技术领域technical field
本发明涉及机器人技术领域，尤其涉及一种具有弹性支撑驱动机构的爬行机器人。The invention relates to the technical field of robots, in particular to a crawling robot with an elastic support driving mechanism.
背景技术Background technique
在生活中人们可能需要对一些比较狭窄、崎岖的孔洞环境进行探寻，如建筑物坍塌后的废墟孔洞、尺寸较小的管道等。在这些人类难以进入的环境下，经常需要使用爬行机器人进行工作。爬行机器人能够代替工作人员进入环境危险且复杂的废墟现场或者管道环境，执行搜索和探测等任务，爬行机器人能有效提高探测效率。In life, people may need to explore some relatively narrow and rugged hole environments, such as ruins holes after collapsed buildings, small-sized pipes, etc. In these inaccessible environments, crawling robots are often required to work. The crawling robot can replace the staff to enter the dangerous and complex ruin site or pipeline environment to perform tasks such as search and detection. The crawling robot can effectively improve the detection efficiency.
现有的爬行机器人主要有足式、轮式和履带式三种。足式爬行机器人的运动形式类似于生物，能够较好的在不平坦的路面上移动，由于它是多点支撑的结构，决定了它有相对良好的稳定性，但其移动速度略显不足。轮式爬行机器人是由轮子支撑其机体机构，由电机扭矩和驱动轮的设计决定其运动的快慢和越障能力。轮式爬行机器人在相对平坦的路面上具有良好的移动速度和稳定性，但是在环境比较复杂的废墟中，轮式爬行机器人的移动就会收到严重的影响。履带式爬行机器人相对来说能够适应较复杂的地形，但由于履带式机器人与地面的摩擦力比较大，容易造成履带的磨损，在路面上行驶的速率较低，功率消耗也比较大。同时，轮式和履带式的爬行机器人在崎岖的地形上很有可能会发生侧翻。Existing crawling robots mainly include three types: legged, wheeled and tracked. The movement form of the legged crawling robot is similar to that of a creature, and it can move well on uneven roads. Because it is a multi-point support structure, it has relatively good stability, but its moving speed is slightly insufficient. The wheeled crawling robot is supported by wheels, and its speed of movement and obstacle-surmounting ability are determined by the motor torque and the design of the driving wheel. The wheeled crawling robot has good moving speed and stability on a relatively flat road, but in the ruins with a complex environment, the movement of the wheeled crawling robot will be seriously affected. Crawler-type crawling robots can adapt to more complex terrain relatively, but due to the relatively large friction between the crawler-type robot and the ground, it is easy to cause the wear of the crawler, the speed of driving on the road is low, and the power consumption is relatively large. At the same time, wheeled and tracked crawling robots are likely to roll over on rough terrain.
发明内容Contents of the invention
本发明主要解决现有技术的爬行机器人应用受限制、不能适用多种复杂情况的技术问题，提出一种具有弹性支撑驱动机构的爬行机器人，该爬行机器人结构合理、使用方便、适应能力强、应用范围广、稳定性好。The invention mainly solves the technical problem that the application of the crawling robot in the prior art is limited and cannot be applied to various complex situations, and proposes a crawling robot with an elastic support drive mechanism, which has a reasonable structure, convenient use, strong adaptability, and application Wide range and good stability.
本发明提供了一种具有弹性支撑驱动机构的爬行机器人，包括：机器人本体、转向机构、驱动机构和控制器；The invention provides a crawling robot with an elastically supported driving mechanism, comprising: a robot body, a steering mechanism, a driving mechanism and a controller;
所述机器人本体包括头部、身部和尾部，头部与身部之间通过第一支臂(6)连接，身部与尾部之间通过第二支臂(14)连接；The robot body includes a head, a body and a tail, the head and the body are connected by a first arm (6), and the body and the tail are connected by a second arm (14);
所述头部靠近身部的一端设置有头部支撑板(5)，头部在轴向套设头部的支撑腿组，所述支撑腿组包括夹板(3)以及被夹板(3)夹持的多个弹性钢片(4)或弹性钢丝束；One end of the head near the body is provided with a head support plate (5), and the head is axially sleeved with a support leg group of the head, and the support leg group includes a splint (3) and a clamped plate (3). A plurality of elastic steel sheets (4) or elastic steel wire bundles held;
