CN220924344U - Heterogeneous detection and operation integrated robot based on flexible bionic structure - Google Patents
Heterogeneous detection and operation integrated robot based on flexible bionic structure Download PDFInfo
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 26
- 239000000741 silica gel Substances 0.000 claims description 26
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- 238000001179 sorption measurement Methods 0.000 claims description 6
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- 241000252254 Catostomidae Species 0.000 claims description 3
- 238000001802 infusion Methods 0.000 claims description 3
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- 230000003592 biomimetic effect Effects 0.000 claims 1
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- 238000011161 development Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000006317 isomerization reaction Methods 0.000 description 2
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Abstract
The utility model discloses a heterogeneous detection and operation integrated robot based on a flexible bionic structure, which comprises a walking device, a trunk device, a head environment sensing device, an operation device and a control device, wherein the head environment sensing device and the operation device are integrated on the robot, so that the robot can comprehensively respond to detection tasks and operation tasks; the walking device comprises a wheel type walking mechanism and a leg type walking mechanism, so that the robot can selectively use the wheel type walking mechanism and the leg type walking mechanism aiming at different ground environments, and the adaptability and the stability of the robot are improved.
Description
Technical Field
The utility model relates to the technical field of bionic robots, in particular to an isomerism detection and operation integrated robot based on a flexible bionic structure.
Background
With rapid development of technology, robotics has been widely used in various fields. However, the conventional robots are often designed for specific tasks, but in the age of rapid development of present technology, the robots are required to adapt to different scenes, complete various tasks and improve emergency response capability from manufacturing industry to the fields of environmental monitoring, disaster relief and the like. Therefore, the society is increasingly demanding more flexible, can cope with diverse complex environments, and multifunctional integrated robots.
Traditional probing and task tasks often require different robots to cooperate, resulting in difficulties in information transfer and task switching. And through the integrated design, the working efficiency of the robot system can be improved, and the comprehensive response to different tasks is realized. Robots often employ specific movement mechanisms to accommodate specific terrain or task requirements, however such single movement mechanism robots may be environmentally limited in performing tasks. In order to adapt to complex working environments, the detection and operation integrated robot has the characteristics of light weight, low energy consumption, excellent movement stability, good obstacle surmounting capacity and the like, and the robot can be subjected to isomerization by integrating different types of movement mechanisms, so that the robot can flexibly cope with different scenes. Therefore, research on heterogeneous exploration and operation integrated robots becomes a necessary choice to meet these complex demands.
At present, the trunk of most bionic robots is a rigid mechanism, the steering is inflexible, the environment adaptability is not strong, and the bionic robots are easy to destabilize and fall when walking or running on a complex ground environment.
In order to meet the requirements of the environment and tasks, the mobile robot needs to be provided with a moving mechanism, and common moving mechanisms include a wheel type moving mechanism, a leg type moving mechanism and a crawler type moving mechanism, wherein different types of moving mechanisms have corresponding advantages and disadvantages. Table 1 compares the advantages and disadvantages of several common different types of movement mechanisms.
Table 1 comparison of the advantages and disadvantages of different types of moving mechanisms
According to investigation, the detection and operation robot at the present stage mainly has the following problems: the detection task is separated from the operation task, and different robots are required to cooperate, so that the information transmission and task switching are difficult; the moving mechanism is single and is only suitable for specific terrain or task requirements, so that the robot is limited by the environment when executing tasks; the robot may be at risk of sliding when moving over a smooth surface.
Disclosure of utility model
Aiming at the problems that the efficiency is low due to the separation of a robot detection task and a work task, the movement mechanism is single, so that the robot is limited by the environment when executing the task, and the robot is in sliding risk and the like when moving, the utility model provides the heterogeneous detection and work integrated robot based on the flexible bionic structure. The utility model carries out integrated design on detection and operation of the robot, realizes comprehensive response to detection tasks and operation tasks, improves working efficiency, and simultaneously has a wheel type travelling mechanism and a leg type travelling mechanism. The flexible bionic structure greatly improves the adaptability and stability of the robot by integrating biological characteristics when the leg-type travelling mechanism is designed.
