CN113075743B - Climbing robot for star watch detection and application method thereof - Google Patents
Climbing robot for star watch detection and application method thereof Download PDFInfo
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- CN113075743B CN113075743B CN202110267505.4A CN202110267505A CN113075743B CN 113075743 B CN113075743 B CN 113075743B CN 202110267505 A CN202110267505 A CN 202110267505A CN 113075743 B CN113075743 B CN 113075743B
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- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 39
- 210000000078 claw Anatomy 0.000 claims abstract description 24
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- G—PHYSICS
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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- B64G2004/005—Robotic manipulator systems for use in space
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Abstract
The invention provides a climbing robot for star meter detection and a use method thereof, wherein the robot comprises two identical grabbing mechanisms, two identical double-end output joints, a section of hollow shape memory alloy and an instrument platform, wherein the instrument platform is fixedly connected to the middle part of the shape memory alloy, two ends of the shape memory alloy are respectively fixedly connected with second output ends of the two double-end output joints, and a first output end of the double-end output joint is fixedly connected with the grabbing mechanisms. The mobile robot is used for realizing mobile detection of the star table, realizing the grabbing of the star table through a claw and a flexible finger, realizing the bending, climbing and the like of a robot body through a shape memory alloy, and realizing the grabbing movement in a microgravity star table, cliff, abrupt slope pit and the like, and carrying out grabbing, grinding and the like after moving to a target position.
Description
Technical Field
The invention relates to a climbing robot for star-meter detection, belongs to the technical field of deep space detection and space robots, and can be used for space robot design with mobile detection requirements on star-meters.
Background
With the development of space detection technology, the development detection of the unreachable areas of the detector by the robot becomes a new requirement, and the areas are different from the detected areas in aspects of star soil composition and the like, so that the detection of the areas has important scientific significance. The robot needs to solve the problems of easy bouncing and difficult falling caused by weak attraction when the robot is on the surface of a celestial body with weak attraction, and the robot needs to solve the problems of difficult movement and easy falling in cliff and pit steep slopes when the robot is on the surface of a large star such as moon, mars and the like. Therefore, there is a need to develop a climbing detection robot with star clock grabbing capability, which ensures that the robot can move in a weak gravity environment, cliff and pit abrupt slope through grabbing star clock during moving. Currently, most star-meter detection robots are wheeled mobile robots, which have extremely strong mobile capability in flat terrain, but cannot move in microgravity star meters, cliff cliffs and pit steep slopes, such as Mars mobile robots 'wary numbers', 'opportunity numbers', 'curiosity numbers', moon mobile robots 'jade rabbit numbers' and the like. The asteroid surface mobile robot MINERVA, MASCOT of the Japanese falcon detector realizes small-amplitude jumping movement through mechanisms such as a flywheel, a swing arm and the like in the robot, and when the robot moves, the robot is easy to escape from a star meter if the jumping amplitude is improperly controlled, so that the robot is slow in moving speed, high in moving control difficulty and does not have sampling capability.
Disclosure of Invention
In order to solve the technical problems in the prior art mentioned in the background art, the invention provides a mobile robot capable of adaptively and flexibly grabbing and climbing a star clock, which is used for realizing mobile detection of the star clock, grabbing the star clock through a claw and a flexible finger, bending and climbing a robot body through a shape memory alloy and the like, and can realize grabbing movement in a microgravity star clock, cliff, a steep slope pit and the like, and sampling such as grabbing, grinding and the like can be carried out after the mobile robot moves to a target position.
The invention provides a climbing robot for star meter detection, which comprises two identical grabbing mechanisms, two identical double-end output joints, a section of hollow shape memory alloy and an instrument platform, wherein the instrument platform is fixedly connected to the middle part of the shape memory alloy, two ends of the shape memory alloy are respectively and fixedly connected with second output ends of the two double-end output joints, and a first output end of the double-end output joint is fixedly connected with the grabbing mechanisms;
the grabbing mechanism comprises a shell, a motor assembly, a screw rod nut top end, a piston recovery spring, a flexible contact ball, a plurality of flexible fingers, a lower pull rope, an upper pull rope, a compensation spring and a grinding wheel.