所述转向机构设置在身部内，所述转向机构包括第一电机(9)、第二电机(10)、第一伞齿轮(7)、第二伞齿轮(13)、第三伞齿轮(19)、第四伞齿轮(30)、身部固定环(20)和支撑轴(27)；第一电机(9)的输出轴上套设第一伞齿轮(7)，第一伞齿轮(7)与第二伞齿轮(13)啮合，第二伞齿轮(13)与第一支臂(6)联接；第一支臂(6)与头部支撑板(5)固定连接；所述第二电机(10)的输出轴上套设第三伞齿轮(19)，第三伞齿轮(19)与第四伞齿轮(30)啮合，支撑轴(27)上套设所述第四伞齿轮(30)并与第二支臂(14)联接；第二支臂(14)与尾部固定连接；身部在轴向套设身部固定环(20)，身部固定环(20)上设置身部的支撑腿组；The steering mechanism is arranged in the body, and the steering mechanism includes a first motor (9), a second motor (10), a first bevel gear (7), a second bevel gear (13), a third bevel gear (19 ), the fourth bevel gear (30), body fixing ring (20) and support shaft (27); the first bevel gear (7) is sleeved on the output shaft of the first motor (9), and the first bevel gear (7) ) meshes with the second bevel gear (13), and the second bevel gear (13) is connected with the first arm (6); the first arm (6) is fixedly connected with the head support plate (5); the second The output shaft of the motor (10) is sleeved with the third bevel gear (19), the third bevel gear (19) meshes with the fourth bevel gear (30), and the support shaft (27) is sleeved with the fourth bevel gear ( 30) and be connected with the second support arm (14); the second support arm (14) is fixedly connected with the afterbody; The support leg group of the Ministry;
所述驱动机构设置在尾部内，所述驱动机构包括第三电机(26)、螺杆(16)、滑块(17)和尾部固定环(18)；所述第三电机(26)设置于螺杆(16)内部并与螺杆(16)固定；螺杆(16)上套设尾部固定环(18)，螺杆(16)和尾部固定环(18)之间设置滑块(17)，滑块(17)的一端滑动配合设置在螺杆(16)表面的双螺旋槽(23)中，滑块(17)的另一端固定设置在尾部固定环(18)中，尾部固定环(18)上设置尾部的支撑腿组；The driving mechanism is arranged in the tail, and the driving mechanism includes a third motor (26), a screw (16), a slider (17) and a tail fixing ring (18); the third motor (26) is arranged on the screw (16) inside and fixed with the screw rod (16); the tail fixed ring (18) is sleeved on the screw rod (16), and the slide block (17) is set between the screw rod (16) and the tail fixed ring (18), and the slide block (17 ) is slidingly fitted in the double helical groove (23) on the surface of the screw (16), the other end of the slider (17) is fixed in the tail fixing ring (18), and the tail fixing ring (18) is provided with the supporting leg set;
所述控制器设置在机器人本体的头部，所述控制器分别与第一电机(9)、第二电机(10)和第三电机(26)电连接。The controller is arranged on the head of the robot body, and the controller is respectively electrically connected with the first motor (9), the second motor (10) and the third motor (26).
进一步的，所述具有弹性支撑驱动机构的爬行机器人，还包括：设置在头部的检测机构；Further, the crawling robot with an elastic support driving mechanism also includes: a detection mechanism arranged on the head;
所述检测机构包括热释电传感器、二氧化碳传感器、惯性传感器、摄像头(28)和照明机构之一或任意组合，所述热释电传感器、所述二氧化碳传感器、所述惯性传感器、所述摄像头(28)和所述照明机构分别与控制器电连接。The detection mechanism includes one or any combination of a pyroelectric sensor, a carbon dioxide sensor, an inertial sensor, a camera (28) and a lighting mechanism, the pyroelectric sensor, the carbon dioxide sensor, the inertial sensor, the camera ( 28) and the lighting mechanism are respectively electrically connected to the controller.
进一步的，所述夹板(3)包括多个紧贴的环形板(37)，每两个环形板(37)之间夹持弹性钢片(4)或弹性钢丝束。Further, the splint (3) includes a plurality of close-fitting annular plates (37), and elastic steel sheets (4) or elastic steel wire bundles are clamped between every two annular plates (37).
进一步的，每两个环形板(37)之间夹持弹性钢片(4)或弹性钢丝束在圆周方向上均匀分布。Further, elastic steel sheets (4) or elastic steel wire bundles are clamped between every two annular plates (37) and distributed evenly in the circumferential direction.
进一步的，所述尾部靠近第二支臂(14)的一端设置支撑盘(22)，所述尾部远离第二支臂(14)的一端设置支撑套(21)，支撑套(21)上设置尾部罩盖(33)，支撑盘(22)与第二支臂(14)固定连接，支撑盘(22)和支撑套(21)之间均匀分布多根支撑杆(15)。Further, a support plate (22) is provided at the end of the tail near the second arm (14), a support sleeve (21) is provided at the end of the tail away from the second arm (14), and a support sleeve (21) is provided on the support sleeve (21). The tail cover (33), the support plate (22) is fixedly connected with the second support arm (14), and a plurality of support rods (15) are evenly distributed between the support plate (22) and the support sleeve (21).
进一步的，所述第一电机(9)、第二电机(10)和第三电机(26)为直流电动机。Further, the first motor (9), the second motor (10) and the third motor (26) are DC motors.
进一步的，所述控制器通过通讯接口与外部的控制计算机电连接。Further, the controller is electrically connected with an external control computer through a communication interface.
