CN112550505B - Modular robot suitable for narrow and small space operation - Google Patents
Modular robot suitable for narrow and small space operation Download PDFInfo
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- CN112550505B CN112550505B CN202011507465.8A CN202011507465A CN112550505B CN 112550505 B CN112550505 B CN 112550505B CN 202011507465 A CN202011507465 A CN 202011507465A CN 112550505 B CN112550505 B CN 112550505B
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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
Abstract
A modular robot suitable for narrow space operation comprises a tail end module unit, a cubic joint module unit and a base; the three cubic joint module units form a group of joint units, and rotating shafts of the three cubic joint module units in the group of joint units are sequentially parallel to an x axis (roll), a y axis (course) and a z axis (pitch); the modularized robot is formed by connecting a plurality of groups of joint units according to the same arrangement. The cube joint module unit positioned at the root is arranged on the base, and the front end of the cube joint module unit positioned at the farthest end is provided with the tail end module unit; the base is connected with a flange at the tail end of a mechanical arm or other motion mechanisms to control the modular robot to enter or exit a narrow space; the terminal module unit assists the modular robot to achieve obstacle avoidance movement in the slit, and is used for performing observation and detection and/or other task operations in a narrow space. The invention can realize the functions of non-contact movement, multiple flexible turning and the like in a narrow space.
Description
Technical Field
The invention belongs to the field of intelligent robots, and relates to a modular robot suitable for operation in a narrow space.
Background
In application scenes such as rescue and relief work, factory facility inspection and the like, the work tasks of detecting, inspecting and operating the inside of a slit between buildings, equipment and the like are involved. The arm rod of the current industrial mechanical arm is relatively large in size, is difficult to be deeply inserted into a small slit for operation, and is difficult to flexibly move in a slit space with a complex shape.
At present, two types of robots which can be used for narrow space detection and operation are mainly provided, one type is a snake-shaped robot without a base, and the other type is a flexible spine-type snake-shaped operation arm with a base. The baseless snake-shaped robot is formed by connecting a plurality of joints, and moves through steps of meandering and the like by means of friction of a contact surface; the flexible spine type snake-shaped operation arm with the base is provided with a plurality of ropes capable of being pulled on the side face, the snake-shaped operation arm can be bent to different directions by pulling the ropes on the base, and the function of bending movement of the operation arm in the slit is achieved.
In the existing robot for narrow and small space operation, the snake-shaped robot needs to move by utilizing contact friction, a contact surface has certain roughness, and the possibility of scratching the surface of a slit exists, so that the snake-shaped robot is not suitable for application occasions with smooth surfaces of the slit and occasions for carrying out non-contact detection for avoiding surface scratching. Although the flexible spine-type snake-shaped operation arm can realize slit non-contact detection and operation by depending on the base, repeated bending of the snake-shaped operation arm in the slit is difficult to realize in a rope pulling mode, the operation flexibility is limited, and the flexible spine-type snake-shaped operation arm cannot be suitable for a slit environment with a complex internal structure.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, the modular robot suitable for operation in the narrow space is provided, the movement functions of non-contact movement, multiple flexible turning and the like in the narrow space can be realized, and tasks such as observation and detection or execution of related operations in the narrow space can be completed.
The technical solution of the invention is as follows:
a modular robot suitable for narrow space operation comprises a tail end module unit, a cubic joint module unit and a base;
the plurality of cubic joint module units are connected to form a sequence, the steering in any direction can be realized, the cubic joint module unit positioned at the root is arranged on the base, and the front end of the cubic joint module unit positioned at the farthest end is provided with the tail end module unit;
the base is connected with a flange at the tail end of a mechanical arm or other moving mechanism, and the modular robot is controlled to enter or exit a narrow space through the movement of the mechanical arm or other moving mechanism;
the surface of the tail end module unit is provided with a proximity sensor for sensing obstacles near the tail end module unit and assisting the modular robot to realize obstacle avoidance movement in the slit; the interior is provided with a detection and/or operation executing device which is used for executing observation detection and/or other task operations after moving to the position in a narrow space.
The three cubic joint module units are connected to form a group of joint units, and rotating shafts of the three cubic joint module units in the group of joint units are sequentially parallel to an x axis, a y axis and a z axis;
the modularized robot is formed by connecting a plurality of groups of joint units according to the same arrangement.
The rotating shaft of each cubic joint module unit is connected with the centers of two opposite surfaces of the cubic joint module unit and has 1 degree of freedom in rotation.
