CN204197098U - Based on the bionical spider of path planning design - Google Patents
Based on the bionical spider of path planning design Download PDFInfo
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- CN204197098U CN204197098U CN201420685267.4U CN201420685267U CN204197098U CN 204197098 U CN204197098 U CN 204197098U CN 201420685267 U CN201420685267 U CN 201420685267U CN 204197098 U CN204197098 U CN 204197098U
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Abstract
The utility model discloses a kind of bionical spider based on path planning design, comprise spider body and control system, described spider body comprises spider housing, trunk and many are for supporting the limbs of trunk, the head of described spider housing is provided with camera head, the upper end of described limbs is provided with the first steering wheel, described first steering wheel is connected with first joint of rotating at horizontal surface, described first joint is fixed with the second steering wheel, described second steering wheel is connected with the second joint rotated at vertical plane, the other end of described second joint is connected with the 3rd steering wheel rotated at vertical plane relative to second joint, described 3rd steering wheel is fixed with leg, described first steering wheel, second steering wheel and the 3rd steering wheel are all connected to described control system.The bionical spider that the utility model designs based on path planning, imitates the walking feature of spider, can realize the multiple walking functions such as free advance, retrogressing and turning, have autonomous judgement and optimal route selection ability.
Description
Technical field
The utility model relates to bio-robot field, relates to a kind of bionical spider based on path planning design in particular.
Background technology
Along with the development of science and technology, bio-robot has been widely used in the automation mechanized operation of industrial circle.Owing to being no lack of the production environment of inclement condition in commercial production, many safety hazard threaten the life and health of workman greatly, therefore, we need a kind of robot adapting to multiple environmental work, in order to replace the detection operations under various poisonous, harmful and hazardous environment that the mankind are engaged in, allow people wherein also can look into the information of circumstances not known in hole without the need to being in, the problem solving this exist actually is particularly urgent.
The structure of bio-robot can be divided into body and control system substantially, and control system comprises load module, control module and output module.This load module is generally instruction storage device, pre-designed a series of and this instruction can be sent to control module for storing, the instruction received can be sent to output module by this control module, this output module is generally actuating device, it can receive the control signal from control module and drive all parts running of body according to this control signal, thus realizes the automation of robot.
If Authorization Notice No. is CN 202053252U, name is called a kind of robot of walking recorded in the utility model patent of " a kind of robot of walking ", comprise fuselage and leg, fuselage is arranged on leg, fuselage comprises load module, control system and output module, load module comprises, command device, for receiving the order of robotic user and this order being sent to control system as operating order; Detector, for the object that exists around sniffing robot and the distance detected between this object and robot, is sent to control system by the result of detection; Moving sensing device, for sensing the state of kinematic motion of robot and sensing result being fed back to control system.Control system receives the operating order that sends from command device and controls output module with drive machines people according to operating order motion according to operating order, and control system receives the motion that the result of detection of detector and the sensing result of moving sensing device regulate robot.This robot is applicable to the role serving as entrance guard at home, monitors family regional, and the information monitored is sent to client.
Simple and the function singleness of the bio-robot structure mentioned in the above-mentioned patent document quoted, is difficult to condition of compatibility rugged environment, can not meet the demand of people to robot variation function, cannot be applicable to be full of in unknown and dangerous environment.
In view of this, the utility model people carries out deep research to the problems referred to above, then has this case to produce.
Utility model content
The purpose of this utility model is to provide a kind of bionical spider based on path planning design, imitates the walking feature of spider, can realize the multiple walking functions such as free advance, retrogressing and turning, have autonomous judgement and optimal route selection ability.
