CN115384653A - Controllable off-line crawling robot based on electromagnetic driving principle - Google Patents
Controllable off-line crawling robot based on electromagnetic driving principle Download PDFInfo
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- CN115384653A CN115384653A CN202211195172.XA CN202211195172A CN115384653A CN 115384653 A CN115384653 A CN 115384653A CN 202211195172 A CN202211195172 A CN 202211195172A CN 115384653 A CN115384653 A CN 115384653A
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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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Abstract
The invention discloses a controllable off-line crawling robot based on an electromagnetic driving principle, which comprises a supporting frame, a driving system, supporting legs and a power supply system, wherein the supporting frame is provided with a plurality of supporting legs; the support frame provides positioning and support for the driving system, the support legs and the power supply system; the two sets of driving systems are the same in structure and work independently and respectively comprise a cantilever beam structure, a permanent magnet, a hollow coil, an integrated transmission structure and the like, and the integrated transmission structure comprises a transmission hinge and an actuating leg; after alternating voltage is applied to the hollow coil, the permanent magnet is forced to vibrate under the combined action of alternating electromagnetic force of the hollow coil and elastic restoring force of the cantilever beam structure, and the transmission hinge converts the vibration of the permanent magnet into the swinging of the actuating legs, so that the robot is driven to move. The control of the moving direction, the track and the speed of the robot can be realized by controlling the alternating voltage applied to the two sets of driving systems. The invention has the advantages of simple structure, good control effect, strong adaptability, light weight and strong loading capacity.
Description
Technical Field
The invention relates to the technical field of miniature crawling robots, in particular to an electromagnetically-driven crawling robot.
Background
The crawling robot under the insect size has the advantages of small size, high maneuverability, good concealment and the like, is suitable for performing specific tasks in narrow areas such as ruins and pipelines, and is widely concerned. However, the small size also presents a significant challenge to the control and off-line design of a crawling robot. The control means that the crawling robot needs to design a plurality of driving systems to realize complex actions such as advancing, turning and the like in a cooperative mode, and the offline means that the crawling robot needs to integrate a power supply and a matching circuit, so that the size and the load of the crawling robot are inevitably increased. The design of the drive system and the selection of the control scheme of the crawling robot are particularly important under the dual limits of size and load capacity.
The driving system is generally composed of a driver, a transmission mechanism and an actuating leg, wherein the driver with high power density is beneficial to reducing the size of the driving system and increasing the load carrying capacity of the robot. Robots of conventional size mainly use technically mature motors as drives. However, in the case of insect size, the motor faces a problem that the driving efficiency is drastically decreased and the miniaturization of the transmission mechanism is difficult. It has been found that linear drives have greater advantages and potential than rotary drives when the size of the drive is reduced to the centimeter level and below. Among the linear actuators that are currently being developed to a greater degree are electrostatic actuators, piezoelectric actuators, dielectric elastomer actuators, and electromagnetic actuators. Among them, electrostatic actuators are easy to miniaturize, but have low power density and limited load carrying capacity. An electrostatic drive crawling robot developed by Beijing university of aerospace realizes transient offline (patent number: CN 106143671B), but can not further integrate a control circuit to complete autonomous crawling. Piezoelectric and dielectric elastomer actuators have high power density but require high voltage alternating current, which increases the complexity of the supporting circuitry. A piezoelectric driving crawling robot developed by Berkeley division of California university integrates a power supply and a simplified control circuit, self-help crawling is achieved by means of guidance of external laser, and due to the limitation of the size and the quality, a more complex and efficient control circuit cannot be adopted, so that the application range of the robot is limited. The electromagnetic driver has high power density and low driving voltage, is applied to robots with insect sizes, and does not realize efficient control.
The selection of the control scheme affects the number requirements of the drive system. A dielectric elastomer driven crawling robot developed by the Swiss Federal institute of technology adopts a three-point supporting scheme of a front support and a rear support, and three supporting legs are respectively connected with a driver to actively actuate. When the three drivers work simultaneously, the robot moves forwards; when only the front driver and one rear driver work, the robot turns in situ. A piezoelectricity drive robot of crawling of harvard university's research has adopted two preceding back four point support schemes, and four supporting legs all can be initiatively actuated on 2 degrees of freedom, have adopted 8 drivers altogether. The crawling robot has a good control effect, but a plurality of driving systems, complex matching circuits and large overall size. Under the limitation of the small size, the control scheme is selected to perform a predetermined control function using a minimum of drive systems.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the problems of complex driving system, large size, low control efficiency and low crawling speed of the existing insect size crawling robot, the bionic crawling robot which is driven by only two sets of driving systems based on the electromagnetic driving principle is provided, and the bionic crawling robot is simple in structure, small in size, high in loading capacity and capable of crawling through remote control or program control.
