CN114537551A - Gecko-like robot based on flexible spine driven by shape memory alloy - Google Patents
Gecko-like robot based on flexible spine driven by shape memory alloy Download PDFInfo
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- CN114537551A CN114537551A CN202210166208.5A CN202210166208A CN114537551A CN 114537551 A CN114537551 A CN 114537551A CN 202210166208 A CN202210166208 A CN 202210166208A CN 114537551 A CN114537551 A CN 114537551A
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- steering engine
- memory alloy
- gecko
- shape memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention provides a gecko-like robot based on a flexible spine driven by shape memory alloy. The driving mode of the flexible spine adopts a differential design, the flexible spine is driven by two groups of symmetrically distributed shape memory alloy springs, the joule heat generated by the ampere effect is utilized to heat the shape memory alloy spring on one side so as to enable the shape memory alloy spring to automatically contract and provide a bias force, and the flexible spine is driven to actively deflect towards the heating side by outputting deformation displacement. The invention adopts three-freedom design and respectively controls the pitching and the advancing and retreating of the leg part and the twisting of the sole. When the gecko-like robot moves straight, the stride is increased through the periodic lateral swing of the flexible spine, and the movement speed is increased; when the obstacle avoidance is carried out, the attitude of the body is adjusted by utilizing the physical characteristic of the self-contraction of the shape memory alloy spring by heating, so that the steering function of small radius is realized, and the steering device has good motion flexibility and environmental adaptability.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a gecko-like robot based on a flexible spine driven by shape memory alloy.
Background
Along with the deepening of the related theoretical technology and the widening of the application field of the bionic wall-climbing robot, the requirements of various operation tasks on the motion flexibility of the wall-climbing robot are higher and higher, and the promotion of the motion flexibility and the dynamic stability of the wall-climbing robot is the key point of the current technical research. Many reptiles in nature, such as geckos, salamanders, etc., can move freely in complex environments and non-horizontal planes. Bionic research finds that the flexible spine of the gecko can improve the motion performance from two aspects of kinematics and dynamics. Kinematically, the flexible spine can be viewed as legs extending over the spine, increasing the gecko's motion step with flexion expansion of the spine. In the aspect of dynamics, the gecko stores and releases energy through the bending and stretching of the flexible spine, so that the utilization rate of the energy is increased, and the movement speed, the stability and the flexibility are improved.
In the current research of the bionic quadruped robot, due to the limitations of materials, driving mechanisms, robot driver control methods and the like, the motion performance of the designed robot is far behind that of the bionic object, and in order to improve the performance of the robot, most researchers pay attention to the mechanism design of the bionic legs and the adhesion mechanism of soles. The existing wall-climbing robot has a rigid integral structure, neglects the action of a spine of the robot in dynamic movement, and has the disadvantages that the rigid body structure has no flexibility, the dynamic adjustment of the body posture is difficult, and the quick response cannot be realized to adapt to the environmental change or the speed change, so that the robot has stiff movement and low flexibility during movement.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the prior art, the gecko-like robot based on the flexible spine driven by the shape memory alloy is provided, and when the robot moves straight, the stride is increased through the periodic lateral swing of the flexible spine, so that the moving speed is increased; when the obstacle avoidance is carried out, the posture of the body is adjusted by utilizing the physical characteristic that the shape memory alloy spring is heated and automatically contracted, so that the steering function of small radius is realized, and the steering device has good maneuverability and adaptability.
The present invention achieves the above technical objects by the following technical means.
The utility model provides an imitative gecko robot based on flexible backbone of shape memory alloy drive, imitative gecko robot includes the forelimb backup pad, be equipped with the master control board in the forelimb backup pad, the one end of forelimb backup pad is equipped with flexible backbone, the one end of flexible backbone is equipped with back organism backup pad, the one end of back organism backup pad is equipped with the tail, the both sides of forelimb backup pad and the both sides of back organism backup pad all are equipped with shank mechanism.
Preferably, the main control board is located through the double-screw bolt nut in the preceding organism backup pad, be equipped with STM main control chip on the main control board, be equipped with steering wheel drive module, current drive module, handle remote control module, inertia measuring module and voltage stabilizing module in the STM main control chip, steering wheel drive module, handle remote control module and inertia measuring module pass through by 7.4V's lithium cell provide power behind the voltage stabilizing module, the current drive module provides input voltage by V's portable power source.