In order to reach above-mentioned purpose, solution of the present utility model is:
Based on the bionical spider of path planning design, comprise spider body and control system, described spider body comprises spider housing, trunk and many are for supporting the limbs of trunk, described spider case cover is located on described trunk, described limbs distribute along the both sides of described trunk, the head of described spider housing is provided with camera head, the upper end of described limbs is provided with the first steering wheel, described first steering wheel is connected with first joint of rotating at horizontal surface, described first joint is fixed with the second steering wheel, described second steering wheel is connected with the second joint rotated at vertical plane, the other end of described second joint is connected with the 3rd steering wheel rotated at vertical plane relative to second joint, described 3rd steering wheel is fixed with leg, first steering wheel of each limbs is fixed on a plate, and described connecting panel is fixedly connected with by the lower surface of many strut bars with described trunk, described first steering wheel, the second steering wheel and the 3rd steering wheel are all connected to described control system,
Described control system comprises for receiving with the micro controller system of sending controling instruction, for the servos control module that drives each steering wheel to move and the computing machine for showing image, described micro controller system and servos control model calling, described micro controller system is connected with described computer bidirectional communication, and described micro controller system and described servos control module installation are on described trunk.
The above-head of described spider housing is provided with two circular search lamps.
The head end of described trunk is provided with the plastic forceps for gripping objects, described plastic forceps comprises the first pliers and the second pliers, on described trunk corresponding described first pliers clamp handle below be provided with rotating first toothed disc, on described trunk corresponding described second pliers clamp handle below be provided with rotating second toothed disc, described first toothed disc and described second toothed disc engage each other, described connecting panel is fixed with a contiguous block and the 4th steering wheel, described contiguous block and described 4th steering wheel are positioned at the below of the head end of described trunk, described contiguous block is provided with end the first dwang upwards, the end of the first dwang is arranged in the axle center of described first toothed disc through described trunk and rivets with the clamp handle of described first pliers, described 4th steering wheel is connected with end the second dwang upwards, the end of described second dwang is arranged in the axle center of described second toothed disc through described trunk and rivets with the clamp handle of described second pliers, described 4th steering wheel is also connected with described control system.
Described limbs have 6-8 bar.
The bottom of described leg is provided with foot branching pad.
After adopting said structure, the bionical spider (hereinafter referred to as " this bionical spider ") that the utility model designs based on path planning, first steering wheel of each limbs is fixed on connecting panel, drive the first joint in the rotation of horizontal surface by the first steering wheel, and then the sway of the second steering wheel of realization and the first arthrodesis, drive second joint in the rotation of vertical plane by the second steering wheel, and then realize and the moving up and down of the 3rd steering wheel fixed of second joint, 3rd steering wheel itself also can carry out the rotation of certain amplitude at vertical plane relative to second joint, and then realize being fixed on the movement of the leg on the 3rd steering wheel at vertical plane, therefore every bar limbs has altogether the rotation on three degree of freedom, and the rotation on this three degree of freedom can be carried out simultaneously.Send to servos control module the multiple walking functions such as freely advancing, retreat and turn that specific control command can realize this bionical spider by micro controller system; The head of spider housing is provided with camera head, the image real-time acquisition record that it occurs front or side, data are sent to computing machine by micro controller system, during as found bad environments or there is obstacle, computing machine transmission craspedodrome or turn command are to micro controller system, micro controller system sends control command and makes this bionical spider do corresponding gait plan and movement, avoiding obstacles or look for other path in addition, has autonomous judgement and optimal route selection ability.
The head end of this bionical spider trunk is provided with the plastic forceps for gripping objects, can be used for the situation that needs take out target item in rugged environment.
The bottom of leg is provided with foot branching pad, can increase friction force during this bionical spider walking, prevents leg from the phenomenon of skidding occurring.
Accompanying drawing explanation
Fig. 1 is the structural representation of the bionical spider that the utility model designs based on path planning;
Close-up schematic view in Fig. 2 bionical spider that to be the utility model design based on path planning;
Fig. 3 is the workflow diagram of the bionical spider that the utility model designs based on path planning;
Fig. 4 is another close-up schematic view of the bionical spider that the utility model designs based on path planning.
In figure:
Spider body 1 spider housing 11
The circular search lamp 112 of camera head 111
Trunk 12 control system 2
Micro controller system 21 steering gear control system 22
Computing machine 23 limbs 3
Limbs 3a first steering wheel 31
First joint 32 second steering wheel 33
Second joint 34 the 3rd steering wheel 35
Leg 36 foot branching pad 361
Connecting panel 4 contiguous block 41
4th steering wheel 42 plastic forceps 5
First pliers 51 second pliers 52
First toothed disc 53 the 4th toothed disc 54
Detailed description of the invention
In order to explain the technical solution of the utility model further, below by specific embodiment, the utility model is elaborated.