Preferably, the flexible finger comprises a guide pipe, a downward-pressing torsion spring, a knuckle stretching spring, knuckles and claw spines, wherein the downward-pressing torsion spring is arranged at the end head of the guide pipe and forms a revolute pair with the shell, the knuckle can slide in the guide pipe in the front end of the guide pipe, the knuckle stretching spring is arranged between the side wall of the knuckle and the guide pipe, a plurality of claw spines are arranged on the knuckle, one end of a downward pull rope is fixedly connected with the piston, and the other end of the downward pull rope is fixedly connected with the knuckle; one end of the upper stay cord is fixedly connected with the end head of the catheter, and the other end of the upper stay cord is connected with the compensation spring.
Preferably, the instrument platform internally mounts a detection device, a control system and an energy system.
Preferably, all flexible fingers are driven synchronously by the same motor assembly, lead screw nut and piston.
The use method of the climbing robot for star meter detection comprises the steps that when the climbing robot moves, the climbing robot is realized through the cooperation among two grabbing mechanisms, two double-end output joints and one shape memory alloy, one grabbing mechanism is in grabbing attachment, the grabbing attachment of the other grabbing mechanism is released, the grabbing attachment mechanism with released grabbing attachment adjusts the gesture through the double-end output joints, meanwhile, the shape memory alloy adjusts the gesture through the second output ends of the double-end output joints connected with the grabbing attachment mechanism, then the shape memory alloy is electrified and deformed, the shape memory alloy moves the grabbing attachment mechanism which is not grabbed to a new position after the electrification deformation, and then the grabbing attachment mechanism performs grabbing attachment; after the grabbing is completed, the other grabbing mechanism releases the grabbing and repeats the actions; through the coordination and the cooperation between the two grabbing mechanisms and the shape memory alloy, the movement of the climbing robot is realized.
According to the application method of the climbing robot for star meter detection, when the climbing robot is used for sampling, when flexible fingers are used for grabbing and sampling, one grabbing mechanism is fixedly connected with the star meter, the other grabbing mechanism grabs and attaches a sampling target, and samples are enveloped through the flexible fingers, so that grabbing and sampling are achieved.
The method comprises the steps that when the climbing robot is used for sampling, when the grinding wheel of the grabbing mechanism is used for grinding and sampling, one grabbing mechanism is fixedly connected with the star table, the other grabbing mechanism is used for grinding a sampling target, firstly, the two output ends of the double-end output joint and the shape memory alloy are used for adjusting the posture of the grabbing mechanism, the grinding wheel of the grabbing mechanism is aligned to the sampling target, then, the motor component of the grabbing mechanism starts to work, and the motor component drives the grinding wheel to grind, so that grinding and sampling are realized.
When the climbing robot uses the grabbing mechanism to grab the star watch, the flexible contact ball is contacted with the star watch, and the self spherical design is used for improving the terrain adaptability of the star watch; the motor assembly drives the screw nut to move downwards through the screw, the upper pull rope is loosened, and the flexible finger is pressed down to the star meter under the action of the downward-pressing torsion spring, so that the claw thorn is contacted with the star meter; the screw nut continues to move downwards, then the top end of the screw nut is contacted with the piston, the piston is pushed to move downwards, meanwhile, the piston recovery spring is compressed, the lower pull rope is tensioned by the piston, the lower pull rope drags the knuckle to move in the guide pipe, so that the claw is strengthened to grip the star meter, meanwhile, the knuckle stretching spring is compressed, the compensation spring is embedded in the middle of the upper pull rope, when the star meter is in uneven gripping position, the required flexible finger downward turning angle is inconsistent, the required upper pull rope is inconsistent in releasing length, the inconsistency of the length is compensated by the compensation spring, and after the gripping is completed, the motor assembly stops driving.