In order to realize the diversity of the functions of the bionic robot and flexibly adapt to different terrain and task requirements, the technical scheme of the utility model is as follows:
The heterogeneous detection and operation integrated robot based on the flexible bionic structure comprises a running gear, a trunk device, a head environment sensing device, an operation device and a control device, wherein the running gear comprises a wheel type running mechanism and a leg type running mechanism; the torso device includes a flexible spine; the head environment sensing device comprises a binocular depth camera and a cradle head; the operation device comprises a mechanical arm and a tail end clamp; the control device comprises a first control console and a second control console; the first control console is fixedly connected with the mechanical arm through bolts.
The flexible backbone is located the junction of first control cabinet and second control cabinet, mainly fills by silica gel and forms, and four spinal fishing lines evenly run through flexible backbone, and four steering wheels in the singlechip drive control device five in the second control box drive steering wheel rotation traction respectively inlays four spinal fishing lines in flexible backbone, makes flexible backbone can realize the omnidirectional deflection change. The flexible spine provides enough flexibility for the robot, so that the robot can turn more flexibly and can normally run on uneven ground, and meanwhile, the flexible spine can also relieve the impact of the robot in bumpy or rugged environments, thereby being beneficial to protecting the structure of the robot and reducing the risk of damage and improving the stability of the robot.
The cradle head is fixedly connected with the second control console, and the binocular depth camera is fixed on the cradle head. The cradle head can rotate in the horizontal direction and the vertical direction, the direction of the binocular depth camera mounted on the cradle head can be flexibly adjusted, and the perception range of the robot is expanded. The binocular depth camera obtains the position information of the object by acquiring parallax information of different points in the scene, detects environmental parameters, enables the robot to more accurately sense and understand the surrounding environment, and provides support for the operation of the robot.
The operation device comprises a mechanical arm and a tail end clamp, wherein the mechanical arm comprises a mechanical arm base, a base rotating motor, a first mechanical arm, a first rotating motor, a second mechanical arm, a second rotating motor, a third mechanical arm and a tail end rotating motor, the lower end of the first mechanical arm is rotationally connected with the mechanical arm base through the base rotating motor, and the upper end of the first mechanical arm is rotationally connected with the second mechanical arm through the first rotating motor; the second mechanical arm is rotationally connected with the third mechanical arm through a second rotating motor; the third mechanical arm is rotationally connected with the tail end clamp through a tail end rotating motor. The working device of the robot is used for grabbing, moving or manipulating the target object to finish the working task.
The control device comprises a first control console and a second control console, wherein the first control console, the second control console and the first control box are fixed in the second control console, and the third control device, the fourth control device, the fifth control device and the second control box are fixed in the first control console. The first control box and the second control box are respectively provided with a singlechip and an air pump, and the five control devices are respectively provided with four steering engines and steering wheels. The steering engine of the first control device and the second control device in the first control box drives the steering wheel to rotate, the fishing line at the leg is pulled, the bending control of the right front leg type travelling mechanism and the left front leg type travelling mechanism is realized, and the air pump is driven by the singlechip in the first control box, so that the adsorption control of the sucking discs at the tail ends of the right front leg type travelling mechanism and the left front leg type travelling mechanism is realized. The steering engine of the third control device, the fourth control device and the fifth control device in the second control box drives the steering wheel to rotate, and the fishing line is pulled, so that bending control of the right rear leg type travelling mechanism, the left rear leg type travelling mechanism and the flexible spine is realized, and the air pump is driven by the singlechip in the second control box, so that adsorption control of the tail end sucking discs of the right rear leg type travelling mechanism and the left rear leg type travelling mechanism is realized.