Preferably, the flexible spine comprises two first joint groups, each of the two first joint groups comprises a first spine frame, one end of each first spine frame is connected with the corresponding first spine frame group through a bolt, the first spine frame is arranged on the first connecting plate, and the first spine frame group is arranged on the second connecting plate;
a second joint group is arranged between the two first joint groups, the second joint group comprises a second vertebral frame group, the second vertebral frame group is arranged on the first connecting plate, a second vertebral frame is arranged on the second connecting plate, the first vertebral frame group and the second vertebral frame group respectively comprise mounting blocks, the mounting blocks are placed up and down and are clamped and connected with third vertebral frames, and the two third vertebral frames are connected through bolts;
first connecting plate with the both sides of second connecting plate are all through memory alloy spring coupling, are close to one side of forelimb backup pad be equipped with first installation department on the first connecting plate, are close to one side of back organism backup pad be equipped with the second installation department on the second connecting plate, the one end of flexible backbone passes through first installation department connect in on the forelimb organism backup pad, its other end passes through the second installation department connect in on the back organism backup pad.
Preferably, the leg mechanism comprises a first steering engine connecting frame, a second steering engine connecting frame and a third steering engine connecting frame, one end of the first steering engine connecting frame is rotatably connected with a pitching steering engine, the other end of the first steering engine connecting frame is provided with a forward and backward steering engine, the forward and backward steering engine is rotatably connected to one end of the second steering engine connecting frame, the other end of the second steering engine connecting frame is provided with a torsion steering engine, one end of the torsion steering engine is rotatably connected with the third steering engine connecting frame, and a robot sole is arranged below the third steering engine connecting frame; and an L-shaped connecting frame is arranged on one side of the pitching steering engine and connected to the front engine body supporting plate and the rear engine body supporting plate.
Preferably, the tail is in the shape of a gecko tail.
The invention has the following beneficial effects:
the spine of the gecko-like robot adopts a multi-section hinge structure design based on the shape memory alloy spring, and when the robot moves straightly, the flexible spine can be driven to passively perform periodic lateral swing by the torsion of the sole, so that the movement stride of the robot is increased, and the moving speed is increased; when the robot meets an obstacle in the moving process, the flexible spine can be actively deflected laterally by utilizing the physical characteristic that the shape memory alloy spring is heated and automatically contracted, so that the gecko-like robot can actively perform steering movement with a small radius to quickly avoid the obstacle, and the moving flexibility and the environmental adaptability of the robot are improved.
In addition, the leg mechanism of the gecko-like robot adopts a three-degree-of-freedom design, respectively corresponds to hip joints, knee joints and ankle joints of four limbs of the gecko, can realize free three-dimensional single-limb movement without redundant driving, and enhances the movement performance of the robot.
The gecko-like robot provided by the invention has the advantages of high similarity to the biological gecko in overall configuration, easiness in design and assembly, simple control system, easiness in operation, good crawling stability and stronger comprehensive movement capability.
Drawings
FIG. 1 is a schematic overall structure diagram of a gecko-like robot based on a flexible spine driven by shape memory alloy according to the present invention;
FIG. 2 is a schematic structural diagram of a flexible spine of a gecko-like robot based on a flexible spine driven by shape memory alloy according to the present invention;
FIG. 3 is an exploded view of the flexible spine structure of a gecko-like robot based on a shape memory alloy driven flexible spine according to the present invention;
FIG. 4 is a schematic structural diagram of a leg mechanism of a gecko-like robot based on a flexible spine driven by shape memory alloy according to the present invention;
FIG. 5 is an exploded view of the leg mechanism structure of a gecko-like robot based on a shape memory alloy driven flexible spine according to the present invention;
FIG. 6 is a front body support plate and a rear body support plate of a gecko-like robot based on a shape memory alloy driven flexible spine according to the present invention;
FIG. 7 is a tail of a gecko-like robot based on a shape memory alloy driven flexible spine according to the present invention;
in the figure: 1-front body support plate; 2-a main control panel; 3-a flexible spine; 301-a first spinal cage; 302-a second spinal cage; 303-a second mounting portion; 304-a third spinal cage; 305-a memory alloy spring; 306-a bolt; 307-a first mounting portion; 308-a nut; 309-roller bearings; 4-a leg mechanism; 401-L type link; 402-a pitch steering engine; 403-a first steering engine connecting frame; 404-advancing and retreating steering engines; 405-a second steering engine connecting frame; 406-torsion steering engine; 407-a third steering engine connecting frame; 408-robot sole; 5-a rear body support plate; 6-tail.
Detailed Description
The present technology will be described in detail and clearly in connection with the accompanying drawings and specific examples.