According to the use method of the climbing robot for star meter detection, when the grabbing of the grabbing mechanism of the climbing robot needs to be released, the motor assembly is driven reversely, the screw nut moves upwards, the compressed piston is pushed by the compressed piston recovery spring to move upwards, the lower pull rope is loosened, the knuckle moves out of the guide pipe under the action of the knuckle stretching spring, so that the grabbing of the claw and the star meter is released, when the screw nut moves to a certain height upwards, the upper pull rope is tensioned, the flexible fingers 1-8 are folded upwards under the pulling of the upper pull rope, the grabbing of the flexible fingers is released, and the pressing torsion spring is compressed.
The star clock detection climbing robot and the use method thereof have the beneficial effects that:
1. the invention adopts the grabbing mechanism, the double-end output joint, the shape memory alloy and the like to realize climbing movement of the robot in severe environments such as microgravity, cliff, pit steep slope and the like. The grabbing gesture of grabbing the mechanism when the robot climbs can be adjusted through the double-end output joint, so that the adaptability to complex terrains is improved.
2. The invention has the functions of grabbing, sampling and grinding sampling, and can utilize the flexible finger or grinding wheel of the grabbing mechanism to clean the surface medium of the detection target point, so that the subsurface medium of the detection target point is exposed, and then the detection research is carried out by utilizing the detection load on the instrument platform.
3. The invention adopts the flexible multi-fingers and the claws thereof to realize the star surface grabbing, and the flexible fingers are mutually independent, thereby ensuring good adaptation to the star surface topography. The tiny claws on the flexible finger can contact with microcracks of the star watch and the like, and stable grabbing can be provided.
4. According to the invention, a group of driving components are adopted to realize synchronous driving of a plurality of flexible fingers, the grabbing and releasing are realized through forward and backward rotation of the driving components, the driving sources are few, and the operation is simple.
5. The flexible contact ball can be internally or externally provided with various sensors, and can sense the characteristics of the contacted position, such as temperature, contact force, electric conductivity, heat conductivity and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
In the drawings:
fig. 1 is a schematic structural diagram of a climbing robot for star meter detection according to the present invention;
FIG. 2 is a schematic structural view of the grip mechanism;
FIG. 3 is an enlarged view of a portion of a flexible finger;
FIG. 4 is a schematic view of the operation of the flexible gripping mechanism, wherein a represents an initial state, b represents the initiation of gripping, c represents the contraction of the knuckle and the completion of gripping, and d represents the return after the gripping contact;
wherein, the 1-grabbing mechanism, the 2-double-end output joint, the 3-shape memory alloy, the 4-instrument platform, the 2-1-first output end, the 2-2-second output end and the hollow channel of the 3-1-shape memory alloy,
1-1-shell, 1-2-motor component, 1-3-lead screw, 1-4-lead screw nut, 1-4-1-lead screw nut top, 1-5-piston, 1-6-piston restoring spring, 1-7-flexible contact ball, 1-8-flexible finger,
1-8-1-conduit, 1-8-2-downward-pressing torsion spring, 1-8-3-knuckle stretching spring, 1-8-4-knuckle, 1-8-5-claw, 1-9 lower pull rope, 1-10 upper pull rope, 1-11 compensation spring and 1-12 grinding wheel.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings:
the first embodiment is as follows: this embodiment will be described with reference to fig. 1 to 4. The star clock detection climbing robot comprises two identical grabbing mechanisms 1, two identical double-end output joints 2, a section of hollow shape memory alloy 3 and an instrument platform 4, wherein the instrument platform 4 is fixedly connected with the middle part of the shape memory alloy 3, two ends of the shape memory alloy 3 are respectively fixedly connected with second output ends 2-2 of the two double-end output joints 2, and a first output end 2-1 of the double-end output joints 2 is fixedly connected with the grabbing mechanisms 1;
the grabbing mechanism 1 comprises a shell 1-1, a motor component 1-2, a screw 1-3, a screw nut 1-4, a screw nut top end 1-4-1, a piston 1-5, a piston restoring spring 1-6, a flexible contact ball 1-7, a plurality of flexible fingers 1-8, a lower pull rope 1-9, an upper pull rope 1-10, a compensating spring 1-11 and a grinding wheel 1-12, wherein the motor component 1-2 is arranged in the shell 1-1, the output end of the motor component 1-2 is fixedly connected with the screw 1-3, a screw transmission pair is formed between the screw nut 1-4 and the screw 1-3, the piston 1-5 slides along the inner wall of the shell, one end of the piston restoring spring 1-6 is fixedly connected with the piston 1-5, the other end is fixedly connected with the shell 1-1, the flexible contact ball 1-7 is fixed at the bottom of the shell 1-1, a plurality of flexible fingers 1-8 are circumferentially and uniformly distributed at the lower part of the shell 1-1, one end of the lower pull rope 1-9 is fixedly connected with the piston 1-5, the other end of the lower pull rope is fixedly connected with the flexible fingers 1-8, one end of the compensation spring 1-11 is fixedly connected with the screw nut 1-4, the other end of the compensation spring is connected with the upper pull rope 1-10, the upper pull rope 1-10 is connected with the flexible fingers 1-8, a group of lower pull ropes 1-9 and upper pull ropes 1-10 are independently configured on each flexible finger 1-8, and the rear output end of the motor assembly 1-2 is fixedly connected with the grinding wheel 1-12. The instrument platform 4 is internally provided with detection equipment, a control system and an energy system.