The four leg-type traveling mechanisms are identical in structure, so that the analysis is performed by taking the left front leg-type traveling mechanism of the robot as an example. The leg type walking mechanism mainly comprises toes, a silica gel shell, leg fishing lines, air pipes, pleated textures, a sucker and a miniature steering engine. The silica gel shell is mainly formed by silica gel pouring, so that the softness of the leg type travelling mechanism is guaranteed, the impact is relieved, and the damage risk is reduced. The silica gel shell is embedded with a spring skeleton to provide structural support and bending capability for the legs. The air pipe passes through the inner cavity of the spring framework and is connected with the air pump and the sucker of the first control box in the control console. The single chip microcomputer in the first control box drives four steering gears in the second control device, and the steering gears drive the steering wheel to rotate respectively to pull four leg fishing lines uniformly embedded in the silica gel shell, so that the leg walking mechanism can deflect and bend in all directions. The toe that leg formula running gear end evenly distributed has four structures unanimity, and the toe is mainly poured into by silica gel and forms, and the steel sheet in the middle of the toe is lived to outer silica gel parcel, and the steel sheet provides support and bending ability for the toe, is provided with miniature steering wheel in the silica gel shell, and miniature steering wheel pulls the toe fishing line, and the toe fishing line is as the bending deformation of U-shaped tendon drive toe realization different degrees.
The heterogeneous detection and operation integrated robot based on the flexible bionic structure has two working modes, can adapt to various working environments and can finish detection and operation tasks.
Operation mode one: in flat and regular terrain, the leg-type travelling mechanism is retracted and is moved mainly by means of a wheel-type travelling mechanism. As can be seen from table 1, the wheel-type travelling mechanism has high mobility in a flat environment, and the efficiency of the robot can be improved. Meanwhile, a binocular depth camera is used for completing detection tasks, and a mechanical arm and a clamp are used for completing operation.
And a second working mode: in irregular, rugged or to-be-climbed terrain, the leg-type travelling mechanism is mainly utilized for movement. As can be seen from the table 1, the leg walking mechanism provides stable support for the robot, has strong obstacle crossing capability, and enables the robot to have higher penetrability and detectability. The pleated texture of the leg surface can accommodate surfaces of different shapes or heights, making the contact area of the leg greater, providing better friction. The suction cups and toes at the ends can enhance adhesion and prevent the robot from sliding or running away on a slope, vertical wall or slippery surface. Meanwhile, a binocular depth camera is used for completing detection tasks, and a mechanical arm and a clamp are used for completing operation.
By combining the two working modes, the robot can efficiently complete detection and operation tasks in various environments. The heterogeneous detection and operation integrated robot based on the flexible bionic structure disclosed by the utility model has the advantages that detection and operation are integrated, comprehensive response to detection tasks and operation tasks is realized, the working efficiency is improved, the wheel type travelling mechanism and the leg type travelling mechanism are integrated, the robot adopts corresponding working modes under different conditions, the isomerization of the robot is realized, and the heterogeneous robot with multiple movement modes can more flexibly and effectively complete tasks, has wide application range, high working efficiency, good safety and stability and higher application value.
Drawings
FIG. 1 is a schematic structural view of a flexible bionic structure-based heterogeneous detection and operation integrated robot according to the utility model;
FIG. 2 is a schematic view of the state structure of the utility model using the wheel type running mechanism for movement;
FIG. 3 is a schematic view of the present utility model in a state of movement by a leg type walking mechanism;
FIG. 4 is a schematic diagram of the control device according to the present utility model;
FIG. 5 is a schematic view of the leg walker according to the present utility model;
fig. 6 is a schematic structural view of the working device according to the present utility model.
Reference numerals illustrate:
1. A wheel type travelling mechanism; 2. a flexible spine; 3. a first console; 4. a bolt; 5. a mechanical arm; 50. a mechanical arm base; 51. a base rotating motor; 52. a first mechanical arm; 53. a first rotating electric machine; 54. a second mechanical arm; 55. a second rotating electric machine; 56. a third mechanical arm; 57. a terminal rotary motor; 6. an end clamp; 7. a binocular depth camera; 8. a cradle head; 9. a second console; 10. a leg-type walking mechanism; 91. a first control device; 911. steering wheel; 912. steering engine; 92. a second control device; 93. a first control box; 31. a third control device; 32. a fourth control device; 33. a fifth control device; 34. a second control box; 101. a toe; 102. a silica gel housing; 103. a leg fishing line; 104. an air pipe; 105. a pleated texture; 106. a suction cup; 107. and a miniature steering engine.
