CN204322076U - A kind of novel snakelike bio-robot - Google Patents
A kind of novel snakelike bio-robot Download PDFInfo
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Abstract
Description
技术领域 technical field
本实用新型涉及机器人领域,尤其涉及一种蛇形仿生机器人。 The utility model relates to the field of robots, in particular to a snake-shaped bionic robot.
背景技术 Background technique
随着嵌入式技术以及通信技术的发展,特殊机器人领域的研究也越来越受到科学家与社会各界的关注,并且目前已取得了较好的成绩。蛇形机器人是一种新型的仿生物机器人,它实现了像生物蛇一样“无肢运动”,是机器人运动方式的一个重大突破。蛇形机器人在许多领域有着广泛的应用前景,如在有辐射、有剧毒、黑暗、地震、狭小管道等不适宜人类工作的场合,这些机器人的优势已经在部分生产应用中得到了充分的证实。 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. .
对于蛇形机器人的研究,日本、美国等国家研究的相对比较多。国内主要是国防科技大学、中科院沈阳自动化研究所等科研单位在这方面有一定的研究。现有的蛇形机器人一般由多个关节模块组成,关节模块的内部结构为液压、气动或者电动,具有单自由度或多自由度的运动方式。为了实现不平整地面的蛇形运动,蛇形机器人的关节模块一般采取相邻关节按照相差90°的方式连接,使得蛇形机器人具有在水平和竖直两个方向的摆动能力。 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.
但是现有的蛇形机器人仅仅作为一种观赏性机器,不能模拟生物蛇类的运动,虽然在不同地形的适应性高了,但是在实际应用方面并没有什么作用,并不能帮助人类完成部分工作。 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. .
实用新型内容 Utility model content
根据以上技术问题,本实用新型提供一种新型蛇形仿生机器人,包括机器 人本体、控制系统、驱动电路、舵机、供电系统、无线通讯系统、环境监测系统,所述供电系统包括电池和稳压电路,所述无线通讯系统包括遥控器与数据传输系统,所述的环境监测系统包括摄像头和传感器组,所述机器人本体包括蛇头、蛇身、蛇尾三个部分,所述蛇头由一个关节组成,所述蛇身由六个关节组成,所述蛇尾由一个关节组成,所述关节包括导轮,导轮支架,螺孔,舵机固定板,紧定螺钉,所述导轮固定在导轮支架上,所述导轮支架上侧安装有舵机固定板,所述舵机固定板上安装有紧定螺钉,所述导轮支架一侧开设有螺孔,所述摄像头安装在蛇头部位,所述传感器安装在蛇身上的第二关节处,所述控制系统安装在蛇尾部分,所述电池为2块,分别安装在蛇头和蛇尾,所述驱动系统、供电系统和无线通讯系统安装在蛇尾,所述蛇身分为两部分,其一是2节可同时上下且左右转动的关节,其二是4节仅可左右转动的关节,作为前进动力,所述舵机共八个,分别固定在八个关节上,所述控制系统分别和驱动系统、供电系统、无线通讯系统、环境监测系统连接,所述驱动系统和舵机连接。 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.
所述舵机包括双状态操纵左右转动舵机、上下转动舵机、左右转动舵机。 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.
述传感器组包括温度传感器、湿度传感器和烟雾传感器。 The sensor set includes temperature sensor, humidity sensor and smoke sensor.
所述无线通信系统中的遥控器发出指令,控制器接收并做出反应,通过改变PWM波改变蛇形机器人的具体行进方式,另外,通过数据传输系统,能够及时有效的将传感器组的检测数据和摄像头所摄画面发送至控制计算机显示,通过摄像头配置的LED灯使得本实用新型可在黑暗中作业。 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.
所述舵机为高精度舵机,实现了模仿生物蛇蜿蜒前进的行进方式,利用舵机40°至140°的运动范围,控制8个舵机的不同的运动角度,从而使得每个关节下的车轮转变方向,从而推动整个机身蜿蜒前进。 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.