Based on the bionical spider (hereinafter referred to as " this bionical spider ") of path planning design, as Figure 1-Figure 2, comprise spider body 1 and control system 2, spider body 1 comprises spider housing 11 and trunk 12, spider housing 11 is located on trunk 12, both sides along trunk 12 are respectively distributed with three limbs 3 (and 3a), totally six limbs 3 (and 3a) are for supporting trunk 12, the head of spider housing 11 is provided with camera head 111, above-head is provided with the circular search lamp 112 that two shapes imitate spider eyes, for the illumination under dark surrounds, the upper end of every bar limbs 3 (or 3a) is provided with the first steering wheel 31, first steering wheel 31 of each limbs 3 (or 3a) is separately fixed in the side edge of a plate 4, connecting panel 4 is fixedly connected with the lower surface of trunk 12 by many strut bar (not shown)s.
First steering wheel 31 is connected with first joint 32 of rotating at horizontal surface, first joint 32 is fixed with the second steering wheel 33, second steering wheel 33 is connected with the second joint 34 rotated at vertical plane, the other end of second joint 34 is connected with the 3rd steering wheel 35, due to when the 3rd steering wheel 35 runs, the output shaft of the 3rd steering wheel 35 is fixed on second joint, therefore the 3rd steering wheel 35 itself can carry out the rotation of certain amplitude at vertical plane relative to second joint 34, every bar limbs 3 (or 3a) have a rotation at horizontal surface thus, rotation on two common three degree of freedoms of the rotation at vertical plane.3rd steering wheel 35 is fixed with leg 36, and the shape that leg 36 imitates spider pin is tapered from the middle part of leg 36 to bottom, and the inner side indentation of leg 36, the bottom of leg 36 is provided with foot branching pad 361.First steering wheel 31, second steering wheel 33 and the 3rd steering wheel 35 are all connected to control system 2; Drive the first joint 32 in the rotation of horizontal surface by the first steering wheel 31, and then realize the sway of the second steering wheel 33 fixed with the first joint 32, drive second joint 34 in the rotation of vertical plane by the second steering wheel 33, and then realize and the moving up and down of the 3rd steering wheel 35 fixed of second joint, 3rd steering wheel 35 itself also can carry out the rotation of certain amplitude at vertical plane relative to second joint 34, and then realize being fixed on the movement of the leg 36 on the 3rd steering wheel 35 at vertical plane.
As shown in Figure 3, control system 2 comprises for receiving with the micro controller system 21 of sending controling instruction, for the servos control module 22 that drives each steering wheel to move and the computing machine 23 for showing image, micro controller system 21 is connected with servos control module 22, micro controller system 21 is connected with computing machine 23 intercommunication, wherein, micro controller system 21 and servos control module 22 are arranged on trunk 12.
By observing the actual motion of spider, this bionical spider is utilized to imitate the walking feature of spider, follow swinging kick order during spider walking, namely time three limbs 3 of spider depart from ground motion, three remaining limbs 3a support ground, six of this bionical spider limbs 3 (and 3a) can be divided into two groups: be distributed in three limbs of trunk side, be arranged in two limbs 3 of both sides be distributed in trunk opposite side three limbs, to be positioned at middle limbs 3 be first group, three remaining limbs 3a are second group.When the control command that first group of limbs 3 receives is for " lifting ", the control command that second group of limbs 3a receives is necessary for " putting down ", and first group of limbs 3 of " lifting " can travel forward; When first group of limbs 3 of " lifting " put down and after kiss the earth, create the friction force that can promote this bionical spider and advance, when the first group of limbs 3 simultaneously " lifted " put down, originally the second group of limbs 3a " put down " just receives the control command of " lifting ", thus two groups replace swinging kick and just can realize free advance, retreat and the multiple walking function such as turning.
