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

A kind of novel snakelike bio-robot Download PDF

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Publication number
CN204322076U
CN204322076U CN201420694147.0U CN201420694147U CN204322076U CN 204322076 U CN204322076 U CN 204322076U CN 201420694147 U CN201420694147 U CN 201420694147U CN 204322076 U CN204322076 U CN 204322076U
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China
Prior art keywords
steering wheel
robot
joint
snake
sensor
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Expired - Fee Related
Application number
CN201420694147.0U
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Chinese (zh)
Inventor
李树伟
颜培禹
李�昊
高圣伟
段春剑
谢宗奎
樊强
马杉杉
朱丽敏
王尚成
娄贵鑫
刘小飞
张梦
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Tianjin Polytechnic University
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Tianjin Polytechnic University
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Priority to CN201420694147.0U priority Critical patent/CN204322076U/en
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Expired - Fee Related legal-status Critical Current
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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 kind of novel snakelike bio-robot
Technical field
The utility model relates to robot field, particularly relates to a kind of snakelike bio-robot.
Background technology
Along with the development of embedded technology and the communication technology, the research in special machine people field also more and more receives the concern of scientist and various circles of society, and has achieved good achievement at present.Snake-shaped robot is a kind of novel imitative biorobot, and it achieving as biological snake " without limb motion ", is an important breakthrough of robot motion's mode.Snake-shaped robot has a wide range of applications in a lot of fields, as there being radiation, have severe toxicity, occasion that dark, earthquake, narrow and small pipeline etc. are not suitable for human work, the advantage of these robots obtains sufficient confirmation in part producing application.
For the research of snake-shaped robot, it is relatively many that the country such as Japan, the U.S. is studied.The domestic mainly National University of Defense technology, Shenyang automation research Suo Deng R&D institution of the Chinese Academy of Sciences have certain research in this respect.Existing snake-shaped robot is generally made up of multiple joint module, and the internal structure of joint module is hydraulic pressure, pneumatic or electronic, has single-degree-of-freedom or multivariant motion mode.In order to realize the serpentine locomotion on out-of-flatness ground, the joint module of snake-shaped robot generally takes adjacent segment to connect according to the mode of difference 90 °, makes snake-shaped robot have swing ability in level and vertical both direction.
But existing snake-shaped robot is as just the ornamental machine of one, the motion of biological snake class can not be simulated, although high in the adaptability of different terrain, in practical application, do not have what effect, the mankind can not be helped to complete some work.
Utility model content
According to above technical problem, 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, described snakehead is made up of a joint, described snake body is made up of six joints, described ophiruid is made up of a joint, described joint comprises guide wheel, wheel bracket, screw, steering wheel fixed head, holding screw, described guide wheel is fixed on wheel bracket, steering wheel fixed head is installed 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, described control system is arranged on ophiruid part, 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, described snake status is two parts, 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, as onward impulse, described steering wheel totally eight, be separately fixed on eight joints, described control system respectively and drive system, electric power system, wireless telecommunication system, environmental monitoring system connects, described drive system is connected with steering wheel.
Described steering wheel comprises two state and handles left-right rotation steering wheel, rotates steering wheel, left-right rotation steering wheel up and down.
State sensor group and comprise temperature sensor, humidity sensor and Smoke Sensor.
Remote controller in described wireless communication system sends instruction, controller receives and makes a response, the mode of specifically advancing of snake-shaped robot is changed by changing PWM ripple, in addition, pass through data transmission system, timely and effectively the detection data of sensor group and picture that camera is taken the photograph can be sent to computer for controlling display, the LED configured by camera makes the utility model can operation in the dark.