The flexible finger 1-8 comprises a guide tube 1-8-1, a downward-pressing torsion spring 1-8-2, a knuckle stretching spring 1-8-3, a knuckle 1-8-4 and a claw 1-8-5, wherein the downward-pressing torsion spring 1-8-2 is arranged at the end head of the guide tube 1-8-1 and forms a revolute pair with the shell 1-1, the knuckle 1-8-4 in the front end of the guide tube 1-8-1 can slide in the guide tube 1-8-1, the knuckle stretching spring 1-8-3 is arranged between the side wall of the knuckle 1-8-4 and the guide tube 1-8-1, a plurality of claw 1-8-5 are arranged on the knuckle 1-8-4, one end of a lower stay cord 1-9 is fixedly connected with a piston 1-5, and the other end of the lower stay cord 1-9 is fixedly connected with the knuckle 1-8-4; one end of the upper stay cord 1-10 is fixedly connected with the end head of the conduit 1-8-1, and the other end is connected with the compensation spring 1-11. All flexible fingers 1-8 are synchronously driven by the same motor assembly 1-2, screw 1-3, screw nut 1-4 and piston 1-5.
Two ends of the shape memory alloy 3 are respectively fixedly connected with the output ends 2-2 of the two double-end output joints 2, the other output end 2-1 of the double-end output joint 2 is fixedly connected with the grabbing mechanism 1, and the instrument platform 4 is fixedly connected with the middle part of the shape memory alloy 3. The grabbing mechanism 1 is of a multi-finger structure, the motor assembly 1-2 is arranged on the inner side of the shell 1-1, the front output end of the motor assembly 1-2 is fixedly connected with the screw rod 1-3, a spiral transmission pair is formed between the screw rod nut 1-4 and the screw rod 1-3, a sliding pair is arranged between the piston 1-5 and the shell and can slide along the inner wall of the shell, one end of the piston restoring spring 1-6 is fixedly connected with the piston 1-5, the other end of the piston restoring spring is fixedly connected with the shell 1-1, and the flexible contact ball 1-7 is fixedly connected to the bottom of the shell 1-1; the flexible finger 1-8 forms a revolute pair through a guide tube 1-8-1 and a shell 1-1, a downward-pressing torsion spring 1-8-2 is arranged between the guide tube 1-8-1 and the shell 1-1, a knuckle 1-8-4 can slide in the guide tube 1-8-1, one end of a knuckle stretching spring 1-8-3 is contacted with the knuckle 1-8-4, the other end is contacted with the guide tube 1-8-1, and a plurality of claw spines 1-8-5 are fixedly connected to the knuckle 1-8-4; one end of the lower stay cord 1-9 is fixedly connected with the piston 1-5, and the other end is fixedly connected with the knuckle 1-8-4; one end of the upper stay cord 1-10 is fixedly connected with the guide tube 1-8-1, and the other end is connected with the compensation spring 1-11; the other end of the compensation spring 1-11 is fixedly connected with the screw nut 1-4. The plurality of flexible fingers 1-8 are uniformly distributed on the circumference of the shell 1-1. All flexible fingers 1-8 are synchronously driven by the same motor assembly 1-2, a screw rod 1-3, a screw rod nut 1-4 and a piston 1-5, each flexible finger 1-8 is independently provided with a group of lower pull ropes 1-9 and upper pull ropes 1-10, and the rear output end of the motor assembly 1-2 is fixedly connected with a grinding wheel 1-12.