Detailed Description
The techniques described below are susceptible to various modifications and alternative embodiments, and are described in detail herein with reference to the accompanying drawings. However, this is not meant to limit the techniques described below to particular embodiments. It should be understood that the utility model includes all similar modifications, equivalents and alternatives falling within the spirit and scope of the technology described below.
The heterogeneous detection and operation integrated robot based on the flexible bionic structure is shown in fig. 1, and the integrated robot comprises a running gear, a trunk device, a head environment sensing device, an operation device and a control device, wherein the running gear comprises a wheel type running mechanism 1 and a leg type running mechanism 10; the torso device includes a flexible spine 2; the head environment sensing device comprises a binocular depth camera 7 and a cradle head 8; the operation device comprises a mechanical arm 5 and a tail end clamp 6; the control device comprises a first control console 3 and a second control console 9; the first control console 3 is fixedly connected with the mechanical arm 5 through a bolt 4.
The flexible spine 2 is positioned at the joint of the first control console 3 and the second control console 9 and is mainly formed by silica gel pouring, and four spinal fishing lines uniformly penetrate through the flexible spine 2. The specific structures of the first console 3 and the second console 9 are shown in fig. 4, and a third control device 31, a fourth control device 32, a fifth control device 33 and a second control box 34 are fixed in the first console 3, wherein a singlechip in the second control box 34 drives four steering gears in the fifth control device 33, and the steering gears respectively drive a steering wheel to rotate and pull four spinal fishing lines embedded in the flexible spinal column 2, so that the flexible spinal column 2 can realize omnibearing deflection change. The flexible spine 2 provides the robot with sufficient flexibility to enable the robot to turn more flexibly and to run normally on uneven ground, and the flexible spine 2 can also relieve the impact the robot receives in bumpy or bumpy environments, thereby helping to protect the structure of the robot and reduce the risk of damage and improving the stability of the robot.
As shown in fig. 1, the pan-tilt 8 is fixedly connected with the second console 9, and the binocular depth camera 7 is fixed on the pan-tilt 8. The cradle head 8 can rotate in the horizontal and vertical directions, flexibly adjust the direction of the binocular depth camera 7 mounted on the cradle head, and expand the perception range of the robot. The binocular depth camera 7 obtains the position information of the object by acquiring parallax information of different points in the scene, detects environmental parameters, enables the robot to more accurately sense and understand the surrounding environment, and provides support for the operation of the robot.
As shown in fig. 6, the working device includes a robot arm 5 and a tip jig 6, the robot arm 5 includes a robot arm base 50, a base rotating motor 51, a first robot arm 52, a first rotating motor 53, a second robot arm 54, a second rotating motor 55, a third robot arm 56, and a tip rotating motor 57, the lower end of the first robot arm 52 is rotatably connected to the robot arm base 50 by the base rotating motor 51, and the upper end thereof is rotatably connected to the second robot arm 54 by the first rotating motor 53; the second mechanical arm 54 is rotatably connected with the third mechanical arm 56 through a second rotary motor 55; the third robot arm 56 is rotatably connected to the end jig 6 by an end rotating motor 57. The working device of the robot is used for grabbing, moving or manipulating the target object to finish the working task.
As shown in fig. 4, the control device includes a first console 3 and a second console 9, a first control device 91, a second control device 92 and a first control box 93 are fixed in the second console 9, and a third control device 31, a fourth control device 32, a fifth control device 33 and a second control box 34 are fixed in the first console 3. The first control box 93 and the second control box 34 are respectively provided with a singlechip and an air pump, and the five control devices are respectively provided with four steering engines 912 and steering discs 911. The steering engine of the first control device 91 and the second control device 92 in the first control box 93 drives the steering wheel to rotate, and the leg fishing line 103 is pulled, so that bending control of the right front leg type travelling mechanism and the left front leg type travelling mechanism is realized, and the air pump is driven by the singlechip in the first control box 93, so that adsorption control of the tail end suckers of the right front leg type travelling mechanism and the left front leg type travelling mechanism is realized. The steering engine of the third control device 31, the fourth control device 32 and the fifth control device 33 in the second control box 34 drives the steering wheel to rotate, and the fishing line is pulled, so that bending control of the right rear leg type travelling mechanism and the left rear leg type travelling mechanism and the flexible spine 2 is realized, and the air pump is driven by the singlechip in the second control box 34, so that adsorption control of the tail end suckers of the right rear leg type travelling mechanism and the left rear leg type travelling mechanism is realized.
