console (computer) through a USB data line; 3. opening an upper computer console and inserting a remote controller; 4. entering the robot system and popping up an application interface, as shown in fig. 14; 5. the battery controller switch is turned on, the robot is powered on, and the robot can be remotely controlled to act through the handle;
the design introduction of the control system of the invention:
1. a system framework: as shown in fig. 12-13. In the snake robot body, a CAN bus is adopted to control a steering engine of a universal joint, and video information of a head joint is acquired in an analog signal transmission mode; 485 communication is adopted between the tail circuit and the power controller as well as the upper computer console, so that the control signal of the handle is analyzed by a computer and then is sent to the tail joint of the snake through 485 communication; the tail joint is specifically decomposed into motion parameters of each joint according to the control signals, and the steering engine of each universal joint is controlled to rotate.
2. A power system: the power unit of the snake-shaped robot is a steering engine, the steering engine is positioned in a joint and drives the next joint connected in series with the joint to move, and the steering engine is controlled by CAN communication.
3. A video acquisition system: the sensor adopts an infrared camera or a visible light camera; the video signal is transmitted by adopting an analog signal, the snake head circuit receives the analog video signal, the analog video signal is transmitted through an intermediate communication line, the video signal passes through each joint and is finally transmitted to an upper computer system, and a picture is displayed at a UI end.
4. A communication system: and a 485 communication protocol is adopted for communication with an upper computer, and the joint control adopts CAN communication to control the motion of the steering engine.
5. And (3) fault indication: each joint has the status indicator lamp, and normal work is blue, and when the joint trouble, show red, the power supply start-up of unsuccessful is then not bright, and UI interface also provides each joint status indication simultaneously (this indicates whether main joint normally works, and green is normal work, and red is abnormal), and the trouble takes place, and the joint changes into grey from green state.
6. And (3) motion indication: in a narrow space, people cannot directly see the motion of the robot, and the current motion state of the robot, such as forward and backward, is displayed on a UI (user interface).
The product of the invention has the following characteristics and advantages:
1. based on the size of the robot, the robot can drill into a narrow space to move, and meanwhile, a visible light camera or an infrared camera can be carried to shoot images or videos in real time, which is the capacity that other robots do not have;
2. the motion characteristic of the robot can adapt to complex terrains, is the capability which is not possessed by the traditional wheeled robot, has simple structure, large-range motion capability and low cost, and is the advantage which is not possessed by the multi-legged robot;
3. the product adopts a modular design, modules can be conveniently increased, reduced and replaced, and the length of the robot can be adjusted according to application scenes so as to adapt to different application requirements;
4. the product adopts a very simplified design, has fewer parts, and has a larger price advantage compared with other robot products with similar applications;
5. the connection control between each joint of this product is accurate high-efficient, structural design is nimble exquisite, control communication efficiency is high.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. The utility model provides a snakelike bionic robot, includes head joint (1), afterbody joint (2) and connects in eight at least general joint (3) swing joint between head joint (1) and afterbody joint (2) and constitute its characterized in that:
the head joint (1) comprises a cylindrical first shell (104), a circle of LED illuminating lamps (101) arranged at the front end of the first shell (104) in a surrounding mode, a camera (102) located in the middle position, a function module control circuit (106) arranged inside the first shell (104) and used for controlling the LED illuminating lamps (101) and the camera (102), a function module communication circuit (105) arranged inside the first shell (104), first joint installation mechanical interfaces (103) and first bearings (111) arranged on two sides of a U-shaped connecting base of the head joint (1) respectively; the functional module communication circuit (105) is provided with a first indicator lamp (107) for displaying the working state of the head joint (1), a functional module communication interface (108) for connecting the LED illuminating lamp (101) and the camera (102), a communication interface (110) for conducting joint control signals to realize base connection control and a first analog communication interface (109) for transmitting data;
the tail joint (2) comprises a cylindrical second shell (201), a snake tail joint control circuit (206) arranged in the second shell (201), a power supply circuit (203) arranged at the tail of the second shell (201) and connected with the tail joint control circuit (207), a cable plug socket (204) arranged at the tail end of the second shell (201) and connected with the snake tail joint control circuit (206), a second indicator lamp (202) arranged on the power supply circuit (203) and used for displaying the power supply state of the tail joint (2), a third indicator lamp arranged on the snake tail joint control circuit (206) and used for displaying the whole communication state of the snake robot joint, second bearings (205) and second joint installation mechanical interfaces (210) symmetrically arranged on two sides of a U-shaped connecting base at the top end of the second shell (201), and second bearings (209) which are arranged at the tail end of the tail joint (2) and correspond to the cable plug socket (204) and used for limiting a control line, and a second bearing (209) which is arranged at the tail end of the tail joint (2) And a slip ring structure (208) arranged between the second bearing (209) and the snake tail joint control circuit (206);
the universal joint (3) comprises a cylindrical third shell (301), a joint plug-in circuit (307) arranged in the third shell (301), a steering engine which is arranged at the inner top of the third shell (301) and symmetrically extends out of the outer two sides of the third shell to form a steering wheel (302) and a third bearing (304), a joint control circuit (303) which is plugged in the joint plug-in circuit (307) and is electrically connected with the steering engine, a second communication interface (308) which is arranged on the joint plug-in circuit (307) and is used for transmitting data, a third joint installation mechanical interface (309) and a third bearing (310) which are symmetrically arranged on a U-shaped connecting base at the bottom end of the universal joint (3), and a fourth indicator light (306) which is arranged on the joint plug-in circuit (307);
the tail of the tail joint (2) is electrically connected with a snake tail joint control circuit (206) through a slip ring structure (208) by a control line and then is connected with a power supply controller, the power supply controller is powered by a battery power supply, is connected to an upper computer console by a USB (universal serial bus) line and controls the snake-shaped bionic robot through a remote control handle; the adjacent head joint (1) and the universal joint (3) are rotatably connected with a first joint installation mechanical interface (103) and a third joint installation mechanical interface (309) through a rudder disc (302), the adjacent two universal joints (3) are rotatably connected with the rudder disc (302) through a crossed third joint installation mechanical interface (309), and the adjacent universal joint (3) and the tail joint (2) are rotatably connected with a third joint installation mechanical interface (309) through the rudder disc (302) and a second joint installation mechanical interface (210) and a second bearing (209).
