CN113650699A - Bionic cockroach special robot in unstructured environment - Google Patents
Bionic cockroach special robot in unstructured environment Download PDFInfo
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- CN113650699A CN113650699A CN202111001946.6A CN202111001946A CN113650699A CN 113650699 A CN113650699 A CN 113650699A CN 202111001946 A CN202111001946 A CN 202111001946A CN 113650699 A CN113650699 A CN 113650699A
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- 241001674044 Blattodea Species 0.000 title claims abstract description 29
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000005021 gait Effects 0.000 claims abstract description 10
- 241000238631 Hexapoda Species 0.000 claims abstract description 8
- 239000011257 shell material Substances 0.000 claims description 27
- 238000013461 design Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 241000238367 Mya arenaria Species 0.000 claims description 3
- 239000000969 carrier Substances 0.000 claims description 2
- 230000009193 crawling Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 claims 1
- 210000002683 foot Anatomy 0.000 claims 1
- 210000004744 fore-foot Anatomy 0.000 claims 1
- 210000000452 mid-foot Anatomy 0.000 claims 1
- 230000000737 periodic effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000035899 viability Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
本发明公开了一种非结构化环境下的仿生蟑螂特种机器人，该机器人分为四个部分：外壳、控制装置、机械机构以及摄像头模块。外壳、控制装置、机械机构以及摄像头模块相互协同配合，实现机器人在特种环境下的作业功能。控制装置作为整个机器人的核心，通过控制电机进而控制机器人的行走步态及速度，机器人的行走步态一方面决定与电机转动的角速度，另一方面还决定于其独特的腿部机械结构，在电机转轴的带动下，六足结构相互配合，完成不同速度的行走，转向及翻越障碍的功能，从而完成特种作业。本发明利用自身快速性、灵活性、小巧的特点在非结构化地形中进行特种作业，可通过配置摄像头回传所观察的图像。
The invention discloses a bionic cockroach special robot in an unstructured environment. The robot is divided into four parts: a casing, a control device, a mechanical mechanism and a camera module. The shell, control device, mechanical mechanism and camera module cooperate with each other to realize the operation function of the robot in a special environment. As the core of the whole robot, the control device controls the walking gait and speed of the robot by controlling the motor. On the one hand, the walking gait of the robot determines the angular speed of the rotation with the motor, and on the other hand, it also depends on its unique mechanical structure of the legs. Driven by the motor shaft, the hexapod structure cooperates with each other to complete the functions of walking at different speeds, steering and overcoming obstacles, thereby completing special operations. The invention utilizes its own characteristics of rapidity, flexibility and compactness to perform special operations in unstructured terrain, and can return the observed images by configuring a camera.
Description
Technical Field
The invention relates to a multi-legged robot, in particular to a bionic cockroach robot, and belongs to the technical field of bionic mechanical design.
Background
After the disaster, the disaster area is extremely unstable, and secondary collapse is possibly caused by aftershock, so that the life safety of the rescue personnel is threatened, and therefore, in order to ensure the life safety of the rescue personnel, a robot capable of replacing the rescue personnel to enter the ruins for searching needs to be developed.
The rescue robot applied at present is large and heavy, cannot penetrate through a narrow gap and enter the ruins, and is used for rescuing deeply buried people. And the action speed and agility of some crawler-type machines are limited to different degrees, so that the search and rescue working time is prolonged, and the crawler-type machines are not beneficial to searching and rescuing trapped people as far as possible in 'gold 72' hours.
The bionic cockroach robot has the characteristics of high running speed, flexible movement, strong viability and capability of passing through narrow gaps. The bionic cockroach hexapod robot designed according to the method can work in discrete discontinuous rugged ground environments. The foot type structure of the bionic cockroach robot can enable the bionic cockroach robot to have flexible motion capability; the smaller volume is beneficial to the narrow gap crossing; the design of six feet enables the robot to better survive in a severe environment, and the stability is higher when the robot walks. The robot has the advantages that the robot can be applied to disaster area rescue, and can also be applied to assisting in exploring road conditions, finding targets in narrow areas and the like.