In the description of the present invention, it is to be understood that the orientations or positional relationships indicated by the terms "front", "rear", "left", "right", and the like are based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention, and thus, are not to be construed as limitations of the present invention; the use of the terms first, second and third are also intended to distinguish between similarly named components and therefore should not be construed as limiting the invention; the terms "mounted," "connected," "fixed," and the like are to be understood broadly, and may be a fixed connection, a detachable connection, or an integral connection, and may be a direct connection, an indirect connection through an intermediary, or a connection inside two components; the specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the gecko-like robot based on the shape memory alloy driven flexible spine of the invention comprises a front body support plate 1, a main control plate 2, a flexible spine 3, a leg mechanism 4, a rear body support plate 5 and a tail 6, wherein the main control plate 2 is mounted on the front body support plate 1 through stud nuts, and the front ends of the front body support plate 1 and the flexible spine 3 and the rear ends of the rear body support plate 5 and the flexible spine 3 are connected through bolts and nuts; a pair of three-degree-of-freedom leg mechanisms 4 are symmetrically arranged on two sides of the front machine body supporting plate 1 and the rear machine body supporting plate 5 through L-shaped supports 401 and bolts and nuts, and all the leg mechanisms 4 on the gecko-like robot are completely identical in structure; the tail 6 is connected with the rear machine body support plate 5 through bolts and nuts.
As shown in fig. 2 and 3, the flexible spine 3 is composed of a vertebral frame including a first vertebral frame 301, a second vertebral frame 302, and a third vertebral frame 304, six shape memory alloy springs 305, six ball bearings 309, and nine pairs of bolts and nuts 308, and all of the vertebral frames are made of resin material by 3D printing technology. The front mounting groove of the first vertebral frame 301 is connected with the front body support plate 1 and the rear mounting groove of the third vertebral frame 304 is connected with the rear body support plate 5 through bolts and nuts.
The upper and lower round holes of the first vertebral frame 301 and the two third vertebral frames 304 are respectively in interference fit with the outer rings of the six ball bearings 309, the cylindrical parts of the six third vertebral frames 304 are respectively in interference fit with the inner rings of the six ball bearings 309, all the vertebral frames are connected through bolts 306 and nuts 308, three serial rotatable joint groups are formed, each joint group comprises a hinge structure capable of freely rotating 180 degrees in the horizontal plane, the structural rigidity of the flexible vertebral column 3 in the vertical plane is guaranteed, and the motion stability of the gecko-like robot during crawling is enhanced.
The shape memory alloy spring 305 has the physical characteristic of heating and self-contraction, input voltage is applied to two ends of the spring, an ampere effect is generated after the spring is electrified to increase the temperature, contraction is performed, the amplitude of the input voltage is controlled through PWM signals with different duty ratios, and the heat generated by the ampere effect is adjusted, so that the temperature of the shape memory alloy spring 305 can be changed, and the contraction degree of the spring is changed. The left side and the right side of each joint group of the flexible spine 3 are symmetrically provided with a shape memory alloy spring 305 respectively, the three joint groups comprise six shape memory alloy springs 305 in total, the joint groups are divided into two groups according to the left side and the right side, each side is a group, the three shape memory alloy springs 305 of each group adopt a series connection mode, and the two groups of springs adopt a parallel connection mode. Two ends of each spring are connected to the corresponding vertebral frame through bolts, and two adjacent shape memory alloy springs 305 are connected in a soldering tin welding mode to form a passage. When the robot is electrically heated, the negative pole of the input voltage is respectively connected with one end of each group of springs close to the rear machine body support plate 5, the positive pole of the input voltage is respectively connected with one end of each group of springs close to the front machine body support plate 1, and the on-off of the two groups of spring circuits is controlled, so that whether the robot turns or not and the turning direction of the robot can be controlled.
As shown in fig. 4 and 5, the three-degree-of-freedom leg mechanism 4 is composed of two L-shaped connecting frames 401, three steering engines, three steering engine connecting frames and a robot sole 408, wherein the steering engines are sequentially called a pitch steering engine 402, an advance and retreat steering engine 404 and a torsion steering engine 406 from near to far away from the flexible spine 3, the steering engine connecting frames are sequentially called a first steering engine connecting frame 403, a second steering engine connecting frame 405 and a third steering engine connecting frame 407 from near to far away from the flexible spine 3, and all the steering engine connecting frames are made of resin materials through 3D printing technology. The pitching steering engine 402 is connected with a front body supporting plate 1 and a rear body supporting plate 5 of the gecko-like robot through two L-shaped connecting frames 401 and bolt nuts, the pitching steering engine 402 and the advancing and retreating steering engine 404 are installed on two sides of a first steering engine connecting frame 403 through bolt nuts, the advancing and retreating steering engine 404 and the torsion steering engine 406 are installed on two sides of a second steering engine connecting frame 405 through bolt nuts, and the torsion steering engine 406 and a robot sole 408 are installed on two sides of a third connecting frame 407 through bolt nuts. In practical use, the pitching steering engine 402 is used for controlling the leg mechanism 4 to lift up and fall down, the advancing and retreating steering engine 404 is used for controlling the leg mechanism 4 to advance and retreat, the torsion steering engine 406 is used for controlling the torsion of the robot sole 408 relative to the wall surface, in the crawling process, the gecko-like robot moves in opposite-angle gait, and the motion stride, namely the motion speed, can be changed by changing the output angles of the advancing and retreating steering engine 404 and the torsion steering engine 406.