The second embodiment is as follows: this embodiment will be described with reference to fig. 1 to 4. The use method of the climbing robot for star meter detection comprises the following steps: when the climbing robot moves, the climbing robot is realized through the cooperation among two grabbing mechanisms 1, two double-end output joints 2 and one shape memory alloy 3, one grabbing mechanism 1 forms grabbing, the grabbing of the other grabbing mechanism 1 is released, the grabbing mechanism 1 with released grabbing adjusts the gesture through the double-end output joints 2, meanwhile, the shape memory alloy 3 adjusts the gesture through the output ends 2-2 of the double-end output joints 2 connected with the grabbing mechanism 1 with the grabbing state, then the shape memory alloy 3 is electrified and deformed, the shape memory alloy 3 moves the grabbing mechanism 1 without grabbing to a new position after the electrification and deformation, and then the grabbing mechanism carries out grabbing; after the grabbing is completed, the other grabbing mechanism 1 releases the grabbing and repeats the actions; through the coordination and the cooperation between the two grabbing mechanisms 1 and the shape memory alloy 3, the movement of the climbing robot is realized.
And a third specific embodiment: this embodiment will be described with reference to fig. 1 to 4. The use method of the climbing robot for star meter detection comprises the following steps: when the climbing robot samples, when the flexible fingers 1-8 are utilized for grabbing and sampling, one grabbing mechanism 1 is fixedly connected with the star watch, the other grabbing mechanism 1 grabs and attaches a sampling target, and the samples are enveloped through the flexible fingers 1-8, so that grabbing and sampling are realized.
The climbing robot for star meter detection has two sampling modes besides a moving function, wherein one of the two sampling modes is to use flexible fingers 1-8 of the grabbing mechanism 1 for grabbing and sampling; one is to grind and sample the grinding wheel 1-12 by using the grip mechanism 1. When the flexible fingers 1-8 are used for grabbing and sampling, the working process is similar to the star watch grabbing process, one grabbing mechanism 1 is fixedly connected with the star watch, the other grabbing mechanism 1 grabs and attaches a sampling target, and the samples are enveloped through the flexible fingers 1-8 to realize grabbing and sampling; when the grinding wheels 1-12 of the grabbing mechanism 1 are used for grinding and sampling, one grabbing mechanism 1 is fixedly connected with the star clock, and the other grabbing mechanism 1 is used for grinding and sampling targets. Firstly, the two output ends of the double-end output joint 2 and the shape memory alloy 3 are utilized to adjust the gesture of the grabbing mechanism 1, the grinding wheel 1-12 of the grabbing mechanism 1 is aligned to a sampling target, then the motor component 1-2 of the grabbing mechanism 1 starts to work, and the motor component 1-2 drives the grinding wheel 1-12 to grind, so that grinding sampling is realized.
The specific embodiment IV is as follows: this embodiment will be described with reference to fig. 1 to 4. The use method of the climbing robot for star meter detection comprises the following steps: when the climbing robot samples, when the grinding wheel 1-12 of the grabbing mechanism 1 is used for grinding and sampling, one grabbing mechanism 1 is fixedly connected with a star watch, the other grabbing mechanism 1 grinds a sampling target, firstly, the two output ends of the double-end output joint 2 and the shape memory alloy 3 are used for adjusting the gesture of the grabbing mechanism 1, the grinding wheel 1-12 of the grabbing mechanism 1 is aligned with the sampling target, then the motor component 1-2 of the grabbing mechanism 1 starts to work, and the motor component 1-2 drives the grinding wheel 1-12 to grind, so that grinding and sampling are realized.