The cockroach robot invented at present often focuses on research on better simulating hexapod insects from the structure, and is not designed for specific scenes and applications, for example, a bionic cockroach robot based on a double four-bar linkage mechanism is designed for leg movement of bionic cockroaches, but the whole robot is not designed and does not have specific actual functions, and the leg movement mode of the robot enables the robot not to move as fast as the cockroaches.
Based on the method, the robot simulating the cockroaches is manufactured. In the aspect of mechanical structure, the four-bar linkage structure applied to the legs enables the robot to have leg quick-return characteristics, the motion track is kept in the same plane, the robot is enabled to have faster running speed, the length of the driven rod can be selected by self, and therefore the robot can meet the requirements of different low gaps. The fuselage adopts the disconnect-type design in order to satisfy the needs of different feet. In order to reduce the size of the robot, the integrated design of integrating the controller, the drive and the power module is adopted in the aspect of electrical control. And installing a camera capable of transmitting back an image in real time, and adding an algorithm capable of detecting a person image and an object into the camera. And in order to control the gait of each leg more accurately, six motors with encoders and gear boxes are used for individual control.
Disclosure of Invention
The invention simulates cockroaches to manufacture a special operation which can be applied to a non-structural environment, in particular to a robot for rescue in disaster areas, and the robot has the capability of replacing human beings to enter a narrow space and perform quick search.
The technical scheme adopted by the invention can be seen in figure 1, and the bionic cockroach special robot in the unstructured environment is divided into four parts: the camera module comprises a shell, a control device, a mechanical mechanism and a camera module.
The shell, the control device, the mechanical mechanism and the camera module are mutually cooperated to realize the operation function of the robot in the special environment. The first shell (1) and the second shell (6) are used as carriers for carrying other modules and play a role in supporting and protecting the internal modules. The control device (2) is used as the core of the whole robot, the walking gait and the speed of the robot are controlled by controlling the motor (3), on one hand, the walking gait of the robot determines the angular speed rotating with the motor (3), on the other hand, the walking gait of the robot is also determined by the unique leg mechanical structure (5), and under the driving of a motor rotating shaft, the hexapod structures are mutually matched to finish the walking with different speeds, the functions of turning and crossing obstacles, so that the special operation is finished, and the walking gait is transmitted back to the PC end in real time, and the robot is ensured to work orderly. Meanwhile, the control system (2) also supplies power for the camera module (7) to ensure the independent work of the camera module.
The housing is divided into a first housing (1) and a second housing (6), and the first housing (1) is mounted on the second housing (6). The first shell (1) is made of soft shell materials, so that the inner structure of the robot is prevented from being exposed. The second shell (6) is a main body carrying structure, adopts a separated design structure, and is converted from a six-foot walking mode of the front foot, the middle foot and the rear foot into a four-foot walking mode of the front foot and the rear foot. The triangular gait adopted by the hexapod walking is more beneficial to the stability of the robot, and the working mode of the quadruped enables the robot to work in a narrow space more favorably. The two parts of structures are connected in a bolt connection mode, and the part of shell of the robot can be detached according to use requirements.
The minimum system, the motor drive, the power step-down module of the STM32 series are integrated on the PCB of the control device (2), and the Bluetooth receiving module can effectively save the space inside the robot.
The mechanical structure consists of a power supply device and a leg mechanical structure. The power supply device consists of a power supply (4) and a motor (3), wherein the motor also comprises a gear box and an encoder. The leg structure of the robot is a crank rocker mechanism in the four connecting rods, on one hand, the time required by the robot when the leg is folded is reduced by utilizing the quick return characteristic of the four connecting rods, and therefore the efficiency of the robot when the robot moves forwards is improved. On the other hand, the angle between the frame and the horizontal plane is adjusted, and the stride of the robot in the advancing process is increased as much as possible, so that the moving speed of the robot is improved. Meanwhile, the traditional four-bar linkage mechanism is changed, the stability of the mechanical structure can be improved by changing the original linkage structure of the added driven rod (11), and the motion mode of the leg of the robot is similar to that of an insect in the simulation process.