本发明提供的一种具有弹性支撑驱动机构的爬行机器人，包括机器人本体、转向机构、驱动机构和控制器，可以实现爬行机器人的行走及转向，并配合弹性钢片的弹性，可以较好的适应废墟中较为复杂的地形。机器人本体部分采用特殊金属材料制成，质量较小却坚固耐用。检测机构带有多种传感器，可以对人体信息进行检测同时对二氧化碳浓度等环境信息进行检测，能够在人不易进入的场所很好的完成检测、搜救的任务。本发明的爬行机器人能够在废墟孔洞及管道等环境中良好的运行，不易发生滑动和侧翻，第三电机设置于螺杆内部，缩小了机器人轴向尺寸，通过远程控制实现灵活的运动，可完成对废墟或管道等环境完成搜救或检测等功能。A crawling robot with an elastic support drive mechanism provided by the present invention includes a robot body, a steering mechanism, a drive mechanism and a controller, which can realize the walking and turning of the crawling robot, and cooperate with the elasticity of the elastic steel sheet to better adapt to More complex terrain in the ruins. The main part of the robot is made of special metal material, which is small in weight but strong and durable. The detection mechanism is equipped with a variety of sensors, which can detect human body information and environmental information such as carbon dioxide concentration, and can well complete the tasks of detection and search and rescue in places where people are not easy to enter. The crawling robot of the present invention can operate well in ruins, holes, pipelines and other environments, and is not prone to slipping and rollover. The third motor is arranged inside the screw rod, which reduces the axial size of the robot, and realizes flexible movement through remote control. Complete search and rescue or detection functions for environments such as ruins or pipelines.
附图说明Description of drawings
图1是具有弹性支撑驱动机构的爬行机器人的立体图；Fig. 1 is a perspective view of a crawling robot with an elastic support drive mechanism;
图2是具有弹性支撑驱动机构的爬行机器人的主体图；Fig. 2 is the main figure of the crawling robot with elastic support driving mechanism;
图3是图1的具有弹性支撑驱动机构的爬行机器人放置在管道中的剖面图；Fig. 3 is a sectional view of the crawling robot with the elastic support drive mechanism of Fig. 1 placed in the pipeline;
图4a-b是环形板的固定示意图；Figure 4a-b is a schematic diagram of the fixation of the annular plate;
图5是螺杆的结构示意图；Fig. 5 is the structural representation of screw rod;
图6是滑块的结构示意图；Fig. 6 is the structural representation of slider;
图7是伞齿轮对的示意图。Figure 7 is a schematic diagram of a bevel gear pair.
附图中各附图标记指代的技术特征：The technical features indicated by each reference sign in the accompanying drawings:
1、头部筒壳；2、头部罩盖；3、夹板；4、弹性钢片；5、头部支撑板；6、第一支臂；7、第一伞齿轮；8、身部筒壳；9、第一电机；10、第二电机；11、身部第一罩盖；12、身部第二罩盖；13、第二伞齿轮；14、第二支臂；15、支撑杆；16、螺杆；17、滑块；18、尾部固定环；19、第三伞齿轮；20、身部固定环；21、支撑套；22、支撑盘；23、双螺旋槽；24、第三电机固定销；25、第三电机输出轴；26、第三电机；27、支撑轴；28、摄像头；29、菲涅尔透镜；30、第四伞齿轮；31、第三电机固定螺栓；32、支撑杆固定螺帽；33、尾部罩盖；34、尾部罩盖固定螺栓；35、滑动体；36、突出体；37、环形板。1. Head shell; 2. Head cover; 3. Plywood; 4. Elastic steel sheet; 5. Head support plate; 6. First arm; 7. First bevel gear; 8. Body barrel Shell; 9. The first motor; 10. The second motor; 11. The first cover of the body; 12. The second cover of the body; 13. The second bevel gear; 14. The second arm; 15. The support rod ; 16, screw rod; 17, slide block; 18, tail fixed ring; 19, the third bevel gear; 20, body fixed ring; 21, support sleeve; 22, support plate; 23, double helical groove; Motor fixing pin; 25, third motor output shaft; 26, third motor; 27, support shaft; 28, camera; 29, Fresnel lens; 30, fourth bevel gear; 31, third motor fixing bolt; 32 , the support rod fixing nut; 33, the tail cover; 34, the tail cover fixing bolt; 35, the sliding body; 36, the protruding body; 37, the annular plate.
具体实施方式detailed description
为使本发明解决的技术问题、采用的技术方案和达到的技术效果更加清楚，下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部内容。In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only parts related to the present invention are shown in the drawings but not all content.
图1是具有弹性支撑驱动机构的爬行机器人的立体图。图2是具有弹性支撑驱动机构的爬行机器人的主体图。图3是图1的具有弹性支撑驱动机构的爬行机器人放置在管道中的剖面图。如图1、2和3所示，本发明实施例提供的具有弹性支撑驱动机构的爬行机器人，包括：机器人本体、转向机构、驱动机构、检测机构和控制器，所述机器人本体包括头部、身部和尾部，头部与身部之间通过第一支臂6连接，身部与尾部之间通过第二支臂14连接。Fig. 1 is a perspective view of a crawling robot with an elastically supported driving mechanism. Fig. 2 is a main body view of a crawling robot with an elastically supported driving mechanism. Fig. 3 is a cross-sectional view of the crawling robot with the elastic support driving mechanism of Fig. 1 placed in the pipeline. As shown in Figures 1, 2 and 3, the crawling robot with an elastically supported drive mechanism provided by the embodiment of the present invention includes: a robot body, a steering mechanism, a drive mechanism, a detection mechanism and a controller, and the robot body includes a head, The body and the tail are connected by the first arm 6 between the head and the body, and are connected by the second arm 14 between the body and the tail.