Fifth embodiment: this embodiment will be described with reference to fig. 1 to 4. The use method of the climbing robot for star meter detection comprises the following steps: when the climbing robot uses the grabbing mechanism 1 to grab the star clock, the flexible contact balls 1-7 are contacted with the star clock, and the self spherical design is used for improving the terrain adaptability of the star clock; the motor component 1-2 drives the screw nut 1-4 to move downwards through the screw 1-3, the upper pull rope 1-10 is loosened, the flexible finger 1-8 is pressed down to the star meter under the action of the pressing torsion spring 1-8-2, and the claw thorn 1-8-5 is in contact with the star meter; the screw nut 1-4 continues to move downwards, then the top end 1-4-1 of the screw nut is contacted with the piston 1-5, the piston 1-5 is pushed to move downwards, meanwhile, the piston recovery spring 1-6 is compressed, the piston 1-5 tightens the lower pull rope 1-9, the lower pull rope 1-9 drags the knuckle 1-8-4 to move towards the guide pipe 1-8-1, so that the claw 1-8-5 is clamped on the star table, meanwhile, the knuckle stretching spring 1-8-3 is compressed, the compensation spring 1-11 is embedded in the middle of the upper pull rope, when the star table clamping position is uneven, the required downward turning angle of the flexible finger 1-8 is inconsistent, the required release length of the upper pull rope 1-10 is inconsistent, the inconsistency of the length is compensated by the compensation spring 1-11, and after the clamping is finished, the motor assembly 1-2 stops driving.
Specific embodiment six: this embodiment will be described with reference to fig. 1 to 4. The use method of the climbing robot for star meter detection comprises the following steps: when the grabbing of the grabbing mechanism 1 of the climbing robot needs to be released, the motor assembly 1-2 is reversely driven, the screw nut 1-4 moves upwards, the compressed piston recovery spring 1-6 pushes the piston 1-5 to move upwards, the lower pull rope 1-9 is loosened, the knuckle 1-8-4 moves out of the guide pipe 1-8-1 under the action of the knuckle stretching spring 1-8-3, the grabbing of the claw 1-8-5 and the star table is released, when the screw nut 1-4 moves upwards to a certain height, the upper pull rope 1-10 is tensioned, the flexible finger 1-8 is folded upwards under the pulling of the upper pull rope 1-10, the grabbing of the flexible finger 1-8 is released, and the lower pressing torsion spring 1-8-2 is compressed.
The star clock detection climbing robot has the innovation points that:
1. the star clock detection climbing robot can climb through grabbing on the star clock, and the star clock can be grabbed and grabbed to be released by controlling the grabbing mechanism to rotate downwards and upwards, and the star clock detection climbing robot is matched with the shape memory alloy and the double-end output joint to realize movement of the climbing robot.
2. The climbing robot for star meter detection can sample the star meter, the climbing robot can grasp and sample through the grabbing mechanism, can grind and sample through the grinding wheel, can clean surface layer media of a detection target point through the grabbing mechanism, and the like, and is convenient for a detection instrument to carry out scientific detection research on subsurface media.
3. A motor component in one grabbing mechanism drives a plurality of flexible fingers to move simultaneously, so that grabbing and releasing of the flexible fingers are realized. The flexible fingers are mutually independent, and can grasp the complex uneven star watch.
4. The flexible finger is provided with a plurality of tiny claws, the tiny claws have certain flexibility, the tiny claws can be grabbed into star surface microcracks, and the tiny claws can generate larger grabbing force.
5. The flexible contact ball is designed at the bottom of the grabbing mechanism, and a multi-sensing sensor can be designed in the ball or on the surface of the ball, so that the characteristics of the contacted position, such as temperature, contact force, electric conductivity, heat conductivity and the like, can be sensed. Meanwhile, the ball is extruded and deformed during the grabbing, and a certain pretightening force can be formed between the grabbing mechanism and the star watch after the grabbing is completed, so that the grabbing reliability is ensured. Meanwhile, the outer surface of the flexible contact ball is provided with micro holes, and the star-meter sample can be collected in the grabbing process.
6. The star clock detection climbing robot can utilize flexible fingers or grinding wheels of the grabbing mechanism to clear surface medium of a detection target point, so that subsurface medium of the detection target point is exposed, and then detection research is conducted by utilizing detection load on an instrument platform.