Every single move steering wheel 402, advance and retreat steering wheel 404 and twist reverse steering wheel 406 all are connected with main control panel 2 through the signal line, and main control panel 2 uses STM32 as main control chip, has integrateed steering wheel drive module, current drive module, handle remote control module and inertia measurement module. The STM32 main control chip, the steering engine driving module, the handle remote control module and the inertia measuring module are powered by 7.4V lithium batteries through the voltage stabilizing module, and the current driving module is provided with input voltage by a 24V mobile power supply.
As shown in fig. 1, 6 and 7, the tail 6 of the gecko-like robot is connected with the rear body support plate 5 through bolts and nuts, and the tail 6 is in a real gecko tail shape and is used for balancing the weight of the main control plate 2 on the front body, preventing the gecko-like robot from toppling and enhancing the motion stability. The front machine body supporting plate, the rear machine body supporting plate and the tail are all made of carbon fiber plates through wire cutting processing.
The above-described examples are preferred embodiments of the present invention and are provided solely to aid in the illustration of the invention. The preferred embodiments are not to be considered in a exhaustive sense to limit the invention to the precise embodiments described. Obviously, many modifications and variations may be made in light of the above teachings, and it will be apparent to those skilled in the art that it is within the scope of this invention that many changes, substitutions, or alterations may be made without departing from the spirit or essential teachings of the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (5)
1. The utility model provides an imitative gecko robot based on flexible backbone of shape memory alloy drive, a serial communication port, imitative gecko robot includes forelimb backup pad (1), be equipped with main control board (2) on forelimb backup pad (1), the one end of forelimb backup pad (1) is equipped with flexible backbone (3), the one end of flexible backbone (3) is equipped with back organism backup pad (5), the one end of back organism backup pad (5) is equipped with tail (6), the both sides of forelimb backup pad (1) and the both sides of back organism backup pad (5) all are equipped with shank mechanism (4).
2. The gecko-like robot based on the shape memory alloy driven flexible spine according to claim 1, characterized in that the main control board (2) is arranged on the front body support board (1) through a stud nut, the main control board (2) comprises an STM32 main control chip, a steering engine driving module and a current driving module which are directly connected with the output end of the STM32 main control chip, and a handle control module, an inertia measuring module and a voltage stabilizing module which are directly connected with the input end of the STM32 main control chip;
the output end of the steering engine driving module is directly connected with a pitching steering engine (402), a forward and backward steering engine (404) and a torsion steering engine (406) in the leg mechanism (4) and is used for generating specific PWM (pulse width modulation) signals according to a control instruction of an STM32 main control chip to drive each steering engine;
the output end of the current driving module is directly connected with a plurality of shape memory alloy springs (305) on two sides of the flexible spine (3) and is used for amplifying current signals output by an STM32 main control chip so as to heat the shape memory alloy springs (305);
the handle control module is used for receiving a control signal of an external control handle and then sending the control signal to an STM32 main control chip to adjust the motion mode of the gecko-like robot;
the inertia measurement module is used for monitoring the motion posture of the gecko-like robot and sending monitoring data to the STM32 main control chip;
STM32 main control chip, steering wheel drive module, handle remote control module and inertia measurement module are passed through by 7.4V lithium cell power is provided behind the voltage stabilizing module, the current drive module is provided input voltage by 24V's portable power source.