The technical scheme adopted by the invention for solving the technical problems is as follows: a controllable off-line climbing robot based on an electromagnetic driving principle comprises a supporting frame, a driving system, supporting legs and a power supply system.
Wherein, braced frame is connected by a plurality of backup pad structures and constitutes, specifically includes backup pad, bottom suspension fagging, circuit support board, collateral branch backup pad, preceding backup pad and back backup pad, and braced frame provides location and support for actuating system, supporting leg and electrical power generating system.
The two sets of driving systems are symmetrically arranged in the left and right directions, have the same structure and are composed of cantilever beam structures, permanent magnets, coil fixing plates, hollow coils and integrated transmission structures. The fixed end of the cantilever beam structure is connected to the rear support plate, and the free end of the cantilever beam structure is connected with the permanent magnet and the integrated transmission mechanism; the permanent magnet is opposite to the hollow coil fixed on the coil fixing plate; the coil fixing plate is supported on the front supporting plate; the integrated transmission mechanism comprises a transmission hinge and an actuating leg, one end of the transmission hinge is connected with the permanent magnet and the cantilever beam structure, and the other end of the transmission hinge is fixed on the front support plate.
Wherein, the supporting leg is fixed on the overhanging section of cantilever structure stiff end.
The power supply system comprises a power supply and a matched circuit and can provide adjustable alternating voltage for the hollow coil.
After the hollow coil is electrified, the permanent magnet generates stable vibration under the combined action of the alternating electromagnetic force of the hollow coil and the elastic restoring force of the cantilever beam structure, the transmission hinge further converts the vibration of the permanent magnet into the swing of the actuating leg, namely, the transmission hinge converts the linear displacement of the permanent magnet into the angular displacement of the actuating leg around the axis, so that the robot is driven to move.
Furthermore, the supporting plate structure, the cantilever beam structure, the coil fixing plate, the integrated transmission mechanism and the supporting legs are all made of light high-strength carbon fibers, polyimide films or glass fibers through laser cutting after stacking and laminating, and the pressure resistance of the mechanism is improved.
Furthermore, the integrated transmission mechanism is formed by integrally cutting the transmission hinge and the actuating leg on one laminated composite material, so that the installation error between the transmission hinge and the actuating leg is eliminated.
Furthermore, the two sets of driving systems respectively control the two actuating legs to actuate independently; the actuating leg can be selected from a front leg or a rear leg, and when the actuating leg is the front leg, the rear leg is a supporting leg; when the actuating leg is the rear leg, the front leg is the supporting leg.
Furthermore, the power supply and the matching circuit select the mature prior art and are integrated on the machine body to be used as an airborne power supply, so that the robot can automatically crawl off line.
Furthermore, the tail ends of the front legs and the rear legs can be selectively adhered with small patches of different materials and shapes to adapt to different grounds, so that the robot is prevented from slipping when crawling. For example, a disc of rough surface material increases the coefficient of friction of the legs against the glass floor to ensure the crawling speed of the robot on the glass surface.
In addition, it can be understood that the robot of the invention can also adopt an external power supply according to the actual use requirement, and the external power supply is connected to the hollow coil to provide adjustable alternating voltage for the hollow coil, thereby realizing the robot crawling with wires in a controllable way.
The invention realizes the control of the moving direction, the track and the speed of the robot by controlling the alternating voltage applied to the two sets of driving systems. When a single driving system is electrified to work, only one corresponding actuating leg is actively actuated, the other three legs are all used as fulcrums, and the robot can turn in situ; when the two driving systems are electrified and work simultaneously, the two actuating legs are actuated actively, and the two supporting legs are used as fulcrums, so that the robot can move linearly and curve movement under different curvature radiuses. The crawling speed of the robot is controlled by the frequency of the alternating voltage, and when the vibration frequency of the permanent magnet is close to the natural frequency of the system, the crawling speed of the robot is the fastest.