The above specific embodiments are used for further detailed description of the objects, technical solutions and advantageous effects of the present invention. It should be understood that the foregoing description is only a specific example of the present invention, and is not intended to limit the invention, but rather is a reasonable combination of features described in the foregoing embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. The use method of the climbing robot for star-meter detection is characterized in that when the climbing robot moves, the climbing robot is realized through the cooperation among two grabbing mechanisms (1), two double-end output joints (2) and one shape memory alloy (3), one grabbing mechanism (1) forms grabbing, the grabbing of the other grabbing mechanism (1) is released, the grabbing mechanism (1) with released grabbing adjusts the gesture through the double-end output joints (2), meanwhile, the shape memory alloy (3) adjusts the gesture through the second output ends (2-2) of the double-end output joints (2) connected with the grabbing mechanism (1), then the shape memory alloy (3) is electrified and deformed, the shape memory alloy (3) moves the grabbing mechanism (1) without grabbing to a new position after the electrification deformation, and then the grabbing mechanism carries out grabbing; after the grabbing is completed, the other grabbing mechanism (1) releases the grabbing and repeats the actions; through the coordination and the matching between the two grabbing mechanisms (1) and the shape memory alloy (3), the movement of the climbing robot is realized;
the climbing robot for star meter detection comprises two identical grabbing mechanisms (1), two identical double-end output joints (2), a section of shape memory alloy (3) and an instrument platform (4), wherein the instrument platform (4) is fixedly connected to the middle part of the shape memory alloy (3), two ends of the shape memory alloy (3) are respectively fixedly connected with second output ends (2-2) of the two double-end output joints (2), and a first output end (2-1) of the double-end output joints (2) is fixedly connected with the grabbing mechanisms (1);
the grabbing mechanism (1) comprises a shell (1-1), a motor component (1-2), a screw (1-3), a screw nut (1-4), a piston (1-5), a piston recovery spring (1-6), a flexible contact ball (1-7), a plurality of flexible fingers (1-8), a lower pull rope (1-9), an upper pull rope (1-10), a compensation spring (1-11) and a grinding wheel (1-12), wherein the motor component (1-2) is arranged inside the shell (1-1), the output end of the motor component (1-2) is fixedly connected with the screw (1-3), a screw transmission pair is formed between the screw nut (1-4) and the screw (1-3), the piston (1-5) slides along the inner wall of the shell, one end of the piston recovery spring (1-6) is fixedly connected with the piston (1-5), the other end of the piston recovery spring is fixedly connected with the shell (1-1), the flexible contact ball (1-7) is fixedly arranged at the bottom of the shell (1-1), the lower part of the shell (1-1) is fixedly connected with the flexible contact ball (1-5) in a circumferential direction, and the lower part of the shell (1-1) is uniformly distributed with the piston (1-5), the other end is fixedly connected with a flexible finger (1-8), one end of a compensation spring (1-11) is fixedly connected with a screw nut (1-4), the other end of the compensation spring is connected with an upper pull rope (1-10), the upper pull rope (1-10) is connected with the flexible finger (1-8), each flexible finger (1-8) is independently provided with a group of lower pull ropes (1-9) and upper pull ropes (1-10), and the rear output end of a motor assembly (1-2) is fixedly connected with a grinding wheel (1-12).
2. The use method of the star clock detection climbing robot according to claim 1, wherein the flexible finger (1-8) comprises a guide pipe (1-8-1), a downward-pressing torsion spring (1-8-2), a knuckle stretching spring (1-8-3), a knuckle (1-8-4) and a claw (1-8-5), the end head of the guide pipe (1-8-1) is provided with a downward-pressing torsion spring (1-8-2) and forms a revolute pair with the shell (1-1), the inner knuckle (1-8-4) at the front end of the guide pipe (1-8-1), the knuckle (1-8-4) can slide in the guide pipe (1-8-1), the knuckle stretching spring (1-8-3) is arranged between the side wall of the knuckle (1-8-4) and the guide pipe (1-8-1), a plurality of claws (1-8-5) are arranged on the end head of the guide pipe (1-8-1), and one end (1-9) of the lower knuckle (1-8-4) is fixedly connected with the pull rope (1-5); one end of the upper stay cord (1-10) is fixedly connected with the end head of the conduit (1-8-1), and the other end is connected with the compensation spring (1-11).