Described steering wheel is high accuracy steering wheel, achieve the mode of advancing that mimic biology snake is advanced tortuously, utilize the range of movement of steering wheel 40 ° to 140 °, control the different movement angle of 8 steering wheels, thus the wheel under each joint is turned, thus promote whole fuselage and advance tortuously.
Described guide wheel is fixed on wheel bracket, because steering wheel has the range of movement of 40 ° ~ 140 °, by controlling the different movement angle of 8 steering wheels, rely on the frictional force to ground, wheel under each joint is turned, thus promotes whole fuselage and advance tortuously.
Described screw is the exclusive architecture that whole joint is connected with last joint, be fixed together with the steering wheel steering wheel in screw and last joint, joint, front and back is swung by the interaction rule of two steering wheels, add the harmony of advancing, steering wheel is tightly fixed between two steering wheel fixed heads by holding screw, solves and causes because fuselage acutely swings the problem that steering wheel slides or fuselage is separated.
Described control system is control core with STM32F103, part of selecting ULN2003 driving chip as the driving of steering wheel signal in design, and mu balanced circuit have selected the core of LM2596 chip as voltage stabilizing.
The beneficial effects of the utility model are: 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.People utilize this effect can there being radiation, have severe toxicity, occasion that dark, earthquake, narrow and small pipeline etc. are not suitable for human work completes the tasks such as exploration, helps people to understand inner case.Control system of the present utility model take STM32F103 as control core, part of selecting ULN2003 driving chip as the driving of steering wheel signal in design, select LM2596 chip design mu balanced circuit, make body parameters adjust simple, velocity control accuracy is high, speed dynamic response fast, circuit stability and application of power rate is high.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.Remote controller in wireless communication system of the present utility model sends instruction, and controller receives and makes a response, and changes the mode of specifically advancing of snake-shaped robot by changing PWM ripple.In addition, by data transmission system, timely and effectively the detection data of sensor group and picture that camera is taken the photograph can be sent to computer for controlling display, the LED configured by camera makes the utility model can operation in the dark.The utility model have employed eight high accuracy steering wheels, utilizes the range of movement of steering wheel 40 ° to 140 °, controls the different movement angle of 8 steering wheels, thus the wheel under each joint is turned, thus promotes whole fuselage and advance tortuously.
Accompanying drawing explanation
Fig. 1 is overall hardware configuration schematic diagram of the present utility model;
Fig. 2 is structure mid portion joint of the present utility model block schematic illustration;
Fig. 3 is structure joint of head block schematic illustration of the present utility model;
Fig. 4 is structure tail portions joint of the present utility model block schematic illustration;
As figure, guide wheel-1, control system-2, drive circuit-3, steering wheel-4, electric power system-5, wireless telecommunication system-6, environmental monitoring system-7, wheel bracket-8, screw-9, steering wheel fixed head-10, holding screw-11.
Detailed description of the invention
As shown in the figure, the utility model is further described:
Embodiment 1
The utility model is a kind of novel snakelike bio-robot, by robot body, control system 2, drive circuit 3, steering wheel 4, electric power system 5, wireless telecommunication system 6, environmental monitoring system 7 forms, electric power system 5 comprises battery and mu balanced circuit, wireless telecommunication system 6 comprises remote controller and data transmission system, environmental monitoring system 7 comprise camera and sensor group, robot body comprises snakehead, snake body, ophiruid three parts, snakehead is made up of a joint, snake body is made up of six joints, ophiruid is made up of a joint, joint comprises guide wheel 1, wheel bracket 8, screw 9, steering wheel fixed head 10, holding screw 11, guide wheel 1 is fixed on wheel bracket 8, steering wheel fixed head 10 is installed on the upside of wheel bracket 8, steering wheel fixed head 10 is provided with holding screw 11, wheel bracket 8 side offers screw 9, camera is arranged on snakehead position, sensor is arranged on snake second joint place with it, control system 2 is arranged on ophiruid part, battery is 2 pieces, be arranged on snakehead and ophiruid respectively, drive system, electric power system 5 and wireless telecommunication system 6 are arranged on ophiruid, snake status is two parts, 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 (only as onward impulse) of left-right rotation, steering wheel 4 totally eight, be separately fixed on eight joints, control system 2 respectively and drive system, electric power system 5, wireless telecommunication system 6, environmental monitoring system 7 connects, drive system is connected with steering wheel 4.