3. The gecko-like robot based on the shape memory alloy driven flexible spine as claimed in claim 1, wherein the flexible spine (3) comprises two first joint groups, each of the two first joint groups comprises a first spine frame (301), one end of the first spine frame (301) is connected with the first spine frame group through a bolt (306), the first spine frame (301) is arranged on a first connecting plate, and the first spine frame group is arranged on a second connecting plate;
a second joint group is arranged between the two first joint groups, the second joint group comprises a second vertebral frame group, the second vertebral frame group is arranged on the first connecting plate, a second vertebral frame (302) is arranged on the second connecting plate, the first vertebral frame group and the second vertebral frame group respectively comprise mounting blocks, the upper part and the lower part of each mounting block are respectively clamped and connected with a third vertebral frame (304), and the two third vertebral frames (304) are connected through bolts (306);
first connecting plate with the both sides of second connecting plate are all connected through memory alloy spring (305), are close to one side of forelimb backup pad (1) be equipped with first installation department (307) on the first connecting plate, are close to one side of back organism backup pad (5) be equipped with second installation department (303) on the second connecting plate, the one end of flexible backbone (3) is passed through first installation department (307) connect in on the forelimb backup pad (1), its other end passes through second installation department (303) connect in on the back organism backup pad (5).
4. The gecko-like robot based on the shape memory alloy driven flexible spine is characterized in that the leg mechanism (4) comprises a first steering engine connecting frame (403), a second steering engine connecting frame (405) and a third steering engine connecting frame (407), one end of the first steering engine connecting frame (403) is rotatably connected with a pitching steering engine (402), the other end of the first steering engine connecting frame is fixedly connected with the driving end of the pitching steering engine (402), a forward and backward steering engine (404) is arranged on one side of the first steering engine connecting frame (403), the forward and backward steering engine (404) is rotatably connected with one end of the second steering engine connecting frame (405), the driving end of the forward and backward steering engine (404) is fixedly connected with the other end of the second steering engine connecting frame (405), a torsion steering engine (406) is arranged on one end of the second steering engine connecting frame (405), one end of the torsion steering engine (406) is rotatably connected with the third steering engine connecting frame (407), the other end of the robot foot support is fixedly connected with a third steering engine connecting frame (407), and a robot foot sole (408) is arranged below the third steering engine connecting frame (407); one side of the pitching steering engine (402) is connected with an L-shaped connecting frame (401) through a bolt, and the other side of the L-shaped connecting frame (401) is connected to the front engine body supporting plate (1) or the rear engine body supporting plate (5) through a bolt.
5. The gecko-like robot based on the shape memory alloy driven flexible spine as claimed in claim 1, characterized in that the tail (6) is shaped like a gecko tail and is arranged in a hollow manner.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210166208.5A CN114537551B (en) | 2022-02-23 | 2022-02-23 | Gecko-like robot based on flexible spine driven by shape memory alloy |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210166208.5A CN114537551B (en) | 2022-02-23 | 2022-02-23 | Gecko-like robot based on flexible spine driven by shape memory alloy |
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| CN114537551A true CN114537551A (en) | 2022-05-27 |
| CN114537551B CN114537551B (en) | 2022-12-06 |
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Citations (5)
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| CN101570219A (en) * | 2009-06-08 | 2009-11-04 | 南京航空航天大学 | Bionic leg with three-dimensional force perception and spatial surface self-adaptive ability |
| CN101870310A (en) * | 2010-06-02 | 2010-10-27 | 南京航空航天大学 | Gecko-like robot and mechanical structure thereof |
| CN105128971A (en) * | 2015-09-07 | 2015-12-09 | 南京航空航天大学 | Bionic four-footed wall-climbing robot based on falcula attachment |
| US20200039590A1 (en) * | 2018-08-02 | 2020-02-06 | Colorado State University Research Foundation | Miniature walking robot with soft joints and links |
| CN114030535A (en) * | 2021-10-29 | 2022-02-11 | 南京航空航天大学 | Bionic wall-climbing robot based on synergistic effect of claw and foot pad adhesion |
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2022
- 2022-02-23 CN CN202210166208.5A patent/CN114537551B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101570219A (en) * | 2009-06-08 | 2009-11-04 | 南京航空航天大学 | Bionic leg with three-dimensional force perception and spatial surface self-adaptive ability |
| CN101870310A (en) * | 2010-06-02 | 2010-10-27 | 南京航空航天大学 | Gecko-like robot and mechanical structure thereof |
| CN105128971A (en) * | 2015-09-07 | 2015-12-09 | 南京航空航天大学 | Bionic four-footed wall-climbing robot based on falcula attachment |
| US20200039590A1 (en) * | 2018-08-02 | 2020-02-06 | Colorado State University Research Foundation | Miniature walking robot with soft joints and links |
| CN114030535A (en) * | 2021-10-29 | 2022-02-11 | 南京航空航天大学 | Bionic wall-climbing robot based on synergistic effect of claw and foot pad adhesion |
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| CN114537551B (en) | 2022-12-06 |
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