The four leg-type traveling mechanisms are identical in structure, and therefore, the analysis is performed taking the robot left front leg-type traveling mechanism 10 as an example. As shown in fig. 5, the leg walker 10 mainly includes a toe 101, a silica gel casing 102, a leg fishing line 103, an air tube 104, a pleated texture 105, a suction cup 106, and a micro steering engine 107. The silica gel housing 102 is mainly formed by silica gel infusion, so that the softness of the leg type travelling mechanism is guaranteed, the impact is relieved, and the damage risk is reduced. The silicone housing 102 has a spring skeleton embedded therein to provide structural support and bending capability for the legs. The air pipe 104 passes through the inner cavity of the spring framework and is connected with the air pump of the first control box 93 in the control console 9 and the sucker 106. The singlechip in the first control box 93 drives four steering gears in the second control device 92, and the steering gears respectively drive the steering gears to rotate and pull four leg fishing lines 103 uniformly embedded in the silica gel shell 102, so that the leg walking mechanism 10 realizes omnibearing deflection and bending. The toe 101 with the same structure is uniformly distributed at the tail end of the leg type walking mechanism 10, the toe 101 is mainly formed by pouring silica gel, the outer silica gel wraps a steel sheet in the middle of the toe, the steel sheet provides support and bending capability for the toe, a miniature steering engine is arranged in a silica gel shell, the miniature steering engine pulls a toe fishing line, and the toe fishing line is used as a U-shaped tendon to drive the toe to realize bending deformation of different degrees.
The heterogeneous detection and operation integrated robot based on the flexible bionic structure has two working modes, can adapt to various working environments and can finish detection and operation tasks.
Operation mode one: in flat and regular terrain, the leg-type travelling mechanism is retracted and is moved mainly by means of a wheel-type travelling mechanism. As can be seen from table 1, the wheel-type travelling mechanism has high mobility in a flat environment, and the efficiency of the robot can be improved. Meanwhile, the detection task is completed by using the binocular depth camera, and the operation is completed by using the mechanical arm and the clamp, as shown in fig. 2.
And a second working mode: in irregular, rugged or to-be-climbed terrain, the leg-type travelling mechanism is mainly utilized for movement. As can be seen from the table 1, the leg walking mechanism provides stable support for the robot, has strong obstacle crossing capability, and enables the robot to have higher penetrability and detectability. The pleated texture of the leg surface can accommodate surfaces of different shapes or heights, making the contact area of the leg greater, providing better friction. The suction cups and toes at the ends can enhance adhesion and prevent the robot from sliding or running away on a slope, vertical wall or slippery surface. Meanwhile, the detection task is finished by using the binocular depth camera, and the operation is finished by using the mechanical arm and the clamp, as shown in fig. 3.
While the utility model has been described in detail with respect to the general description and specific embodiments thereof, certain modifications or improvements may be made thereto. The above description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, but other variations and modifications can be made by those skilled in the art without departing from the spirit and scope of the utility model.