Embodiment 2
The body make-up of the utility model uniqueness make its in motion process tangential friction force much smaller than normal direction frictional force, snake-shaped robot is as bio-robot, make it only rely on to wriggle the object moved ahead to the frictional force on ground for reaching, must depart from Electric Machine Control to move ahead this old mode, therefore we have selected steering wheel 4.Utilize the range of movement of steering wheel 440 ° ~ 140 °, control the different movement angle of 8 steering wheels 4, thus the wheel under each joint is turned, thus promote whole fuselage and advance tortuously.
Here is the force resolution formula of serpentine locomotion:
The range of movement of snakelike each joint motions is set to 40 ° ~ 140 ° by us, then supposes that power (unit force) minimum in motion process is f, so just has in this process:
During clockwise movement:
40 ° ~ 60 ° and 90 ° to 110 ° time, (F is a certain moment motoricity, for the number of degrees rotated, 90 ° ~ 110 ° by 40 ° ~ 60 ° calculating, after in like manner, get and be less than 90 ° of values)
60 ° ~ 90 ° and 110 ° to 140 ° time
During counterclockwise movement:
140 ° ~ 120 ° and 90 ° to 70 ° time
70 ° ~ 40 ° and 120 ° to 90 ° time
(above-mentioned formula does not comprise Debugging message, and formula is relevant to design serpentine configuration, and above-mentioned formula meets the serpentine locomotion without special shape)
Control system 2 as the control core of whole snake-shaped robot, in electric power system 5 6V supplying cell after mu balanced circuit voltage stabilizing for all devices provide power supply.Control signal controls eight road steering wheels 4 through drive circuit 3 and carries out rotation operation.Steering wheel 4,4 left-right rotation steering wheels 4,2 " two state " steering wheels 4 are rotated comprising about 2." two state " refers to need to make Xiang Hou tetra-tunnel in craspedodrome situation the same only as the existence of front action edge, but when needs it keep to the left or to the right state time also can holding position.Wireless telecommunication system 6 remote controller sends instruction, and controller receives and makes a response, and changes the mode of specifically advancing of snake-shaped robot by changing PWM ripple.In addition, by data transmission system, timely and effectively the detection data of sensor group and picture that camera is taken the photograph can be sent to computer for controlling display, the LED configured by camera makes the utility model can operation in the dark.Comprise camera and sensor group in environmental monitoring system 7, wherein sensor group comprises temperature sensor, humidity sensor and Smoke Sensor.
Give the element of joint framework in Fig. 2, for middle joint framework, comprise guide wheel 1, wheel bracket 8, screw 9, steering wheel fixed head 10, holding screw 11.
Guide wheel 1 is fixed on wheel bracket 8, because steering wheel 4 has the range of movement of 40 ° ~ 140 °, by controlling the different movement angle of 8 steering wheels 4, rely on the frictional force to ground, wheel under each joint is turned, thus promotes whole fuselage and advance tortuously.Screw 9 is the exclusive architecture that whole joint is connected with last joint, is fixed together with steering wheel 4 steering wheel in screw and last joint, joint, front and back is swung by the interaction rule of two steering wheels 4, adds the harmony of advancing.Steering wheel 4 is tightly fixed between two steering wheel fixed heads 10 by holding screw 11, solve because of fuselage acutely swing cause steering wheel 4 to slide or fuselage be separated problem.
Much more no longer Fig. 3, Fig. 4 are joint of head framework and caudal articular process framework respectively, and its structure is similar to middle joint framework, to describe at this.
The above is only preferred embodiment of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvement, these improvement also should be considered as protection domain 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.
CN201420694147.0U 2014-11-18 2014-11-18 A kind of novel snakelike bio-robot Expired - Fee Related CN204322076U (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104589336A (en) * 2014-11-18 2015-05-06 天津工业大学 Novel snakelike bionic robot
CN108032315A (en) * 2017-12-06 2018-05-15 珠海佳影科技发展有限公司 Automatic picking robot control system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104589336A (en) * 2014-11-18 2015-05-06 天津工业大学 Novel snakelike bionic robot
CN108032315A (en) * 2017-12-06 2018-05-15 珠海佳影科技发展有限公司 Automatic picking robot control system

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GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150513

Termination date: 20151118

EXPY Termination of patent right or utility model