The mechanical structure of the leg is shown in fig. 3 and 4. The frame (9) is fixed on the crank (8) and does not rotate along with the movement of the legs. The four arms of the frame (9), the rocker (10), the connecting rod (11) and the crank (8) form a four-bar structure. The crank (8) and the frame (9) are connected through a power output shaft (14); the crank (8) is connected with the connecting rod (11) through a fourth joint shaft (20); the rocker (10) is connected with the connecting rod (11) through a first joint shaft (16); the frame (9) is connected with the rocker (10) through a connecting shaft (15). When the crank (8) moves around the power output shaft (14) at a constant speed periodically, the rocker (10) moves in a fan-shaped swing range within a certain range, the connecting rod (11) is driven by the first joint shaft (16) and the fourth joint shaft (20) to move, and the track of one circle of movement of the second joint shaft (17) on the connecting rod (11) is similar to the actions of lifting, advancing and retracting the legs when cockroaches climb over the ground. The driven arm (13) is fixed on the frame (9) through a third joint shaft (19), the driven arm (13) and the driven rod (12) are connected through a connecting shaft 2(18), and the driven rod (12) is connected with the connecting rod (11) through a second joint shaft (17), so that the driven rod (12) can move forwards along with the movement of the connecting rod (11).
The camera module (7) is a part independent from other modules. The device has the computing capability and the data processing capability, can detect human faces and objects, and transmits back images to the PC end through the adaptive WIFI.
The invention finally achieves the following effects:
the characteristics of cockroaches are simulated, special operation is performed in unstructured terrains by utilizing the characteristics of rapidity, flexibility and small size, and observed images can be transmitted back through the configuration of the camera.
Drawings
Fig. 1 is a schematic diagram of a search robot applied to an unstructured environment.
Fig. 2 is an exploded view of a search robot applied in an unstructured environment.
Fig. 3 is a schematic diagram of the bionic cockroach robot working in a narrow environment.
Fig. 4 is a schematic diagram of a leg mechanical structure of the bionic cockroach robot.
Fig. 5 is an exploded view of the leg mechanism of the cockroach-releasing robot.
In the figure: 1. the device comprises a first shell, a second shell, a control device, a motor, a battery, a leg mechanical structure 6, a second shell, a camera 7, a camera 8, a crank 9, a frame 10, a rocker 11, a connecting rod 12, a driven rod 13, a driven arm 14, a power output shaft 15, a connecting shaft 1, a connecting shaft 16, a first joint shaft 17, a second joint shaft 18, a connecting shaft 2, a connecting shaft 19, a third joint shaft 20 and a connecting shaft 3.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 2, the construction of the robot can be divided into four parts: the camera module comprises a shell, a control device, a mechanical mechanism and a camera module.
The first shell (1) is made of a soft shell material, so that the shell of the robot is hard and exactly like a cockroach, and the interior of the robot is prevented from being slightly damaged. The second shell (6) adopts a separated design structure, and the six-foot walking mode of the front foot, the middle foot and the rear foot is converted into the four-foot walking mode of the front foot and the rear foot. The triangular gait adopted by the hexapod walking is more beneficial to the stability of the robot, and the working mode of the quadruped enables the robot to work in a narrow space more favorably. In the actual use process, the patch connected in the second shell (6) is detached.
The control device (2) is a drawn PCB, integrates a STM32 series minimum system, a motor drive based on an H-bridge circuit and a power supply voltage reduction module, realizes manual control of the robot and control of the control device on the motor, and can effectively save the space inside the robot.
The mechanical structure of the leg is shown in fig. 3 and 4. The frame (9) is a part fixed on the crank (8) and does not rotate along with the movement of the legs. The four arms of the rack (9), the rocker (10), the connecting rod (11) and the crank (8) form a four-connecting-rod structure, when the crank (8) moves around the power output shaft (14) at a constant speed periodically, the rocker (10) moves in a fan-shaped swing range in a certain range, the connecting rod (11) moves under the driving of the first joint shaft (16) and the connecting shaft (3), (20), and the track of the second joint shaft (17) on the connecting rod (11) moves for a circle is similar to the actions of lifting, advancing and retracting the legs of cockroaches when climbing on the ground. The driven arm (13) is fixed on the frame (9) through a third joint shaft (19), the driven arm (13) and the driven rod (12) are connected through a connecting shaft 2(18), and the driven rod (12) is connected with the connecting rod (11) through a second joint shaft (17), so that the driven rod (12) can move forwards along with the movement of the connecting rod (11).