所述头部靠近身部的一端设置有头部支撑板5，头部在轴向套设头部的支撑腿组，所述支撑腿组包括夹板3以及被夹板3夹持的多个弹性钢片4。本发明的头部还包括：头部筒壳1和头部罩盖2，头部的支撑腿组设置在头部支撑板5和头部罩盖2之间。One end of the head near the body is provided with a head support plate 5, and the head is axially sleeved with a support leg group of the head, and the support leg group includes a splint 3 and a plurality of elastic steel clamped by the splint 3. slice 4. The head of the present invention also includes: a head shell 1 and a head cover 2 , and the support leg group of the head is arranged between the head support plate 5 and the head cover 2 .
所述转向机构设置在身部内，所述转向机构包括第一电机9、第二电机10、第一伞齿轮7、第二伞齿轮13、第三伞齿轮19、第四伞齿轮30、身部固定环20和支撑轴27；第一电机9的输出轴上套设第一伞齿轮7，第一伞齿轮7与第二伞齿轮13啮合，第二伞齿轮13与第一支臂6联接；第一支臂6与头部支撑板5固定连接；所述第二电机10的输出轴上套设第三伞齿轮19，第三伞齿轮19与第四伞齿轮30啮合，支撑轴27上套设所述第四伞齿轮30并与第二支臂14联接；第二支臂14与尾部固定连接；身部在轴向套设身部固定环20，身部固定环20上设置身部的支撑腿组。具体的，第二伞齿轮13通过轴与第一支臂6联接。身部的支撑腿组可以设置在身部的中间位置，可以较好的平衡机器人身体。The steering mechanism is arranged in the body, and the steering mechanism includes a first motor 9, a second motor 10, a first bevel gear 7, a second bevel gear 13, a third bevel gear 19, a fourth bevel gear 30, a body The fixed ring 20 and the support shaft 27; the first bevel gear 7 is sheathed on the output shaft of the first motor 9, the first bevel gear 7 meshes with the second bevel gear 13, and the second bevel gear 13 is connected with the first support arm 6; The first arm 6 is fixedly connected to the head support plate 5; the output shaft of the second motor 10 is sleeved with a third bevel gear 19, the third bevel gear 19 meshes with the fourth bevel gear 30, and the support shaft 27 is covered The fourth bevel gear 30 is established and connected with the second arm 14; the second arm 14 is fixedly connected with the tail; the body is axially sleeved with a body fixing ring 20, and the body fixing ring 20 is provided with Supporting leg set. Specifically, the second bevel gear 13 is coupled with the first support arm 6 through a shaft. The supporting leg group of the body can be arranged in the middle of the body, which can better balance the robot body.
其中，第一伞齿轮7和第二伞齿轮13形成伞齿轮对，第三伞齿轮19和第四伞齿轮30形成伞齿轮对。图7是伞齿轮对的示意图。第一伞齿轮7和第二伞齿轮13，以及第三伞齿轮19和第四伞齿轮30之间的啮合关系参照图7。具体的，第一电机9和第二电机10不设输出轴的一端分别固定在身部筒壳8上。第一电机9输出轴穿过身部第一罩盖11并通过轴套连接在第一伞齿轮7上，第二电机10输出轴穿过身部第二罩盖12并通过轴套连接在第三伞齿轮19上。第四伞齿轮30通过轴套连接在支撑轴27上。第一电机9设置在第二电机10的上方，将第一电机9和第二电机10上下设置可以减少机器人的长度。第一电机9输出轴转动带动第一伞齿轮7和第二伞齿轮13啮合联动，进而带动机器人主体左转或右转。第二电机10输出轴转动带动第三伞齿轮19和第四伞齿轮30啮合联动，进而带动机器人主体抬头或低头。Wherein, the first bevel gear 7 and the second bevel gear 13 form a bevel gear pair, and the third bevel gear 19 and the fourth bevel gear 30 form a bevel gear pair. Figure 7 is a schematic diagram of a bevel gear pair. Refer to FIG. 7 for the meshing relationship between the first bevel gear 7 and the second bevel gear 13 , and the third bevel gear 19 and the fourth bevel gear 30 . Specifically, one end of the first motor 9 and the second motor 10 without an output shaft is respectively fixed on the body shell 8 . The output shaft of the first motor 9 passes through the first cover 11 of the body and is connected to the first bevel gear 7 through a shaft sleeve. On the three bevel gears 19. The fourth bevel gear 30 is connected to the support shaft 27 through a sleeve. The first motor 9 is arranged above the second motor 10, and setting the first motor 9 and the second motor 10 up and down can reduce the length of the robot. The rotation of the output shaft of the first motor 9 drives the meshing linkage between the first bevel gear 7 and the second bevel gear 13, and then drives the main body of the robot to turn left or right. The rotation of the output shaft of the second motor 10 drives the third bevel gear 19 and the fourth bevel gear 30 to mesh and interlock, thereby driving the main body of the robot to raise or lower its head.
