CN204322076U - A kind of novel snakelike bio-robot - Google Patents

Abstract

The utility model provides a kind of novel snakelike bio-robot, comprise robot body, control system, drive circuit, steering wheel, electric power system, wireless telecommunication system, environmental monitoring system, described electric power system comprises battery and mu balanced circuit, described wireless telecommunication system comprises remote controller and data transmission system, described environmental monitoring system comprises camera and sensor group, described robot body comprises snakehead, snake body, ophiruid three parts, the utility model adds camera, sensor is conducive to the parts of snake-shaped robot in actual central application, be convenient to robot and help through work, the camera adopted and temperature, humidity, Smoke Sensor, detection sensitivity is high, monitoring accuracy is strong.Button remote controller in wireless telecommunication system of the present utility model can change its difference and to advance mode, user-friendly for operation, control flexibly.

Description

A new type of snake-like bionic robot

technical field

The utility model relates to the field of robots, in particular to a snake-shaped bionic robot.

Background technique

With the development of embedded technology and communication technology, research in the field of special robots has attracted more and more attention from scientists and all walks of life, and has achieved good results so far. Snake robot is a new type of bionic robot, which realizes "limbless movement" like a biological snake, which is a major breakthrough in the way of robot movement. Snake robots have broad application prospects in many fields. For example, in places where there is radiation, highly toxic, dark, earthquakes, and narrow pipelines, etc., which are not suitable for human work, the advantages of these robots have been fully confirmed in some production applications. .

For the research on snake-shaped robots, countries such as Japan and the United States have relatively more researches. Domestic research institutes such as the National University of Defense Technology and the Shenyang Institute of Automation of the Chinese Academy of Sciences have done some research in this area. Existing snake-like robots generally consist of a plurality of joint modules. The internal structure of the joint modules is hydraulic, pneumatic or electric, and has a single-degree-of-freedom or multi-degree-of-freedom movement mode. In order to realize the snake-like movement on uneven ground, the joint modules of the snake-like robot are generally connected by a 90° difference between adjacent joints, so that the snake-like robot has the ability to swing in both horizontal and vertical directions.

However, the existing snake-shaped robot is only used as an ornamental machine and cannot simulate the movement of biological snakes. Although it has high adaptability to different terrains, it has no effect in practical applications and cannot help humans complete part of the work. .

Utility model content

According to the above technical problems, the utility model provides a new type of snake-shaped bionic robot, which includes a robot body, a control system, a drive circuit, a steering gear, a power supply system, a wireless communication system, and an environmental monitoring system. The power supply system includes a battery and a stabilizer. pressure circuit, the wireless communication system includes a remote controller and a data transmission system, the environmental monitoring system includes a camera and a sensor group, the robot body includes three parts: a snake head, a snake body, and a snake tail, and the snake head is composed of a joint , the snake body is composed of six joints, the snake tail is composed of one joint, and the joint includes a guide wheel, a guide wheel bracket, a screw hole, a steering gear fixing plate, and a set screw, and the guide wheel is fixed on the guide wheel On the bracket, a steering gear fixing plate is installed on the upper side of the guide wheel bracket, a set screw is installed on the steering gear fixing plate, a screw hole is provided on one side of the guide wheel bracket, and the camera is installed on the snake head. The sensor is installed at the second joint of the snake body, the control system is installed at the tail of the snake, the batteries are 2 pieces, which are respectively installed at the head and tail of the snake, and the drive system, power supply system and wireless communication system are installed at the tail of the snake , the snake body is divided into two parts, one is 2 joints that can rotate up and down and left and right at the same time, and the other is 4 joints that can only rotate left and right, as forward power, the steering gear is a total of eight, respectively fixed on On the eight joints, the control system is respectively connected with the drive system, the power supply system, the wireless communication system, and the environment monitoring system, and the drive system is connected with the steering gear.

The steering gear includes a two-state steering steering gear for left and right rotation, a steering gear for turning up and down, and a steering gear for left and right rotation.

The sensor set includes temperature sensor, humidity sensor and smoke sensor.

The remote controller in the wireless communication system sends instructions, the controller receives and responds, and changes the specific traveling mode of the snake-shaped robot by changing the PWM wave. In addition, through the data transmission system, the detection data of the sensor group can be timely and effectively transmitted. And the picture taken by the camera is sent to the control computer for display, and the LED light configured by the camera makes the utility model work in the dark.

The steering gear is a high-precision steering gear, which realizes the way of imitating the meandering of biological snakes. Using the range of motion of the steering gear from 40° to 140°, the different motion angles of the 8 steering gears are controlled, so that each joint The wheels under it change direction, thus propelling the entire fuselage forward in a meandering manner.