Claims (10)
1. The heterogeneous detection and operation integrated robot based on the flexible bionic structure is characterized by comprising a walking device, a trunk device, a head environment sensing device, an operation device and a control device, wherein the walking device comprises a wheel type walking mechanism and a leg type walking mechanism; the torso device includes a flexible spine; the head environment sensing device comprises a binocular depth camera and a cradle head; the operation device comprises a mechanical arm and a tail end clamp; the control device comprises a first control console and a second control console; the flexible spine is positioned at the joint of the first control console and the second control console, wherein the flexible spine is formed by silica gel infusion, and four spine fishing lines uniformly penetrate through the flexible spine; the cradle head is fixedly connected with the second control console, the binocular depth camera is fixed on the cradle head, and the cradle head can rotate in the horizontal and vertical directions; the first control console is fixedly connected with the mechanical arm through a bolt; a third control device, a fourth control device, a fifth control device and a second control box are fixed in the first control console; a first control device, a second control device and a first control box are fixed in the second control console; a singlechip and an air pump are arranged in the first control box and the second control box; the leg-type travelling mechanism is retractable so that the robot can move by means of the wheel-type travelling mechanism.
2. The flexible biomimetic structure-based heterogeneous detection and operation integrated robot of claim 1, wherein the robotic arm comprises a robotic arm base, a base rotating electrical machine, a first robotic arm, a first rotating electrical machine, a second robotic arm, a second rotating electrical machine, a third robotic arm, and a terminal rotating electrical machine.
3. The heterogeneous detection and operation integrated robot based on the flexible bionic structure according to claim 2, wherein the lower end of the first mechanical arm is rotatably connected with the mechanical arm base through the base rotating motor, and the upper end of the first mechanical arm is rotatably connected with the second mechanical arm through the first rotating motor; the second mechanical arm is rotationally connected with the third mechanical arm through the second rotating motor; the third mechanical arm is rotatably connected with the tail end clamp through the tail end rotating motor.
4. The heterogeneous detection and operation integrated robot based on the flexible bionic structure according to claim 1, wherein the four leg-type travelling mechanisms are identical in structure, and each leg-type travelling mechanism comprises toes, a silica gel shell, a leg fishing line, an air pipe, a pleated texture, a sucking disc and a miniature steering engine; the silica gel shell is formed by silica gel infusion, and a spring framework is embedded in the silica gel shell; the air pipe passes through the inner cavity of the spring framework, one end of the air pipe is connected with the air pump of the control box in the control console, and the other end of the air pipe is connected with the sucker.
5. The heterogeneous detection and operation integrated robot based on the flexible bionic structure according to claim 4, wherein four steering engines and four steering discs are arranged in the first control device, the second control device, the third control device, the fourth control device and the fifth control device.
6. The heterogeneous detection and operation integrated robot based on the flexible bionic structure according to claim 5, wherein the single chip microcomputer in the first control box drives the steering engine of the first control device and the steering engine of the second control device to drive the steering wheel to rotate, and the leg fishing line is pulled to achieve bending control of the leg walking mechanism in the right front and the left front.
7. The heterogeneous detection and operation integrated robot based on the flexible bionic structure according to claim 6, wherein the single chip microcomputer in the second control box drives the steering engine of the third control device and the fourth control device to drive the steering wheel to rotate, and the leg fishing line is pulled to achieve bending control of the leg walking mechanism at the right rear and the left rear.
8. The heterogeneous detection and operation integrated robot based on the flexible bionic structure according to claim 7, wherein the single chip microcomputer in the second control box drives the steering engine of the fifth control device to drive the steering wheel to rotate, and the spine fishing line is pulled to achieve bending control of the flexible spine.
9. The heterogeneous detection and operation integrated robot based on the flexible bionic structure according to claim 8, wherein the singlechip in the first control box drives the air pump to realize the adsorption control of the suckers at the tail ends of the leg-type travelling mechanisms at the right front and the left front; the singlechip in the second control box drives the air pump to realize the adsorption control of the sucking discs at the tail ends of the leg type travelling mechanisms at the right rear and the left rear.
10. The heterogeneous detection and operation integrated robot based on the flexible bionic structure according to claim 9, wherein four identical toes are uniformly distributed at the tail end of the leg-type walking mechanism, the toes are formed by pouring silica gel, an outer layer of silica gel wraps a steel sheet in the middle of the toes, the steel sheet provides support and bending capability for the toes, the miniature steering engine is arranged in the silica gel shell, the miniature steering engine pulls the toe fishing line, and the toe fishing line drives the toes to realize bending deformation of different degrees as U-shaped tendons.
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