所述驱动机构设置在尾部内，为爬行机器人的前进后退提供驱动力，所述驱动机构包括第三电机26、螺杆16、滑块17和尾部固定环18；所述第三电机26设置于螺杆16内部并与螺杆16固定；螺杆16上套设尾部固定环18，螺杆16和尾部固定环18之间设置滑块17，滑块17的一端滑动配合设置在螺杆16表面的双螺旋槽23中，滑块17的另一端固定设置在尾部固定环18中，尾部固定环18上设置尾部的支撑腿组。具体的，参照图6，滑块17具有与双螺旋槽23配合的滑动体35和设置在滑动体35上的突出体36，滑动体35设置于双螺旋槽23中，滑动体35可以为菱形块，所述突出体36固定设置在尾部固定环18中。另外，所述尾部靠近第二支臂14的一端设置支撑盘22，所述尾部远离第二支臂14的一端设置支撑套21，支撑套21上设置尾部罩盖33，支撑盘22与第二支臂14固定连接，支撑盘22和支撑套21之间均匀分布多根支撑杆15。支撑杆15通过支撑杆固定螺帽32固定在支撑套21上，尾部罩盖33通过尾部罩盖固定螺栓34固定在支撑套21上。参照图5，第三电机输出轴25通过第三电机固定销24固定在螺杆16中，参照图3，第三电机26未设输出轴的一端通过第三电机固定螺栓31固定在支撑套21上。另外，如图3所示，螺杆16左侧的圆筒套在支撑套21右侧的圆筒上，使螺杆16可相对支撑套21转动。螺杆16右侧凸出的轴插入支撑盘22中央的孔中，使螺杆16可相对支撑盘22转动。The driving mechanism is arranged in the tail to provide driving force for the forward and backward movement of the crawling robot. The driving mechanism includes a third motor 26, a screw 16, a slider 17 and a tail fixing ring 18; the third motor 26 is arranged on the screw 16 inside and fixed with the screw rod 16; the screw rod 16 is sleeved with a tail fixing ring 18, a slider 17 is set between the screw rod 16 and the tail fixing ring 18, and one end of the slider 17 is slidably fitted in the double helical groove 23 on the surface of the screw rod 16 , the other end of the slider 17 is fixedly arranged in the tail fixing ring 18, and the tail supporting leg group is arranged on the tail fixing ring 18. Specifically, referring to Fig. 6, the slider 17 has a sliding body 35 matched with the double helical groove 23 and a protrusion 36 arranged on the sliding body 35, the sliding body 35 is arranged in the double helical groove 23, and the sliding body 35 can be diamond-shaped block, and the protrusion 36 is fixedly arranged in the tail fixing ring 18 . In addition, a support plate 22 is provided at the end of the tail near the second arm 14, a support sleeve 21 is provided at the end of the tail away from the second arm 14, and a tail cover 33 is arranged on the support sleeve 21. The support plate 22 is connected to the second arm 14. The support arm 14 is fixedly connected, and a plurality of support rods 15 are evenly distributed between the support plate 22 and the support sleeve 21 . The support rod 15 is fixed on the support sleeve 21 by the support rod fixing nut 32 , and the tail cover 33 is fixed on the support sleeve 21 by the tail cover fixing bolt 34 . Referring to Fig. 5, the output shaft 25 of the third motor is fixed in the screw rod 16 by the fixing pin 24 of the third motor. Referring to Fig. 3, the end of the third motor 26 without an output shaft is fixed on the support sleeve 21 by the fixing bolt 31 of the third motor . In addition, as shown in FIG. 3 , the cylinder on the left side of the screw rod 16 fits on the cylinder on the right side of the support sleeve 21 , so that the screw rod 16 can rotate relative to the support sleeve 21 . The protruding shaft on the right side of the screw rod 16 is inserted into the hole at the center of the support disc 22 so that the screw rod 16 can rotate relative to the support disc 22 .
本发明使用带有双螺旋槽23的螺杆16进行传动，通过第三电机26的输出轴转动带动螺杆16的转动，螺杆16转动带动滑块17在双螺旋槽23中做前后往复移动，从而带动夹有弹性钢片或弹性钢丝束的夹板移动，进而尾部的支撑腿组移动，实现机器人主体的前进和后退。The present invention uses the screw rod 16 with double helical groove 23 to carry out transmission, and the rotation of the output shaft of the third motor 26 drives the screw rod 16, and the rotation of the screw rod 16 drives the slider 17 to move back and forth in the double helical groove 23, thereby driving The splint clamped with elastic steel sheet or elastic steel wire bundle moves, and then the support leg group at the tail moves to realize the forward and backward of the main body of the robot.