Each cubic joint module unit internally comprises a stator and a rotor, and a driving motor, an angle sensor and a controller are arranged in the stator;
the output shaft of the driving motor is connected with the rotor and rotates according to the control instruction of the controller, so that the rotor is driven to rotate around the rotating shaft;
the angle sensor collects the rotation angle of the cubic joint module unit in real time and feeds the rotation angle back to the controller;
the proximity sensor is used for sensing obstacles around the cubic joint module unit and feeding back the obstacles to the controller;
the controller determines the rotation angle of the cubic joint module unit according to the surrounding obstacle condition and the current rotation angle, and accordingly sends a control command to the driving motor.
The rotor of the cubic joint module unit can rotate around the rotating shaft on the stator relative to the stator, and the rotating angle range is not less than-90 degrees to 90 degrees.
The side surface of the cubic joint module unit is provided with a standardized electromechanical interface.
The rotation sequence of the modular robot is as follows:
starting from the 1 st cubic joint module unit connected with the tail end module unit, enabling each 3 cubic joint module units to form a group, and firstly enabling the 1 st group of 3 cubic joint module units connected with the tail end module unit to simultaneously rotate to enable the tail end module unit to be aligned with the direction pointed by the preset space;
when the 1 st group of 3 cubic joint module units are completely rotated, the 2 nd group of 3 cubic joint module units simultaneously start to rotate, the rotating motion of the 1 st group of 3 cubic joint module units is repeated, meanwhile, the 1 st group of 3 cubic joint module units reversely rotate at the same angular speed and in the opposite direction as the 2 nd group of 3 cubic joint module units, and the rotating angle is the same as that of the 2 nd group of 3 cubic joint module units;
after the 2 nd 3 cubic joint module units are rotated, the 3 rd 3 cubic joint module units simultaneously start to rotate, the rotating motion of the 2 nd 3 cubic joint module units is repeated, meanwhile, the 2 nd 3 cubic joint module units reversely rotate at the same angular speed and the same direction as the 3 rd 3 cubic joint module units, and the rotating angle is the same as that of the 3 rd 3 cubic joint module units;
and the like until all the cubic joint module units of the modular robot complete the turning.
Compared with the prior art, the invention has the beneficial effects that:
(1) compared with the traditional snake-shaped robot, the invention can realize non-contact detection and task execution in a narrow space, and can not scratch and damage the slit surface.
(2) Compared with the traditional flexible spine snake-shaped operation arm, the flexible spine snake-shaped operation arm can be repeatedly bent in the slit for many times, and can adapt to a more complex slit environment.
(3) The invention adopts the standardized cubic joint module units, realizes the expansion and the change of the structure and the function by increasing or reducing the number of the joint module units, and simultaneously improves the convenience of maintenance.
Drawings
FIG. 1 is a schematic structural view of a modular robot suitable for narrow space operation according to the present invention;
FIG. 2 is a schematic structural diagram of a cubic joint module unit according to the present invention;
FIG. 3 is a schematic diagram showing the relative positions of the rotating shafts of the cubic joint module unit according to the present invention;
FIG. 4 is a schematic turning diagram of the modular robot of the present invention;
reference numerals: 1-end module unit, 2-cubic joint module unit, 3-base, 21-stator, 22-rotor, 311, 312-cubic joint module unit with rotation axis parallel to x-axis direction, 321, 322-cubic joint module unit with rotation axis parallel to y-axis direction, 331, 332-cubic joint module unit with rotation axis parallel to z-axis direction.
Detailed Description
The invention is further illustrated by the following examples.
As shown in fig. 1, the modular robot suitable for small space operation of the present invention comprises an end module unit 1, a plurality of cubic joint module units 2 and a base 3.
The cube joint module units 2 are connected to form a sequence, the steering in any direction can be realized, the cube joint module unit 2 located at the root is installed on the base, and the tail end module unit 1 is installed at the front end of the cube joint module unit 2 located at the farthest end.
The base 3 is connected with a flange at the tail end of a mechanical arm or other moving mechanisms, and the modular robot is controlled to enter or exit a narrow space through the movement of the mechanical arm or other moving mechanisms.
The terminal module unit 1 may be internally installed with a camera, a gripper, and other executing devices as required, and is used for performing observation and detection and other task operations after moving in place in a narrow space. The tail end module unit 1 is of a cubic structure, proximity sensors are arranged on the front face and the four side faces, obstacles in the slit wall and the slit can be detected in the moving process of the robot slit, and the robot is guided to avoid the obstacles. The back of the end module unit 1 is mounted at the front of the most distal cubic joint module unit 2.
The rotating shaft of each cubic joint module unit 2 is connected with the centers of two opposite surfaces thereof and has 1 degree of freedom in rotation. The rotating shaft of the cubic joint module unit 2 is perpendicular to the two opposite side surfaces of the cubic joint module unit 2.