The guide wheel is fixed on the guide wheel bracket. Since the steering gear has a range of motion of 40° to 140°, by controlling the different motion angles of the 8 steering gears and relying on the friction against the ground, the wheels under each joint Change direction, thereby propelling the entire fuselage to meander forward.

The screw hole is the only structure that connects the whole joint with the previous joint. It is fixed with the steering wheel of the previous joint with screws, so that the front and rear joints swing regularly through the interaction of the two steering gears, which increases the speed of travel. Coordination, the set screw firmly fixes the steering gear between the two steering gear fixing plates, which solves the problem of the steering gear sliding or the fuselage separating due to the violent swing of the fuselage.

The control system uses STM32F103 as the control core, and the ULN2003 driver chip is selected as the driving part of the steering gear signal in the design, and the LM2596 chip is selected as the core of the voltage stabilization circuit.

The beneficial effects of the utility model are: the utility model adds a camera, a sensor, and other components that are beneficial to the application of the snake-shaped robot in practice, and is convenient for the robot to help complete the work. The camera, temperature, humidity, and smoke sensors adopted have high detection sensitivity, The monitoring accuracy is strong. People can use this function to complete tasks such as surveying in places where there is radiation, highly toxic, dark, earthquakes, and narrow pipelines that are not suitable for human work, and help people understand the internal situation. The control system of the utility model takes STM32F103 as the control core, and the ULN2003 driver chip is selected as the driving part of the steering gear signal in the design, and the LM2596 chip is used to design the voltage regulator circuit, so that the adjustment of the fuselage parameters is simple, the speed control accuracy is high, and the speed dynamic response Fast, stable circuit and high power application rate. The button remote controller in the wireless communication system of the utility model can change its different traveling modes, and has humanized operation and flexible control. The remote controller in the wireless communication system of the utility model sends instructions, and the controller receives and responds, and changes the specific traveling mode of the snake-shaped robot by changing the PWM wave. In addition, through the data transmission system, the detection data of the sensor group and the pictures taken by the camera can be sent to the control computer for display in a timely and effective manner. The LED lights configured by the camera enable the utility model to work in the dark. The utility model adopts eight high-precision steering gears, and uses the range of motion of the steering gears from 40° to 140° to control the different motion angles of the eight steering gears, so that the wheels under each joint change direction, thereby pushing the whole machine The body meanders forward.

Description of drawings

Fig. 1 is a schematic diagram of the overall hardware structure of the utility model;

Fig. 2 is a schematic diagram of the joint frame of the middle part of the structure of the utility model;

Fig. 3 is a schematic diagram of the structural head joint frame of the present invention;

Fig. 4 is a schematic diagram of the structural tail joint frame of the present utility model;

As shown in the figure, guide wheel-1, control system-2, drive circuit-3, steering gear-4, power supply system-5, wireless communication system-6, environmental monitoring system-7, guide wheel bracket-8, screw hole-9 , Steering gear fixing plate-10, set screw-11.

Detailed ways

As shown in the figure, the utility model is further described:

Example 1

The utility model is a new type of snake-shaped bionic robot, which is composed of a robot body, a control system 2, a drive circuit 3, a steering gear 4, a power supply system 5, a wireless communication system 6, and an environmental monitoring system 7. The power supply system 5 includes a battery and a stabilizer. The piezoelectric circuit, the wireless communication system 6 includes a remote controller and a data transmission system, and the environmental monitoring system 7 includes a camera and a sensor group. The robot body includes three parts: a snake head, a snake body, and a snake tail. Composed of joints, the snake tail is composed of a joint, the joint includes guide wheel 1, guide wheel bracket 8, screw hole 9, steering gear fixing plate 10, set screw 11, guide wheel 1 is fixed on guide wheel bracket 8, guide wheel bracket 8 A steering gear fixing plate 10 is installed on the upper side, a set screw 11 is installed on the steering gear fixing plate 10, a screw hole 9 is provided on one side of the guide wheel bracket 8, the camera is installed on the snake head, and the sensor is installed on the second joint of the snake body The control system 2 is installed at the tail of the snake. There are 2 batteries, which are respectively installed at the head and tail of the snake. The drive system, power supply system 5 and wireless communication system 6 are installed at the tail of the snake. Joints that rotate up and down and left and right, and the second is 4 joints that can only rotate left and right (only as forward power). There are eight steering gears 4, which are respectively fixed on the eight joints. The control system 2 is connected with the drive system and power supply system respectively. 5. The wireless communication system 6, the environmental monitoring system 7 are connected, and the driving system is connected with the steering gear 4.

Example 2

The unique body structure of the utility model makes its tangential friction force much smaller than the normal friction force during the movement process. As a bionic robot, the snake-shaped robot must rely on the friction force on the ground to meander forward. The old way of moving forward without motor control, so we chose servo 4. The 440°-140° motion range of the steering gear is used to control the different motion angles of the 8 steering gears 4, so that the wheels under each joint change directions, thereby pushing the entire fuselage forward in a meandering manner.