检测机构设置在头部内，所述检测机构包括热释电传感器、二氧化碳传感器、惯性传感器、摄像头28和照明机构，所述热释电传感器、所述二氧化碳传感器、所述惯性传感器、所述摄像头28和所述照明机构分别与控制器电连接。热释电传感器上罩设菲涅尔透镜29。例如，摄像头28、菲涅尔透镜29、LED灯组可以固定在头部筒壳1上，在菲涅尔透镜29内部装有人体热释电传感器。所述控制器设置在机器人本体的头部，所述控制器分别与第一电机9、第二电机10和第三电机26电连接。另外，所述第一电机9、第二电机10和第三电机26为直流电动机。所述控制器通过通讯接口与外部的控制计算机电连接。The detection mechanism is arranged in the head, and the detection mechanism includes a pyroelectric sensor, a carbon dioxide sensor, an inertial sensor, a camera 28 and an illumination mechanism, and the pyroelectric sensor, the carbon dioxide sensor, the inertial sensor, the camera 28 and the lighting mechanism are electrically connected to the controller respectively. The pyroelectric sensor is covered with a Fresnel lens 29 . For example, camera head 28, Fresnel lens 29, LED light group can be fixed on the head shell 1, and human body pyroelectric sensor is housed in Fresnel lens 29 inside. The controller is arranged on the head of the robot body, and the controller is electrically connected to the first motor 9 , the second motor 10 and the third motor 26 respectively. In addition, the first motor 9 , the second motor 10 and the third motor 26 are DC motors. The controller is electrically connected with an external control computer through a communication interface.
热释电传感器、二氧化碳传感器、惯性传感器和摄像头28，采集到的数据通过控制器处理，然后控制器通过通讯接口传输至外部的控制计算机，使外部的控制计算机前的操控人员获知爬行机器人前方的多种信息。本发明的爬行机器人头部安装有照明机构，方便操作人员在黑暗环境下控制爬行机器人运动以及观察爬行机器人前方的环境信息。本实施例中摄像头28采集的数据通过视频线传输到控制中心的视频采集盒，再由视频采集盒传输至上位机进行显示，在黑暗环境中可以打开LED灯组进行照明，提高视频显示质量；热释电传感器配合菲涅尔透镜可以检测机器人前方是否有人体的存在，同时通过控制器将采集到的数据传输至上位机显示；二氧化碳传感器可检测机器人所处环境内的二氧化碳浓度，并通过控制器传输至上位机显示，以便于救援人员判断是否适合进入废墟中进行救援；惯性传感器可采集头部关节的三轴加速度和角速度，传输至上位机处理后可显示当前头部关节的加速度、加速度、位置、角度信息，以便于操作人员对机器人的姿态进行判断。本发明的爬行机器人的控制程序包括控制器程序和上位机程序，控制器程序实现对检测机构的各传感器信息进行采集并传输至上位机，同时接收上位机发送的电机控制命令，按照命令对电机进行控制；上位机程序对控制器传输的各传感器信息进行处理和显示，并根据操作人员对爬行机器人的操作指令向控制器发送电机控制命令。Pyroelectric sensor, carbon dioxide sensor, inertial sensor and camera 28, the collected data are processed by the controller, and then the controller transmits to the external control computer through the communication interface, so that the operator in front of the external control computer knows the crawling robot. Various information. The head of the crawling robot of the present invention is equipped with a lighting mechanism, which is convenient for operators to control the movement of the crawling robot and observe the environmental information in front of the crawling robot in a dark environment. In this embodiment, the data collected by the camera 28 is transmitted to the video acquisition box of the control center through the video line, and then transmitted to the upper computer for display by the video acquisition box. In a dark environment, the LED light group can be turned on for lighting, so as to improve the video display quality; The pyroelectric sensor and the Fresnel lens can detect whether there is a human body in front of the robot, and at the same time transmit the collected data to the host computer for display through the controller; the carbon dioxide sensor can detect the carbon dioxide concentration in the environment where the robot is located, and through the control The sensor is transmitted to the host computer for display, so that rescuers can judge whether it is suitable to enter the ruins for rescue; the inertial sensor can collect the three-axis acceleration and angular velocity of the head joint, and after being transmitted to the host computer for processing, it can display the current acceleration and acceleration of the head joint , position, and angle information, so that the operator can judge the attitude of the robot. The control program of the crawling robot of the present invention includes a controller program and a host computer program. The controller program realizes collecting and transmitting the information of each sensor of the detection mechanism to the host computer, and simultaneously receives the motor control command sent by the host computer, and controls the motor according to the command. Control; the host computer program processes and displays the sensor information transmitted by the controller, and sends motor control commands to the controller according to the operator's instructions to the crawler robot.