When this bionical spider is in incipient state, the first joint 32 of six limbs 3 (and 3a) without the amplitude swung, being directed upwardly of second joint 34, the direction of leg 36 down and and earth surface, similar spider prepares the state of walking; First the data of computing machine 23 transfer control instruction are passed through to micro controller system 21, then micro controller system 21 is according to the data received to servos control module 22 sending controling instruction, and the servos control module 22 receiving control command makes each joint being connected with steering wheel perform corresponding action.When supposing to need this bionical spider to advance left, each steering wheel of first group of limbs 3 needs the control command performing " lifting " that micro controller system 21 sends left, then the first joint 32 of limbs 3 all turns left under the control of the first steering wheel 31, the second steering wheel 33 is driven to be moved to the left, second joint 34 upwards lifts under the control of the second steering wheel 33 simultaneously, the 3rd steering wheel 35 is driven to move up, thus make the leg 36 of first group of limbs 3 be lifted away from ground, first group of limbs 3 has the trend be moved to the left, the friction force promoting this bionical spider and advance just is created left when first group of limbs 3 puts down kiss the earth again, and then each steering wheel of second group of limbs 3a performs the control command of " lifting " that micro controller system 21 sends left, then each joint of each servos control performs corresponding action, thus two groups of limbs (3 and 3a) alternately swinging kick just can realize advancing left.Controlled the time gap of each joint motions needs by micro controller system 21, regulate the speed of this bionical spider walking; Control the rotation amplitude at horizontal surface in the first joint 32 of different group limbs (3 or 3a), the turning action of this bionical spider can be realized; Control the 3rd steering wheel 35 relative to the rotation amplitude of second joint 34 at vertical plane, the angle of each leg 36 and level ground can be changed, thus regulate the size of these bionical spider paces.
The head of spider housing is provided with camera head 111, the image real-time acquisition record that it occurs front or side, data are sent to computing machine 23 by micro controller system 21, during as found bad environments or there is obstacle, computing machine 23 transmission craspedodrome or turn command are to micro controller system 21, micro controller system 21 sends control command and makes this bionical spider do corresponding gait plan and movement, avoiding obstacles or look for other path in addition, has autonomous judgement and optimal route selection ability.In addition, the realtime graphic record that computing machine 23 can also be collected by this bionical spider, the simulaed path figure of obstacle is drawn out for different earth's surface situations, design optimal path, by the mode of motion that micro controller system 21 sending controling instruction makes this bionical spider realizing route the simplest, improve the efficiency of tasks carrying.
Further, the head end of trunk 12 is provided with the plastic forceps 5 for gripping objects, as shown in Figure 4, plastic forceps 5 comprises the first pliers 51 and the second pliers 52, on trunk 12 corresponding first pliers 51 clamp handle below be provided with rotating first toothed disc 53, on trunk 12 corresponding second pliers 52 clamp handle below be provided with rotating second toothed disc 54, first toothed disc 53 and the second toothed disc 54 engages each other.Connecting panel 4 is fixed with a contiguous block 41 and the 4th steering wheel 42, contiguous block 41 and the 4th steering wheel 42 are positioned at the below of trunk 12 head end, contiguous block 41 is provided with end the first dwang (not shown) upwards, the end of the first dwang is arranged in the axle center of the first toothed disc 53 through trunk 12 and rivets with the clamp handle of the first pliers 51,4th steering wheel 42 is connected with end the second dwang (not shown) upwards, the end of the second dwang is arranged in the axle center of the second toothed disc 54 through trunk 12 and rivets with the clamp handle of the second pliers 52; 4th steering wheel 42 is also connected with control system 2.When needing to take out target item in rugged environment, by the data of computing machine 23 transfer control instruction to micro controller system 21, then micro controller system 21 controls the 4th steering wheel 42 according to the data received, 4th steering wheel 42 drives the second toothed disc 54 to rotate by the second dwang, second toothed disc 54 drives the first toothed disc 53 toward counter-rotation simultaneously, thus realize the closed of plastic forceps 5, for gripping target item.
Further, the bottom of leg 36 is provided with foot branching pad 361, can increase friction force during this bionical spider walking, prevents leg from the phenomenon of skidding occurring.