Compared with the prior art, the invention has the advantages that:
(1) Simple structure and small size. The crawling robot adopts the electromagnetic driver which is simple in structure and easy to miniaturize; secondly, the working voltage required by the electromagnetic driver is low, and the structure of a corresponding matched circuit is simplified; thirdly, the preset control requirement can be realized only by adopting two independent driving systems, and the whole structure of the robot is simplified; the length, width and height dimensions of the robot are all less than 3cm.
(2) The crawling speed is high. The linear electromagnetic driver adopted by the invention generates a variable electromagnetic field through the coil which is electrified with alternating current, so that the permanent magnet is forced to vibrate under the action of alternating force. The transmission hinge further amplifies the linear vibration of the permanent magnet into high-amplitude swing of the front leg, and the two sets of driving systems work simultaneously, so that the robot can still generate a high movement speed even though a power supply and a matched circuit are integrated.
(3) The control effect is good. The invention respectively controls the relative movement between the two front legs and the ground through two independent driving systems. The fixed-point turning, straight-going and curve movement under different curvature radiuses of the robot can be realized by controlling the amplitude and the frequency of the alternating voltage applied to the two drivers.
(4) The adaptability is strong. After the patches in different shapes are attached to the tail ends of the supporting legs, the robot can quickly crawl on the ground made of various materials such as glass, printing paper, plastic plates and wood, and the environment adaptability is high.
(5) The machine body has light weight and strong loading capacity. The robot has the advantages that the mass of the robot body is lower than 400mg except for the power supply system, the robot body can be connected with an external power supply to realize wired controllable crawling, the power supply system can be integrated on the robot body to realize autonomous crawling, and the total mass of the robot after the power supply system is integrated is not more than 1.8g.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention, wherein FIG. 1 (a) is an isometric view of the overall structure of the present invention, and FIG. 1 (b) is a top view of the overall structure of the present invention;
FIG. 2 is a schematic view of the connection of the support plate structure of the present invention;
FIG. 3 is a schematic diagram illustrating an operating principle of the present invention, wherein FIG. 3 (a) is a schematic diagram illustrating an alternating force generated by the linear electromagnetic actuator of the present invention during operation, and FIG. 3 (b) is a schematic diagram illustrating a deformation of the cantilever structure of the present invention during operation;
FIG. 4 is a schematic view of the front leg under force when the present invention is in operation.
Detailed Description
The invention is further described with reference to the following figures and specific examples. In this embodiment, the power system is an onboard power system integrated on the machine body, the driving system is connected with the front legs, the front legs are actuating legs, and the rear legs are supporting legs.
The invention provides a controllable off-line crawling robot based on an electromagnetic driving principle, which comprises a supporting frame, a driving system, supporting legs and a power supply system. As shown in fig. 1 (a) and 1 (b), the specific structure includes: the device comprises an upper supporting plate 1, a lower supporting plate 2, a circuit supporting plate 3, side supporting plates, a front supporting plate 6, a rear supporting plate 7, a cantilever beam structure 8, a permanent magnet 9, a coil fixing plate 10, a hollow coil 11, an integrated transmission structure 12, rear legs 13 and a power supply system (not shown in the figure).
The side support plates consist of a side support plate I4 positioned at the back of the side and a side support plate II 5 positioned at the front of the side, and the same two sets are designed and are oppositely arranged at the left and the right; the two rear supporting plates 7 are completely the same in shape and are arranged in parallel, so that the stability of the support can be improved; go up backup pad 1, bottom suspension fagging 2, circuit support board 3, collateral branch backup pad I4, collateral branch backup pad II 5, preceding backup pad 6 and back backup pad 7 are collectively called the backup pad structure, and the connection between the adjacent backup pad structure is shown as figure 2, thereby constitutes braced frame through mounting hole and protruding edge grafting cooperation for fixed actuating system, support airborne power and supporting circuit etc..
The two sets of driving systems have the same structure and are symmetrically arranged left and right, and taking a right driving system as an example, the right driving system consists of a cantilever beam structure 8, a permanent magnet 9, a coil fixing plate 10, a hollow coil 11 and an integrated transmission structure 12; one end of the cantilever beam structure 8 is fixed on the rear supporting plate 7, and the free end of the cantilever beam structure is fixed with a permanent magnet 9; the permanent magnet 9 is opposite to the air core coil 11; the hollow coil 11 is fixed on the coil fixing plate 10; the coil fixing plate 10 is fixed on the front support plate 6; the integrated transmission structure 12 comprises a transmission hinge and a front leg, one end of the transmission hinge is connected with the cantilever beam structure 8 and the permanent magnet 9, and the other end of the transmission hinge is connected with the front support plate 6.