在本发明中，头部、身部和尾部分别都套设有支撑腿组，支撑腿组中所述夹板3包括多个紧贴的环形板37，每两个环形板37之间夹持弹性钢片4。每两个环形板37之间夹持弹性钢片4在圆周方向上均匀分布。图4a为两个环形板分开时的示意图。图4b为两个环形板固定后的示意图。参照图4a和图4b，每两个环形板37之间形成一个夹持单元，每两个环形板37对合形成用于容纳弹性钢片4的容纳槽。夹持单元还预留有安装螺栓的螺孔。具体的，夹持单元中一侧环形板37有两个沉头螺孔，另一侧环形板37有两个螺纹孔，两片环形板37用盘头螺丝固定，中间可以夹有多片弹性钢片4。每个环形板37可以由四副片体拼接而成，每副片体为四分之一圆环。本发明中每个支撑腿组包括3个夹持单元，每个夹持单元中夹持12个弹性钢片4。头部支撑腿组的环形板37通过盘头螺丝固定在头部支撑板5上；身部支撑腿组的环形板37固定在身部固定环20上，身部固定环20直接连接在身部筒壳8上；尾部支撑腿组的环形板37固定在尾部固定环18上。弹性钢片4的材料可以是锰钢。In the present invention, the head, the body and the tail are provided with sets of supporting legs respectively, and the splint 3 in the supporting legs set includes a plurality of ring-shaped plates 37 that are closely attached to each other, and elastic rings are clamped between each two ring-shaped plates 37. Steel sheet 4. The elastic steel sheets 4 clamped between every two annular plates 37 are evenly distributed in the circumferential direction. Figure 4a is a schematic diagram of two annular plates separated. Fig. 4b is a schematic diagram of two annular plates fixed. Referring to FIG. 4 a and FIG. 4 b , a clamping unit is formed between every two ring plates 37 , and every two ring plates 37 are combined to form a receiving groove for receiving the elastic steel sheet 4 . The clamping unit also reserves screw holes for mounting bolts. Specifically, the annular plate 37 on one side of the clamping unit has two countersunk screw holes, and the annular plate 37 on the other side has two threaded holes. The two annular plates 37 are fixed with pan head screws, and multiple pieces of elastic Steel sheet 4. Each annular plate 37 can be spliced by four pairs of sheets, and each pair of sheets is a quarter ring. In the present invention, each supporting leg group includes 3 clamping units, and 12 elastic steel sheets 4 are clamped in each clamping unit. The annular plate 37 of the head support leg group is fixed on the head support plate 5 by pan head screws; the annular plate 37 of the body support leg group is fixed on the body fixing ring 20, and the body fixing ring 20 is directly connected to the body On the cylinder shell 8; the annular plate 37 of the tail supporting leg group is fixed on the tail fixing ring 18. The material of the elastic steel sheet 4 can be manganese steel.
由于本实施例中机器人本体四周安装有多簇弹性钢片4，弹性钢片4能够产生支撑力和摩擦力，通过调整电机的转速来调整机器人运动的位置，进而调节弹性钢片4的弯曲程度，就可以相应改变支撑力和摩擦力。机器人本体四周均安装有弹性钢片4，可以增加爬行机器人在管道等狭小环境中的接触面积，进而增大摩擦力，使机器人不会打滑、侧翻。支撑腿组分为三部分，分别放置在头部、身部和尾部，头部和身部的支撑腿组只起到支撑作用，尾部的支撑腿组与螺杆16配合驱动机器人前后运动。Since there are many clusters of elastic steel sheets 4 installed around the robot body in this embodiment, the elastic steel sheets 4 can generate support force and friction force, and the position of the robot movement can be adjusted by adjusting the rotating speed of the motor, and then the bending degree of the elastic steel sheets 4 can be adjusted. , the support force and friction force can be changed accordingly. Elastic steel sheets 4 are installed around the robot body, which can increase the contact area of the crawling robot in narrow environments such as pipelines, thereby increasing the frictional force so that the robot will not slip or turn over. The support leg group is divided into three parts, is placed on head, body and tail respectively, and the support leg group of head and body only plays a supporting role, and the support leg group of tail cooperates with screw rod 16 to drive the robot to move forward and backward.