The cubic joint module unit 2 includes a stator 21 and a rotor 22, as shown in fig. 2. The stator 21 is internally provided with a driving motor, an angle sensor and a controller, and the outer side surface is provided with a proximity sensor. The output shaft of the driving motor in the joint module unit 2 is connected with the rotor 22, and the driving rotor 22 can rotate around the rotating shaft, so that the joint module unit 2 has 1 degree of freedom of rotation. The combination of the driving motor and the angle sensor in the joint module unit 2 enables the rotation angle of the joint module unit 2 to be controllable. The proximity sensor is used to sense obstacles around the joint module unit 2. The drive motor, the angle sensor, and the proximity sensor are all controlled by a controller built in the stator 21.
Specifically, the output shaft of the driving motor is connected to the rotor 22 and rotates according to a control command of the controller, thereby driving the rotor 22 to rotate around the rotation shaft. The angle sensor collects the rotation angle of the cubic joint module unit 2 in real time and feeds the rotation angle back to the controller. The proximity sensor is used for sensing obstacles around the cubic joint module unit 2 and feeding back the obstacles to the controller. The controller determines the rotation angle of the cubic joint module unit 2 according to the surrounding obstacle condition and the current rotation angle, and accordingly sends a control instruction to the driving motor. The rotor can rotate in a range of not less than-90 degrees to 90 degrees relative to the stator.
And the side surface of the cubic joint module unit is provided with a standardized electromechanical interface which is used for connecting other cubic joint module units.
The base 3 can be connected with a flange at the tail end of a mechanical arm or other motion mechanism, and the modular robot can be controlled to enter or exit the slit through the motion of the mechanical arm or other motion mechanism.
The three cubic joint module units 2 are connected to form a group of joint units, and the rotating shafts of the three cubic joint module units in the group of joint units are vertical to each other in pairs and are parallel to an x axis (roll), a y axis (course) and a z axis (pitch) in sequence, as shown in fig. 3. The cubic joint module unit 2 can be connected according to the mode shown in fig. 3 to form a joint unit, and a plurality of joint units connected according to the mode shown in fig. 3 are combined and connected to form the whole modular robot configuration shown in fig. 1.
In fig. 3, in order to show that the directions of the rotation axes of the cubic joint module units are different, the cubic joint module units having the rotation axes parallel to the x-axis direction are designated as 311 and 312, the cubic joint module units having the rotation axes parallel to the y-axis direction are designated as 321 and 322, and the cubic joint module units having the rotation axes parallel to the z-axis direction are designated as 331 and 332.
311. 321, 331, 312, 322, 332 are all cubic joint module units, 311, 321, 331 are a group of joint units, and 312, 322, 332 are a group of joint units. The modularized robot is formed by connecting a plurality of groups of joint units according to the same arrangement. The combined rotational motion of the cubic joint module units 321 and 331 is a rotational motion in any direction, and if the cubic joint module unit 311 is fixed, the combined rotational motion of the cubic joint module units 331 and 321 can make the reachable range of the end module unit 1 be a hemisphere, which can meet the requirements of motion and use in a three-dimensional slit space. When the cube module units 321 and 331 make the end module unit 1 face a predetermined direction by the resultant rotation, the cube module unit 311 is controlled to rotate about the x-axis, and the end module unit 1 can be turned to a predetermined attitude angle.