The following is the decomposition formula for the force of the serpentine motion:

We set the motion range of each joint of the snake to 40°~140°, and assume that the minimum force (unit force) during the motion is f, then in this process there will be:

When moving clockwise:

40°～60° and 90°～110°, (F is the movement force at a certain moment, It is the degree of rotation, 90°～110° is calculated as 40°～60°, the same reason behind, Take the value less than 90°)

60°～90° and 110°～140°

When moving counterclockwise:

140°～120° and 90°～70°

70°～40° and 120°～90°

(The above formula does not contain debugging information, the formula is related to the design of the serpentine structure, and the above formula satisfies the serpentine motion without special shape)

The control system 2 is the control core of the whole snake robot, and the 6V power supply battery in the power supply system 5 provides power for all devices after being regulated by the voltage stabilizing circuit. The control signal controls the eight-way steering gear 4 to carry out the rotation operation through the driving circuit 3 . These include 2 steering gears 4 for turning up and down, 4 steering gears 4 for turning left and right, and 2 "two-state" steering gears 4. "Double state" refers to the presence of the rear four-way only as a forward-moving power when going straight, but it can also maintain its position when it is required to maintain a left or right state. The remote controller of the wireless communication system 6 sends instructions, and the controller receives and responds, and changes the specific traveling mode of the snake-like robot by changing the PWM wave. In addition, through the data transmission system, the detection data of the sensor group and the pictures taken by the camera can be sent to the control computer for display in a timely and effective manner. The LED lights configured by the camera enable the utility model to work in the dark. The environmental monitoring system 7 includes a camera and a sensor group, wherein the sensor group includes a temperature sensor, a humidity sensor and a smoke sensor.

Figure 2 shows the basic components of the joint frame, taking the middle joint frame as an example, including guide wheel 1, guide wheel bracket 8, screw hole 9, steering gear fixing plate 10, and set screw 11.

The guide wheel 1 is fixed on the guide wheel bracket 8. Since the steering gear 4 has a range of motion of 40° to 140°, by controlling the different motion angles of the 8 steering gear 4 and relying on the friction against the ground, the movement under each joint The wheels change direction, propelling the entire fuselage in a meandering motion. The screw hole 9 is the only structure that connects the entire joint to the previous joint, and is fixed together with the steering gear 4 of the previous joint with screws, so that the front and rear joints swing regularly through the interaction of the two steering gears 4, increasing The coordination of progress. The set screw 11 tightly fixes the steering gear 4 between the two steering gear fixing plates 10, which solves the problem that the steering gear 4 slides or the fuselage separates due to the violent swing of the fuselage.

Figure 3 and Figure 4 are the head joint frame and the tail joint frame respectively, and their structures are similar to those of the middle joint frame, so no further description is given here.

The above is only a preferred embodiment of the utility model, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the utility model, some improvements can also be made. It should be regarded as the protection scope of the present utility model.

Claims (3)

1. a novel snakelike bio-robot, comprises robot body, control system, drive circuit, steering wheel, electric power system, wireless telecommunication system, environmental monitoring system, described electric power system comprises battery and mu balanced circuit, and described wireless telecommunication system comprises remote controller and data transmission system, and described environmental monitoring system comprises camera and sensor group, and described robot body comprises snakehead, snake body, ophiruid three parts, described snakehead is made up of a joint, and described snake body is made up of six joints, and described ophiruid is made up of a joint, and described joint comprises guide wheel, wheel bracket, screw, steering wheel fixed head, holding screw, described guide wheel is fixed on wheel bracket, be provided with steering wheel fixed head on the upside of described wheel bracket, described steering wheel fixed head is provided with holding screw, described wheel bracket side offers screw, described camera is arranged on snakehead position, described sensor is arranged on snake second joint place with it, and described control system is arranged on ophiruid part, and described battery is 2 pieces, be arranged on snakehead and ophiruid respectively, described drive system, electric power system and wireless telecommunication system are arranged on ophiruid, and described snake status is two parts, and the first 2 saves can simultaneously up and down and the joint of left-right rotation, it two is that 4 joints only can the joint of left-right rotation, described steering wheel totally eight, is separately fixed on eight joints, and described control system respectively and drive system, electric power system, wireless telecommunication system, environmental monitoring system connects, and described drive system is connected with steering wheel.

2. a kind of novel snakelike bio-robot as claimed in claim 1, is characterized in that, described steering wheel comprises two state and handles left-right rotation steering wheel, rotates steering wheel, left-right rotation steering wheel up and down.

3. a kind of novel snakelike bio-robot as claimed in claim 1, is characterized in that described sensor group comprises temperature sensor, humidity sensor and Smoke Sensor.