The supporting leg is a rear leg 13 which is fixed on a convex edge extending backwards at the fixed end of the cantilever beam structure 8 in a plugging mode.
The power supply system comprises an airborne power supply and a matching circuit, the airborne power supply is arranged on the upper supporting plate 1, and the matching circuit is integrally arranged on the circuit supporting plate 3.
The power supply system provides adjustable alternating voltage for the two hollow coils 11; when the hollow coil 11 is electrified, the permanent magnet 9 generates stable vibration under the combined action of the alternating electromagnetic force of the hollow coil 11 and the elastic restoring force of the cantilever beam structure 8, and the transmission hinge further converts the vibration of the permanent magnet 9 into the swing of the front leg, so that the whole mechanism is driven to move.
The driving principle of the invention is as follows: after applying alternating voltage with certain frequency, the cantilever beam structure 8 generates forced vibration under the action of alternating magnetic field force, and the transmission hinge converts the vibration into periodic swing of the front leg and drives the whole structure to advance. The method specifically comprises the following steps: as shown in fig. 3 (a), when an alternating voltage is applied to two air-core coils 11, an alternating magnetic field is generated around the air-core coils 11; in the magnetic field, the permanent magnet 9 is subjected to an alternating transverse magnetic field force, and overcomes the elastic restoring force of the cantilever beam structure 8 to generate alternating transverse deflection; the cantilever structure 8 is subjected to the alternating force to undergo elastic deformation as shown in fig. 3 (b); the lateral displacement of the free end of the cantilever beam structure 8 is converted into the swing of the front leg through the transmission hinge. As shown in fig. 4, due to the inclination of the body, the front legs swing backward to hit the ground, which gives the whole structure a forward reaction force F' that causes the body to gain a forward acceleration and move forward. When the front leg swings periodically, the whole body appears to move forward stably.
The control principle of the invention is as follows: when a single driving system is electrified to work, only one corresponding front leg is actively actuated, the other three supporting legs are all used as fulcrums, and at the moment, the robot turns in situ. When the two driving systems are electrified and work at the same time, the two front legs are both actively actuated, and the two rear legs are used as fulcrums. When the alternating voltages applied to the two sets of drive systems are the same, the robot advances linearly. When the two alternating voltages are different, the robot can move along curves with different curvature radiuses. The crawling speed of the robot is controlled by the frequency of the alternating voltage, and when the vibration frequency of the permanent magnet is close to the natural frequency of the system, the crawling speed of the robot is the fastest.
In this embodiment, the material of upper support plate 1, lower support plate 2, collateral branch backup pad I4 and collateral branch backup pad II 5, preceding backup pad 6, back backup pad 7, cantilever beam structure 8 and coil fixing plate 10 all selects the carbon fiber. The material of the circuit supporting plate 3 is a plastic film or other materials which are not conductive and have certain supporting capacity.
It should be noted that the above-mentioned expressions referring to orientations, such as bottom, top, upper, lower, inner, outer, left, right, etc., are based on the directions and positional relationships shown in the drawings, and are only used for convenience of description, but do not indicate or imply that the parts referred to must have a specific orientation, configuration or operation.
The present invention has not been described in detail as being known in the art.
The above description is only an example of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent variations and modifications made to the above example according to the principles and technical spirit of the present invention are within the technical scope of the present invention, so the scope of the present invention is defined by the claims.