When the crank (8) rotates, the crank (8) and the connecting rod (10) are collinear twice. The distances between the center of the crank (8) and the driven rod (11) are longest and shortest, respectively. Therefore, the driven arm (12) at this time is respectively at two limit positions.
Considering that the working places of the robot are all non-structural terrains with narrow spaces, in order to enable the robot to work normally in the harsher environment, another leg structure capable of being used for working is provided, as shown in fig. 2, after the driven rod (12) and the driven arm (13) are removed, the robot can work in the environment with low space height, and the requirement of the robot on the space height is reduced.
The camera module (7) is a part independent from other modules. The openMV based on STM32 has computing capability and data processing capability, can detect human faces and objects, and transmits back images to a PC (personal computer) end through adaptive WIFI (wireless fidelity).
Finally, it is to be noted that: the above embodiments are only for illustrating the invention and not for limiting the technical solutions described in the invention, therefore, although the present specification has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the present invention can be modified or replaced with equivalents, and all technical solutions and modifications thereof without departing from the spirit and scope of the invention should be covered by the claims of the present invention.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111001946.6A CN113650699A (en) | 2021-08-30 | 2021-08-30 | Bionic cockroach special robot in unstructured environment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111001946.6A CN113650699A (en) | 2021-08-30 | 2021-08-30 | Bionic cockroach special robot in unstructured environment |
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| CN113650699A true CN113650699A (en) | 2021-11-16 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113998027A (en) * | 2021-11-26 | 2022-02-01 | 长沙理工大学 | Robot rescue method |
| CN115743356A (en) * | 2022-12-09 | 2023-03-07 | 成都理工大学 | Cockroach-imitated robot suitable for narrow terrain detection |
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| US20040063382A1 (en) * | 2002-07-02 | 2004-04-01 | Mitch Randall | Apparatus and method for producing ambulatory motion |
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| CN103395457A (en) * | 2013-07-01 | 2013-11-20 | 中国科学技术大学 | Multi-foot moving device based on combination driving mechanism |
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| CN106585761A (en) * | 2016-12-23 | 2017-04-26 | 哈尔滨工程大学 | Horse-imitating gait planar connection rod type quadruped walking robot |
| CN107458495A (en) * | 2017-07-04 | 2017-12-12 | 山东大学 | Leg mobile mechanism and quadruped robot |
| CN212290080U (en) * | 2019-12-31 | 2021-01-05 | 长安大学 | A quadruped walking bionic design device |
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2021
- 2021-08-30 CN CN202111001946.6A patent/CN113650699A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040063382A1 (en) * | 2002-07-02 | 2004-04-01 | Mitch Randall | Apparatus and method for producing ambulatory motion |
| CN101850798A (en) * | 2010-03-29 | 2010-10-06 | 北京航空航天大学 | A bionic cockroach robot based on double four-bar linkage mechanism |
| US20150041227A1 (en) * | 2012-05-17 | 2015-02-12 | Korea Institute Of Ocean Science & Technology | Six-legged walking robot having robotic arms for legs and plurality of joints |
| CN103395457A (en) * | 2013-07-01 | 2013-11-20 | 中国科学技术大学 | Multi-foot moving device based on combination driving mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113998027A (en) * | 2021-11-26 | 2022-02-01 | 长沙理工大学 | Robot rescue method |
| CN115743356A (en) * | 2022-12-09 | 2023-03-07 | 成都理工大学 | Cockroach-imitated robot suitable for narrow terrain detection |
| CN115743356B (en) * | 2022-12-09 | 2024-05-03 | 成都理工大学 | Cockroach-imitating robot suitable for narrow topography detection |
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Application publication date: 20211116 |