所述导轮固定在导轮支架上,因舵机有着40°~140°的运动范围,通过控 制8个舵机不同的运动角度,依靠对地面的摩擦力,使得每个关节下的车轮转变方向,从而推动整个机身蜿蜒前进。 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.
所述螺孔是整个关节与前一关节相连接的唯一结构,用螺丝与前一关节的舵机舵盘固定在一起,使得前后关节通过两个舵机的相互作用规律摆动,增加了行进的协调性,紧定螺钉将舵机紧紧固定在两个舵机固定板之间,解决了因机身剧烈摆动引起舵机滑动或者机身分离的问题。 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.
所述控制系统以STM32F103为控制核心,设计中选用ULN2003驱动芯片作为舵机信号的驱动过件,稳压电路选择了LM2596芯片作为稳压的核心。 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.
本实用新型的有益效果为:本实用新型增加了摄像头、传感器等有利于蛇形机器人在实际当中应用的部件,便于机器人帮助完成工作,采用的摄像头与温度、湿度、烟雾传感器,检测灵敏度高、监测准确性强。人们利用这一作用可以在有辐射、有剧毒、黑暗、地震、狭小管道等不适宜人类工作的场合完成勘测等任务,帮助人们了解内部情况。本实用新型的控制系统以STM32F103为控制核心,设计中选用ULN2003驱动芯片作为舵机信号的驱动过件,选用LM2596芯片设计稳压电路,使得机身参数调整简单、速度控制精度高、速度动态响应快,电路稳定且电源应用率高。本实用新型的无线通讯系统中的按键遥控器可改变其不同行进方式,操作人性化、控制灵活。本实用新型的无线通信系统中的遥控器发出指令,控制器接收并做出反应,通过改变PWM波改变蛇形机器人的具体行进方式。另外,通过数据传输系统,能够及时有效的将传感器组的检测数据和摄像头所摄画面发送至控制计算机显示,通过摄像头配置的LED灯使得本实用新型可在黑暗中作业。本实用新型采用了八个高精度舵机,利用舵机40°至140°的运动范围,控制8个舵机的不同的运动角度,从而使得每个关节下的车轮转变方向,从而推动整个机身蜿蜒前进。 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.
附图说明 Description of drawings
图1是本实用新型的整体硬件结构示意图; Fig. 1 is a schematic diagram of the overall hardware structure of the utility model;
图2是本实用新型的结构中间部分关节框架示意图; Fig. 2 is a schematic diagram of the joint frame of the middle part of the structure of the utility model;
图3是本实用新型的结构头部关节框架示意图; Fig. 3 is a schematic diagram of the structural head joint frame of the present invention;
图4是本实用新型的结构尾部关节框架示意图; Fig. 4 is a schematic diagram of the structural tail joint frame of the present utility model;
如图,导轮-1、控制系统-2、驱动电路-3、舵机-4、供电系统-5、无线通讯系统-6、环境监测系统-7、导轮支架-8、螺孔-9、舵机固定板-10、紧定螺钉-11。 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.
具体实施方式 Detailed ways
如图所示,对本实用新型进行进一步说明: As shown in the figure, the utility model is further described:
实施例1 Example 1
本实用新型为一种新型蛇形仿生机器人,由机器人本体、控制系统2、驱动电路3、舵机4、供电系统5、无线通讯系统6、环境监测系统7组成,供电系统5包括电池和稳压电路,无线通讯系统6包括遥控器与数据传输系统,的环境监测系统7包括摄像头和传感器组,机器人本体包括蛇头、蛇身、蛇尾三个部分,蛇头由一个关节组成,蛇身由六个关节组成,蛇尾由一个关节组成,关节包括导轮1,导轮支架8,螺孔9,舵机固定板10,紧定螺钉11,导轮1固定在导轮支架8上,导轮支架8上侧安装有舵机固定板10,舵机固定板10上安装有紧定螺钉11,导轮支架8一侧开设有螺孔9,摄像头安装在蛇头部位,传感器安装在蛇身上的第二关节处,控制系统2安装在蛇尾部分,电池为2块,分别安装在蛇头和蛇尾,驱动系统、供电系统5和无线通讯系统6安装在蛇尾,蛇身分为两部分,其一是2节可同时上下且左右转动的关节,其二是4节仅可左右转动的关节(只作为前进动力),舵机4共八个,分别固定在八个关节上,控制系统2分别和驱动系统、供电系统5、无线通讯系统6、环境监测系统7连 接,驱动系统和舵机4连接。 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.