The modularized robot provided by the invention can turn in different directions according to the shape of the slit when moving in the slit, and ensures that all cubic joint module units can pass through the turning positions in the slit. As shown in fig. 4, the modular robot can turn in any direction in the slit by the resultant rotational motion of the joint module units 321 and 331. As shown in fig. 4, the x-axis of the rectangular coordinate system is perpendicular to the right side of the end module unit 1 and passes through the center of the right side, the y-axis and the z-axis are respectively parallel to the edge of the right side of the end module unit 1, the modular robot is turned in the direction parallel to the line OA, the included angle between the line OA and the plane xOy is θ, the included angle between the projection a 'of the point a on the plane xOy and the point O, the line OA' and the x-axis is α, and the rotation angles (α ', θ') of the cubic joint module units 321 and 331 should satisfy the following geometrical relationship:
in order to ensure that each joint module unit of the modular robot can sequentially turn through the turning point in the slit to complete turning, in the turning process, as shown in fig. 3, the joint units 311, 321 and 331 start to rotate at the same time, after all the joint units are rotated to the right position, the joint units 312, 322 and 332 should repeat the movement of the previous joint units 311, 321 and 331, and simultaneously the joint units 311, 321 and 331 should rotate at the same rotation angular velocity and the opposite rotation angular velocity as the size and the opposite direction of the joint units 312, 322 and 332 until the joint units 312, 322 and 332 complete turning movement.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (5)
1. The utility model provides a modularization robot suitable for narrow and small space operation which characterized in that: comprises a terminal module unit (1), a cubic joint module unit (2) and a base (3);
the plurality of cubic joint module units (2) are connected to form a sequence, the steering in any direction can be realized, the cubic joint module unit (2) positioned at the root is arranged on the base, and the front end of the cubic joint module unit (2) positioned at the farthest end is provided with the tail end module unit (1);
the base (3) is connected with a flange at the tail end of a mechanical arm or other moving mechanism, and the modular robot is controlled to enter or exit a narrow space through the movement of the mechanical arm or other moving mechanism;
a proximity sensor is arranged on the surface of the tail end module unit (1) and used for sensing obstacles near the tail end module unit (1) and assisting the modular robot to realize obstacle avoidance movement in the slit; the detection and/or operation executing device is arranged in the device and is used for executing observation detection and/or other task operations after moving in place in a narrow space;
the three cubic joint module units (2) are connected to form a group of joint units, and rotating shafts of the three cubic joint module units in the group of joint units are sequentially parallel to the x axis, the y axis and the z axis;
the modularized robot is formed by connecting a plurality of groups of joint units in the same arrangement;
the rotation sequence of the modular robot is as follows:
starting from the 1 st cubic joint module unit (2) connected with the tail end module unit (1), enabling each 3 cubic joint module units (2) to form a group, firstly, enabling the 1 st group of 3 cubic joint module units (2) connected with the tail end module unit (1) to simultaneously rotate, and enabling the tail end module unit (1) to be aligned with the preset space pointing direction;
when the 1 st group of 3 cubic joint module units (2) are completely rotated, the 2 nd group of 3 cubic joint module units (2) simultaneously start to rotate, the 1 st group of 3 cubic joint module units (2) are repeatedly rotated, meanwhile, the 1 st group of 3 cubic joint module units (2) reversely rotate at the same angular speed with the 2 nd group of 3 cubic joint module units (2) and the opposite direction, and the rotation angle is the same as that of the 2 nd group of 3 cubic joint module units (2);
after the 2 nd group of 3 cubic joint module units (2) are rotated, the 3 rd group of 3 cubic joint module units (2) simultaneously start to rotate, the rotation motion of the 2 nd group of 3 cubic joint module units (2) is repeated, meanwhile, the 2 nd group of 3 cubic joint module units (2) reversely rotate at the same angular speed and in the opposite direction as the 3 rd group of 3 cubic joint module units (2), and the rotation angle is the same as that of the 3 rd group of 3 cubic joint module units (2);
and the like until all the cubic joint module units (2) of the modular robot complete the turning.
2. The modular robot suitable for small space operation as claimed in claim 1, wherein: the rotating shaft of each cubic joint module unit (2) is connected with the centers of two opposite surfaces thereof and has 1 degree of freedom of rotation.
3. The modular robot suitable for small space operation as claimed in claim 1, wherein: each cubic joint module unit (2) internally comprises a stator (21) and a rotor (22), and a driving motor, an angle sensor and a controller are arranged in the stator;
the output shaft of the driving motor is connected with the rotor (22) and rotates according to the control instruction of the controller, so that the rotor (22) is driven to rotate around the rotating shaft;
the angle sensor collects the rotation angle of the cubic joint module unit (2) in real time and feeds the rotation angle back to the controller;
the proximity sensor is used for sensing obstacles around the cubic joint module unit (2) and feeding back the obstacles to the controller;
the controller determines the rotation angle of the cubic joint module unit (2) according to the surrounding obstacle condition and the current rotation angle, and accordingly sends a control command to the driving motor.
4. The modular robot suitable for small space operation as claimed in claim 3, wherein: the rotor of the cubic joint module unit (2) can rotate around the rotating shaft on the stator relative to the stator, and the rotating angle range is not less than-90 degrees to 90 degrees.
5. The modular robot suitable for small space operation as claimed in claim 3, wherein: the side surface of the cubic joint module unit (2) is provided with a standardized electromechanical interface.
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| CN202011507465.8A CN112550505B (en) | 2020-12-18 | 2020-12-18 | Modular robot suitable for narrow and small space operation |
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| CN202011507465.8A CN112550505B (en) | 2020-12-18 | 2020-12-18 | Modular robot suitable for narrow and small space operation |
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| CN112550505B true CN112550505B (en) | 2022-04-22 |
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