Camera head in the present embodiment, each steering wheel, micro controller system and computing machine are parts well known in the art.
Above-described embodiment and graphic and non-limiting product form of the present utility model and style, any person of an ordinary skill in the technical field, to its suitable change done or modification, all should be considered as not departing from patent category of the present utility model.
Claims (5)
1. based on the bionical spider of path planning design, comprise spider body and control system, described spider body comprises spider housing, trunk and many are for supporting the limbs of trunk, described spider case cover is located on described trunk, described limbs distribute along the both sides of described trunk, it is characterized in that: the head of described spider housing is provided with camera head, the upper end of described limbs is provided with the first steering wheel, described first steering wheel is connected with first joint of rotating at horizontal surface, described first joint is fixed with the second steering wheel, described second steering wheel is connected with the second joint rotated at vertical plane, the other end of described second joint is connected with the 3rd steering wheel rotated at vertical plane relative to second joint, described 3rd steering wheel is fixed with leg, first steering wheel of each limbs is fixed on a plate, and described connecting panel is fixedly connected with by the lower surface of many strut bars with described trunk, described first steering wheel, the second steering wheel and the 3rd steering wheel are all connected to described control system,
Described control system comprises for receiving with the micro controller system of sending controling instruction, for the servos control module that drives each steering wheel to move and the computing machine for showing image, described micro controller system and servos control model calling, described micro controller system is connected with described computer bidirectional communication, and described micro controller system and described servos control module installation are on described trunk.
2. the bionical spider based on path planning design according to claim 1, is characterized in that: the above-head of described spider housing is provided with two circular search lamps.
3. the bionical spider based on path planning design according to claim 1, it is characterized in that: the head end of described trunk is provided with the plastic forceps for gripping objects, described plastic forceps comprises the first pliers and the second pliers, on described trunk corresponding described first pliers clamp handle below be provided with rotating first toothed disc, on described trunk corresponding described second pliers clamp handle below be provided with rotating second toothed disc, described first toothed disc and described second toothed disc engage each other, described connecting panel is fixed with a contiguous block and the 4th steering wheel, described contiguous block and described 4th steering wheel are positioned at the below of the head end of described trunk, described contiguous block is provided with end the first dwang upwards, the end of the first dwang is arranged in the axle center of described first toothed disc through described trunk and rivets with the clamp handle of described first pliers, described 4th steering wheel is connected with end the second dwang upwards, the end of described second dwang is arranged in the axle center of described second toothed disc through described trunk and rivets with the clamp handle of described second pliers, described 4th steering wheel is also connected with described control system.
4. the bionical spider based on path planning design according to claim 1, is characterized in that: described limbs have 6-8 bar.
5. the bionical spider based on path planning design according to claim 1, is characterized in that: the bottom of described leg is provided with foot branching pad.
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| CN201420685267.4U CN204197098U (en) | 2014-11-14 | 2014-11-14 | Based on the bionical spider of path planning design |
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| CN201420685267.4U CN204197098U (en) | 2014-11-14 | 2014-11-14 | Based on the bionical spider of path planning design |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386159A (en) * | 2014-11-14 | 2015-03-04 | 福建省泉州市第七中学 | Path planning-based bionic spider |
| CN108784840A (en) * | 2018-03-27 | 2018-11-13 | 南方医科大学南方医院 | Based on the improved abdominal operation platform of Leonardo da Vinci's surgical system |
| CN108818551A (en) * | 2018-06-29 | 2018-11-16 | 北京航空航天大学 | A kind of Bionic Ant six-leg robot |
-
2014
- 2014-11-14 CN CN201420685267.4U patent/CN204197098U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386159A (en) * | 2014-11-14 | 2015-03-04 | 福建省泉州市第七中学 | Path planning-based bionic spider |
| CN108784840A (en) * | 2018-03-27 | 2018-11-13 | 南方医科大学南方医院 | Based on the improved abdominal operation platform of Leonardo da Vinci's surgical system |
| CN108818551A (en) * | 2018-06-29 | 2018-11-16 | 北京航空航天大学 | A kind of Bionic Ant six-leg robot |
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