Claims (10)
1. A controllable off-line crawling robot based on an electromagnetic driving principle is characterized by comprising a supporting frame, a driving system, supporting legs and a power supply system; wherein the content of the first and second substances,
the supporting frame is formed by connecting a plurality of supporting plate structures and comprises an upper supporting plate (1), a lower supporting plate (2), a circuit supporting plate (3), side supporting plates (4,5), a front supporting plate (6) and a rear supporting plate (7), and the supporting frame provides positioning and supporting for a driving system, supporting legs and a power supply system;
the driving system consists of a cantilever beam structure (8), a permanent magnet (9), a coil fixing plate (10), an air-core coil (11) and an integrated transmission structure (12); the fixed end of the cantilever beam structure (8) is connected to the rear support plate (7), and the free end is connected with the permanent magnet (9) and the integrated transmission mechanism (12); the permanent magnet (9) is opposite to the hollow coil (11) fixed on the coil fixing plate (10); the coil fixing plate (10) is supported on the front support plate (6); the integrated transmission mechanism (12) comprises a transmission hinge and an actuating leg, one end of the transmission hinge is connected with the permanent magnet (9) and the cantilever beam structure (8), and the other end of the transmission hinge is fixed on the front supporting plate (6);
the supporting legs are fixed on the overhanging sections of the fixed ends of the cantilever beam structures (8);
the power supply system comprises a power supply and a matched circuit, and can provide adjustable alternating voltage for the hollow coil (11);
when the hollow coil (11) is electrified, the permanent magnet (9) generates stable vibration under the combined action of the alternating electromagnetic force of the hollow coil (11) and the elastic restoring force of the cantilever beam structure (8), and the transmission hinge further converts the vibration of the permanent magnet (9) into the swing of the actuating leg, so that the robot is driven to move.
2. The controllable off-line crawling robot based on electromagnetic driving principle as claimed in claim 1, wherein: the driving system is provided with two sets, the two sets of driving systems have the same structure and are symmetrically arranged left and right and work independently.
3. The controllable off-line crawling robot based on electromagnetic driving principle as claimed in claim 2, wherein: the two sets of driving systems respectively control the two actuating legs to independently actuate; the actuating legs are front legs or rear legs, and if the actuating legs are front legs, the rear legs are supporting legs; if the actuating leg is a rear leg, the front leg is a supporting leg.
4. The controllable off-line crawling robot based on electromagnetic driving principle as claimed in claim 1, wherein: the power supply system is a power supply and a matching circuit integrated on the machine body, or an external power supply and a matching circuit connected to the hollow coil (11).
5. A controllable off-line crawling robot based on electromagnetic driving principle according to any of claims 1-4, characterized in that: the support plate structure, the cantilever beam structure (8), the coil fixing plate (10), the integrated transmission mechanism (12) and the support legs are formed by laser cutting after stacking and laminating carbon fibers, polyimide films or glass fibers.
6. The controllable off-line crawling robot based on electromagnetic driving principle as claimed in claim 5, wherein: the adjacent supporting plate structures of the supporting frame are connected, and the supporting legs and the cantilever beam structures (8) are connected in a matching mode of inserting the mounting holes and the convex edges.
7. A controllable off-line crawling robot based on electromagnetic driving principle as claimed in claim 3, characterized in that: the tail ends of the front legs and the rear legs can adapt to different grounds by sticking patches of different materials and shapes, and the robot is prevented from slipping when crawling.
8. The controllable off-line crawling robot based on the electromagnetic driving principle as claimed in claim 1, wherein: the size of each direction of the robot is less than 3cm, and the mass of the robot body is less than 400mg.
9. A driving method for the controllable off-line crawling robot based on the electromagnetic driving principle of claim 1, characterized in that: when alternating voltage is applied to the hollow coil (11), an alternating magnetic field is generated around the hollow coil (11), and the permanent magnet (9) generates alternating transverse offset under the action of the force of the alternating magnetic field, so that the cantilever beam structure (8) is driven to elastically deform; the transverse displacement of the free end of the cantilever beam structure (8) is converted into the swing of the actuating leg through the transmission hinge; because the machine body inclines, the actuating legs impact the ground when swinging backwards, and the ground can provide forward reaction force for the robot, so that the machine body obtains forward acceleration and moves forwards; the actuating leg swings periodically, and the whole machine body moves forwards stably.
10. A control method for a controllable off-line crawling robot based on an electromagnetic driving principle as claimed in claim 1 is characterized in that the control of the moving direction, track and speed of the robot is realized by controlling the alternating voltage applied to two sets of driving systems; the method comprises the following steps:
when a single driving system is electrified to work, only the actuating leg on the corresponding side is actively actuated, the other three supporting legs are all used as fulcrums, and the robot turns in place;
when the two sets of driving systems are electrified simultaneously, the two actuating legs are actuated actively, and the two supporting legs are fulcrums; the same alternating voltage is applied to the two sets of driving systems, and the robot moves forwards linearly; when the alternating voltages applied to the two sets of driving systems are different, the robot moves along curves with different curvature radiuses;
the crawling speed of the robot is controlled by the frequency of the alternating voltage, and when the vibration frequency of the permanent magnet is close to the natural frequency of the system, the crawling speed of the robot is the fastest.
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