实施例2 Example 2
本实用新型独特的身体构造使得其在运动过程中切向摩擦力远小于法向摩擦力,蛇形机器人作为仿生机器人,为达到使其仅仅依靠对地面的摩擦力蜿蜒前行的目的,必须脱离电机控制前行这一老旧方式,因此我们选用了舵机4。利用舵机440°~140°的运动范围,控制8个舵机4的不同的运动角度,从而使得每个关节下的车轮转变方向,从而推动整个机身蜿蜒前进。 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.
下面是蛇形运动的力的分解公式: The following is the decomposition formula for the force of the serpentine motion:
我们将蛇形每个关节运动的运动范围设置为40°~140°,再假设运动过程中最小的力(单位力)为f,那么在这过程中就有: 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:
顺时针运动时: When moving clockwise:
40°~60°和90°到110°时,(F为某一时刻运动力, 为转动的度数,90°~110°按40°~60°计算,后面同理,取小于90°值) 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°和110°到140°时 60°~90° and 110°~140°
逆时针运动时: When moving counterclockwise:
140°~120°和90°到70°时 140°~120° and 90°~70°
70°~40°和120°到90°时 70°~40° and 120°~90°
(上述公式不包含调试信息,公式与设计蛇形结构相关,上述公式满足无特殊形状的蛇形运动) (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)
控制系统2作为整个蛇形机器人的控制核心,供电系统5中6V供电电池经稳压电路稳压后为所有器件提供电源。控制信号经驱动电路3控制八路舵机4进行转动作业。其中包括2个上下转动舵机4,4个左右转动舵机4,2个“双状态”舵机4。“双状态”指在需直行情况下做出像后四路一样仅作为前行动力 的存在,但当需要它保持向左或向右状态时也能保持位置。无线通讯系统6遥控器发出指令,控制器接收并做出反应,通过改变PWM波改变蛇形机器人的具体行进方式。另外,通过数据传输系统,能够及时有效的将传感器组的检测数据和摄像头所摄画面发送至控制计算机显示,通过摄像头配置的LED灯使得本实用新型可在黑暗中作业。环境监测系统7中包含摄像头和传感器组,其中传感器组包括温度传感器、湿度传感器和烟雾传感器。 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.
图2中给出了关节框架的基本组成部分,以中间关节框架为例,包括导轮1,导轮支架8,螺孔9,舵机固定板10,紧定螺钉11。 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.
导轮1固定在导轮支架8上,因舵机4有着40°~140°的运动范围,通过控制8个舵机4不同的运动角度,依靠对地面的摩擦力,使得每个关节下的车轮转变方向,从而推动整个机身蜿蜒前进。螺孔9则是使整个关节与前一关节相连接的唯一结构,用螺丝与前一关节的舵机4舵盘固定在一起,使得前后关节通过两个舵机4的相互作用规律摆动,增加了行进的协调性。紧定螺钉11将舵机4紧紧固定在两个舵机固定板10之间,解决了因机身剧烈摆动引起舵机4滑动或者机身分离的问题。 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.
图3、图4分别是头部关节框架与尾部关节框架,其结构与中间关节框架相似,在此不再多做描述。 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.
以上所述仅是本实用新型的优选实施方式,应当指出的是,对于本技术领域的普通技术人员来说,在不脱离本实用新型原理的前提下,还可以做出若干改进,这些改进也应视为本实用新型的保护范围。 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.
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CN104589336A (en) * | 2014-11-18 | 2015-05-06 | 天津工业大学 | A new type of snake-like 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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CN104589336A (en) * | 2014-11-18 | 2015-05-06 | 天津工业大学 | A new type of snake-like 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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