2. The snake-shaped bionic robot as claimed in claim 1, characterized in that the adjacent cephalad joint (1), universal joint (3) and caudal joint (2) are installed in series and staggered at 90 ° to each other.
3. The serpentine biomimetic robot according to claim 1, wherein the camera (102) is a visible light camera or an infrared camera.
4. A snake-shaped bionic robot according to claim 1, characterized in that the maximum rotation angle between adjacent caudal joint (2), universal joint (3) and cephalad joint (1) is 180 °.
5. The snake-shaped bionic robot as claimed in claim 1, wherein the joint plugging circuit (307) is provided with a copper customized pin (3071), the joint control circuit (303) is provided with a copper pin cylinder (3031) which is opposite to the copper customized pin (3071) and is in plugging fit with the copper customized pin, and CAN communication is realized by serially connecting the plugging circuits.
6. A control system of a snake-shaped bionic robot as claimed in any one of claims 1 to 5, characterized by comprising:
a head circuit which is composed of a functional module communication circuit (105) and a functional module control circuit (106) which are electrically connected with the LED illuminating lamp (101) and the camera (102);
the universal joint circuit consists of a joint control circuit (303) electrically connected with the steering engine and a joint plugging circuit (307) electrically connected with the joint control circuit (303) in a plugging manner;
the tail circuit consists of a power supply circuit (203) and a snake tail joint control circuit (206) electrically connected with the power supply circuit (203);
the head circuit and the universal joint circuit are connected through a rotating shaft hole which is inserted in the U-shaped connecting base and wiring grooves in the first shell (104) and the third shell (301);
two adjacent universal joint circuits are connected through rotating shaft holes inserted in the U-shaped connecting base and wiring grooves in the third shell (301);
the tail circuit and the universal joint circuit are connected through rotating shaft holes inserted in the U-shaped connecting base and wiring grooves in the second shell (201) and the third shell (301) in a line connection mode, and a lead is connected to the snake tail joint control circuit (206);
the head circuit, the universal joint circuit and the tail circuit are sequentially connected through wires and then output by a control line through a tail joint control circuit (206) to be connected with a power supply controller, the power supply controller is powered by a battery power supply and is connected to an upper computer console through a USB (universal serial bus) line and controls the snake-shaped bionic robot through a remote control handle.
7. The snake tail joint control circuit according to claim 6, wherein a control line in the tail joint (2) connected with the snake tail joint control circuit (206) is electrically connected with a power supply controller in a 485 communication mode, and the power supply controller is powered by a 24-60V power supply.
8. The snake-shaped bionic robot and the control system thereof as claimed in claim 6, wherein the UI interface at the upper computer console end is provided with a camera front video image display area, snake-shaped bionic robot joint status indicator lights and snake-shaped bionic robot running status indication area.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010045419.4A CN111168659A (en) | 2020-01-16 | 2020-01-16 | Snakelike bionic robot and control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010045419.4A CN111168659A (en) | 2020-01-16 | 2020-01-16 | Snakelike bionic robot and control system thereof |
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| CN111168659A true CN111168659A (en) | 2020-05-19 |
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| CN202010045419.4A Pending CN111168659A (en) | 2020-01-16 | 2020-01-16 | Snakelike bionic robot and control system thereof |
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| CN112550505A (en) * | 2020-12-18 | 2021-03-26 | 航天恒星科技有限公司 | Modular robot suitable for narrow and small space operation |
| CN113086135A (en) * | 2021-03-30 | 2021-07-09 | 苏州永鼎智联科技有限公司 | Modularized underwater coupling cruising robot |
| CN115488867A (en) * | 2022-10-12 | 2022-12-20 | 大连海事大学 | Modular joint of variable bionic snake-shaped fire-fighting robot |
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