3. The method for using a climbing robot for star meter detection according to claim 1, wherein the instrument platform (4) is internally provided with a detection device, a control system and an energy system.
4. The use of a star clock detection climbing robot according to claim 1, characterized in that all flexible fingers (1-8) are driven synchronously by the same motor assembly (1-2), screw (1-3), screw nut (1-4) and piston (1-5).
5. The method for using the climbing robot for star-meter detection according to any one of claims 1 to 4, wherein when the climbing robot samples, when the flexible fingers (1 to 8) are used for grabbing and sampling, one grabbing mechanism (1) is fixedly connected with the star-meter, the other grabbing mechanism (1) grabs and attaches a sampling target, and the sample is enveloped through the flexible fingers (1 to 8) to realize grabbing and sampling.
6. The method for using a climbing robot for star clock detection according to any one of claims 1 to 4, wherein when the climbing robot samples, when the grinding and sampling are performed by using the grinding wheel (1 to 12) of the grasping mechanism (1), one grasping mechanism (1) is fixedly connected with the star clock, the other grasping mechanism (1) grinds the sampling target, the two output ends of the double-end output joint (2) and the shape memory alloy (3) are used for adjusting the posture of the grasping mechanism (1) first, the grinding wheel (1 to 12) of the grasping mechanism (1) is aligned with the sampling target, then the motor assembly (1 to 2) of the grasping mechanism (1) starts to work, and the motor assembly (1 to 2) drives the grinding wheel (1 to 12) to grind, so that grinding and sampling are realized.
7. The method for using the climbing robot for star-meter detection according to any one of claims 1 to 4, wherein when the climbing robot uses the grabbing mechanism (1) to grab the star-meter, the flexible contact balls (1 to 7) are contacted with the star-meter first, and the self spherical design is used for improving the terrain adaptability of the star-meter; the motor component (1-2) drives the screw nut (1-4) to move downwards through the screw (1-3), the upper pull rope (1-10) is loosened, the flexible finger (1-8) is pressed down to the star gauge under the action of the downward-pressing torsion spring (1-8-2), and the claw thorn (1-8-5) is in contact with the star gauge; the screw nut (1-4) continues to move downwards, then the top end (1-4-1) of the screw nut is contacted with the piston (1-5), the piston (1-5) is pushed to move downwards, meanwhile, the piston restoring spring (1-6) is compressed, at the moment, the piston (1-5) can tighten the lower pull rope (1-9), the lower pull rope (1-9) drags the knuckle (1-8-4) to move in the guide pipe (1-8-1), so that the claw (1-8-5) is enhanced to grip the star table, meanwhile, the knuckle stretching spring (1-8-3) is compressed, the compensating spring (1-11) is embedded in the middle of the upper pull rope, when the star table is uneven in the gripping position, the required flexible fingers (1-8) are inconsistent in the downward turning angle, at the moment, the required upper pull rope (1-10) is inconsistent in releasing length, the inconsistency of the length is compensated by the compensating spring (1-11), and after the gripping is completed, the motor assembly (1-2) stops driving.
8. The method of using a climbing robot for star detection according to any one of claims 1 to 4, wherein when the grip of the climbing robot grip mechanism (1) needs to be released, the motor assembly (1-2) is reversely driven, the lead screw nut (1-4) moves upward, the compressed piston restoring spring (1-6) pushes the piston (1-5) upward, the lower pulling rope (1-9) is loosened, the knuckle (1-8-4) is removed from the catheter (1-8-1) by the knuckle stretching spring (1-8-3) so that the grip of the claw (1-8-5) with the star table is released, when the lead screw nut (1-4) moves upward to a certain height, the upper pulling rope (1-10) is tensioned, the flexible finger (1-8) is folded upward under the pull of the upper pulling rope (1-10), the grip of the flexible finger (1-8) is released, and the lower pressing torsion spring (1-8-2) is compressed.
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