本发明的工作原理如下：操作人员通过外部的控制计算机控制爬行机器人，机器人根据指令完成前进、后退、抬头、低头、左转、右转和传感器信息的采集与显示。爬行机器人和控制计算机之间通过串口进行通信。控制机器人运动时，控制计算机向控制器发送控制命令，控制器再向电机控制器发送相应指令，使电机按照指定的方向和转速转动，从而实现对机器人运动的控制。采集传感器信息时，由控制计算机向控制器发送采集命令，控制器收到命令后即开始采集各传感器信息，并上传至控制计算机，显示在上位机界面上，方便工作人员获取废墟或管道中的具体信息。本发明中弹性钢片具有较好的弹性，不易发生塑性形变。爬行机器人运行时，所有弹性钢片向一个方向弯曲，驱动机构中的第三电机26带动螺杆16转动时，螺杆16上的滑块17带动尾部支撑腿组前移，螺杆16开始返回时，由于弹性钢片弯曲导致弹性钢片后退的摩擦力较大，使得该部分钢片保持不动，推动机器人本体向前移动；同理，改变钢片的弯曲方向，就可以实现机器人本体的后退。转向时，第一电机9转动带动第一伞齿轮7转动，从而带动第二伞齿轮13转动，实现机器人的抬头或低头；第二电机10转动时带动第三伞齿轮19转动，从而带动第四伞齿轮30转动，由于第四伞齿轮30与支撑轴27之间是固定的，支撑轴27与第二支臂14也是固定的，与后端框架也是固定关系，所以第四齿轮转动时尾部即相对前部转动，实现机器人的左转或右转。The working principle of the present invention is as follows: the operator controls the crawling robot through an external control computer, and the robot completes forward, backward, head up, down, left turn, right turn and sensor information collection and display according to instructions. The crawling robot and the control computer communicate through the serial port. When controlling the movement of the robot, the control computer sends control commands to the controller, and the controller sends corresponding instructions to the motor controller to make the motor rotate in the specified direction and speed, thereby realizing the control of the robot's movement. When collecting sensor information, the control computer sends a collection command to the controller. After receiving the command, the controller starts to collect the information of each sensor, uploads it to the control computer, and displays it on the host computer interface, which is convenient for the staff to obtain the information in the ruins or pipelines. specific information. The elastic steel sheet in the present invention has better elasticity and is less likely to undergo plastic deformation. When the crawling robot was running, all the elastic steel sheets were bent in one direction, and when the third motor 26 in the driving mechanism drove the screw rod 16 to rotate, the slide block 17 on the screw rod 16 drove the tail support leg group to move forward, and when the screw rod 16 began to return, due to The bending of the elastic steel sheet causes the frictional force of the elastic steel sheet to retreat to be large, so that this part of the steel sheet remains still, pushing the robot body forward; similarly, changing the bending direction of the steel sheet can realize the retreat of the robot body. When turning, the first motor 9 rotates to drive the first bevel gear 7 to rotate, thereby driving the second bevel gear 13 to rotate, so as to realize the robot's head up or down; when the second motor 10 rotates, it drives the third bevel gear 19 to rotate, thereby driving the fourth The bevel gear 30 rotates, because the fourth bevel gear 30 is fixed between the support shaft 27, the support shaft 27 is also fixed with the second support arm 14, and also has a fixed relationship with the rear end frame, so when the fourth gear rotates, the tail is Rotate relative to the front to realize the left or right turn of the robot.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: Modifications to the technical solutions described in the foregoing embodiments, or equivalent replacement of some or all of the technical features thereof, do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the various embodiments of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510650073.XACN105346614B (en) | 2015-10-10 | 2015-10-10 | A kind of climbing robot of flexible support driving mechanism |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510650073.XACN105346614B (en) | 2015-10-10 | 2015-10-10 | A kind of climbing robot of flexible support driving mechanism |
| Publication Number | Publication Date |
|---|---|
| CN105346614A CN105346614A (en) | 2016-02-24 |
| CN105346614Btrue CN105346614B (en) | 2017-07-21 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510650073.XAActiveCN105346614B (en) | 2015-10-10 | 2015-10-10 | A kind of climbing robot of flexible support driving mechanism |
| Country | Link |
|---|---|
| CN (1) | CN105346614B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107290987A (en)* | 2016-04-11 | 2017-10-24 | 上海慧流云计算科技有限公司 | A kind of telepresence equipment and telepresence interactive system |
| CN107291217A (en)* | 2016-04-11 | 2017-10-24 | 上海慧流云计算科技有限公司 | A kind of remote control equipment and telepresence interactive system |
| FR3072757B1 (en)* | 2017-10-24 | 2019-11-29 | Suez Groupe | NON-MOTORIZED INSPECTION DEVICE FOR FLUID PIPES |
| CN109733494B (en)* | 2019-03-05 | 2025-02-28 | 能哲(上海)智能科技有限公司 | A new type of robot |
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| JPS62113643A (en)* | 1985-11-09 | 1987-05-25 | 大阪瓦斯株式会社 | Self-propelling device in pipe |
| US6431079B1 (en)* | 1995-09-22 | 2002-08-13 | Ernest Appleton | Surface traversing vehicle |
| US6769321B1 (en)* | 1999-09-29 | 2004-08-03 | University Of Durham | Conduit traversing vehicle |
| CN1586942A (en)* | 2004-07-09 | 2005-03-02 | 北京工业大学 | Single motor single driving straight wheel type small pipeline robot moving mechanism |
| CN1635296A (en)* | 2003-12-29 | 2005-07-06 | 大连理工大学 | Peristaltic Pipeline Crawler |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62113643A (en)* | 1985-11-09 | 1987-05-25 | 大阪瓦斯株式会社 | Self-propelling device in pipe |
| US6431079B1 (en)* | 1995-09-22 | 2002-08-13 | Ernest Appleton | Surface traversing vehicle |
| US6769321B1 (en)* | 1999-09-29 | 2004-08-03 | University Of Durham | Conduit traversing vehicle |
| CN1635296A (en)* | 2003-12-29 | 2005-07-06 | 大连理工大学 | Peristaltic Pipeline Crawler |
| CN1586942A (en)* | 2004-07-09 | 2005-03-02 | 北京工业大学 | Single motor single driving straight wheel type small pipeline robot moving mechanism |
| Publication number | Publication date |
|---|---|
| CN105346614A (en) | 2016-02-24 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |