CN1966337A - Gecko-emulated robot - Google Patents
Gecko-emulated robot Download PDFInfo
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- CN1966337A CN1966337A CN 200610114771 CN200610114771A CN1966337A CN 1966337 A CN1966337 A CN 1966337A CN 200610114771 CN200610114771 CN 200610114771 CN 200610114771 A CN200610114771 A CN 200610114771A CN 1966337 A CN1966337 A CN 1966337A
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Abstract
The invention relates to a house lizard robot formed by mechanical part and circuit part, wherein the mechanical part is divided into front working part and back working part while they are symmetry and connected by flexible rod; each part is formed by body, two soles and two legs; each leg is formed by upper leg element, lower leg element and leg root element with controllable freedoms; two ends of upper leg element, one end of lower leg element, and one end of leg root element are hinged by steering engine; the circuit part comprises single chip, digit switch control circuit, steering engine, absorber and power source; the power source powers the single chip, the absorber and the steering engine; the single chip outputs PWM wave shape to control the angle f steering engine, to control the step of robot; and the single chip controls the digit switch circuit to release and operate the absorber. The invention can steer in small radius.
Description
Technical field
The present invention relates to a kind of micro robot-gecko-emulated robot, be mainly used in anti-terrorism, rescue, head defendance, fields such as public and national security such as extraordinary investigation.
Background technology
Also go out in the elementary step about the development of gecko-emulated robot in the world at present, realize that really the robot of the accessible motion of the total space of similar gecko also needs the time.Kathryn A.Daltori, AndrewD.Horchler, Stanislav Gorb, Roy E.Ritzmann, Roger D.Quinn.A SmallWall-Walking Robot with Compliant, the Case Western Reverse university that Adhesive Feet. " 2005 IEEE/RSJInternational Conference on Intelligent Robots and Systems " discloses the blue city of U.S. Ke Lifo has developed a small-sized climbing robot that is named as Mini-Whegs, this robot rotates simultaneously with a motor-driven four wheels, 4 soles (as shown in Figure 1) by the material of imitative gecko toe are housed on each wheel, the characteristics of this robot are that volume is little, (87g) in light weight, can independent ambulation in vertical walls, top ceiling, power autonomous, and can be like a cork from a face excessively to another vertical surface, this robot also is in conceptual phase, is mainly used in the test experiments to imitative gecko sole material adsorption power.CarloMenon, Michael Murphy, Metin Sitti.Gecko Inspired Surface ClimbingRobots. " IEEE International Conference on Robotics and Biomimetics (ROBIO) " .ShengYang, China, Aug 2004. discloses the climbing robot that U.S. Cameron University utilizes imitative gecko sole material development two kinds of different institutions of developing, confirm that through overtesting these two kinds of robots can move at any desiccated surface, and have certain obstacle climbing ability, wherein the robot of structure shown in Figure 2 can also be excessive back and forth on two surfaces that have angle like a cork.The researchist of this school also makes sorbing material the crawler belt situation and is installed on one's body the robot, develops crawler-type wall climbing robot as shown in Figure 3.This three kinds gecko robot of evidence has all realized climbing the function of wall, but because its mode of creeping is wheeled creeping, because sorbing material and metope generation slide relative cause its adsorption power to be destroyed, be difficult to realize turning action when turning when creeping along vertical walls.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, a kind of gecko-emulated robot is provided, this robot can be realized the minor-circle turn action in climbing the wall process, the sole that produces adsorption affinity in the robot crawling process does not relatively move with wall, and robot has abundant attitude can adapt to complex-terrain; Obstacle climbing ability is improved.
Technical solution of the present invention: gecko-emulated robot is made up of mechanics and circuit part, wherein mechanics adopts the sufficient formula mode of creeping, working portion and back working portion before being divided into, and two-part structure symmetry fully, have interchangeability, two parts link together by rods; Before working portion or back work constitute by robot health, two soles and two legs respectively, every leg is made up of thigh part, shank part and the leg root element of three controllable degrees of freedom, all be hingedly connected together between one end of the two ends of each thigh part, shank part and the end of leg root element by steering wheel, the other end of each shank part is connected with sole, and the other end of each leg root element is connected with the robot health; Circuit part comprises: micro controller system, number switch control circuit, steering wheel, sucker and power supply, power supply provides power supply for micro controller system, the sucker and the steering wheel that are positioned on the sole, micro controller system is by output PWM Waveform Control steering wheel corner size, reach the gait of control robot, micro controller system reaches the absorption and the release of sucker on the control robot sole by the break-make of control figure switch circuit simultaneously.
The present invention's advantage compared with prior art is: gecko-emulated robot of the present invention adopts the sufficient formula mode of creeping, robot can be realized flexible turning action in tight turn radius, and owing to adopt sufficient formula mode, robot can be selected suitable attitude and suitable foothold in crawling process, overcome the uneven phenomenon of wall, obstacle climbing ability is stronger than wheeled climbing robot.Reasonably design of robot climbing mechanism and gait planning result, the sole that guarantees to be adsorbed in the robot crawling process metope not with wall generation slide relative, promptly can not destroy the adsorption power of robot; Robot can have abundant attitude to adapt to complicated terrain environment.
Description of drawings
Fig. 1 is the robot Mini-Whegs structural representation of prior art;
Fig. 2 is the wheeled climbing robot structural representation of prior art;
Fig. 3 is the crawler-type wall climbing robot structural representation of prior art;
Fig. 4 is the main TV structure scheme drawing of the mechanics of robot of the present invention;
Fig. 5 is the backsight structural representation of the mechanics of robot of the present invention;
Fig. 6 is the side-looking structural representation of the mechanics of robot of the present invention;
Fig. 7 is the structural representation of robot body part of the present invention, and wherein Fig. 7 a is a birds-eye view, and Fig. 7 b is a front view, and Fig. 7 c is a lateral plan;
Fig. 8 is the thigh design of part figure of robot of the present invention, and wherein Fig. 8 a is a birds-eye view, and Fig. 8 b is a front view, and Fig. 8 c is a lateral plan;
The leg root element figure of Fig. 9 robot of the present invention, wherein Fig. 9 a is a birds-eye view, and Fig. 9 b is a front view, and Fig. 9 c is a right side view, and Fig. 9 d is a left side view;
The shank detail drawing of Figure 10 robot of the present invention, wherein Figure 10 a is a birds-eye view, and Figure 10 b is a front view, and Figure 10 c is a lateral plan;
Figure 11 is the circuit part structure composition frame chart of robot of the present invention;
Figure 12 is a single chip part circuit diagram of the present invention;
Figure 13 is the number switch control circuit electrical schematic diagram of control absorption sole break-make in the circuit part of the present invention;
Figure 14 robot workflow diagram of the present invention;
Figure 15 pc control procedure of the present invention interface.
The specific embodiment
Shown in Fig. 4,5,6, the mechanics of gecko-emulated robot of the present invention adopts the sufficient formula mode of creeping, working portion and back working portion before being divided into, the first half is preceding working portion, and the latter half is the back working portion, and two-part structure is symmetry fully, two parts have interchangeability up and down, two parts link together by rods 6, and rods 6 two ends are fixed on the robot health by screw, and rods 6 adopts spring leaf in the present embodiment.Before working portion or back work constitute by robot health 2, two soles 7 and two legs respectively, every leg is made up of thigh part 4, shank part 5 and the leg root element 3 of three controllable degrees of freedom, all be hingedly connected together between one end of the two ends of each thigh part 4, shank part 5 and the end of leg root element 3 by steering wheel 1, the other end of each shank part 5 is connected with sole 7, and the other end of each leg root element 3 is connected with robot health 2.Totally 3 steering wheels on every leg among the present invention, article 4, leg totally 12 steering wheels, junction at thigh part 4, shank part 5 and leg root element 3 and steering wheel 1 processes the groove 8 that can inlay about 1mm of steering wheel mouth, reaches the purpose that the steering wheel motion is transferred to next interface unit; Other junctions of robot of the present invention are connected with robot health 2 etc. as being connected of each shank part 5 and sole 7 and leg root element 3 and all adopt screw or bolt affixed, and screw or diameter of bolt size are selected M2 for use.
The mouth of steering wheel 1 is a cross bar, and the groove of the shape of this cross bar shown in Fig. 8,9,10 is embedded into the cross bar of steering wheel 1 output in the groove 8 and is screwed, and realizes being connected of steering wheel 1 and each part.
Fig. 7 is a robot body part detail drawing, two steering wheels 1 are fixed on the baffle plate 9 by tapped bore 10,12 the grooves that alleviate for processing on the base plate 11, tapped bore 13 is used for fixing control circuit board, tapped bore 14 is used for fixing the rods 6 that connects the front and back health, the robot health is made of two parts shown in Figure 7, and two parts connect by the rods 7 that is fixed in tapped bore 14.
Fig. 8 is a robot thigh detail drawing, the steering wheel mouth that is fixed in the leg root is embedded in the graphic groove 8, and be screwed by hole 15, another steering wheel 1 is fixed on rectangular opening 17 places identical with the steering wheel oad by tapped bore 16, and robot always has 4 thigh parts.
Fig. 9 position robot leg root detail drawing, be fixed on steering wheel 1 mouth on the robot body parts by screw retention in graphic groove 8, another steering wheel 1 is fixed on rectangular opening 20 places identical with the steering wheel oad by tapped bore 19, and robot always has 4 leg root elements.
Figure 10 is a robot shank detail drawing, be fixed on steering wheel mouth on the thigh part by screw retention in groove shown in Figure 10 8, free sole 7 can be fixed on the shank part by hole 21, robot always has four shank parts.
As shown in figure 11, circuit part of the present invention comprises: micro controller system 22, number switch control circuit 23, steering wheel 1, be positioned at sucker 24 and power supply 25 on the sole, for the ease of control and operation, also be connected to upper computer 26 in the circuit part, this upper computer 26 is connected with micro controller system 22 by UART or RS232 interface, power supply 25 is respectively single chip circuit 22, electromagnet and 12 steering wheels 1 provide power supply on the sucker 24, upper computer 26 sends control command, after micro controller system 22 receives this control command by serial ports, the corner size of 12 steering wheels 1 of its 12 road I/O mouth, 12 PWM Waveform Control of output, reach the gait of control robot, 4 road I/O of micro controller system 22 reach the absorption and the release of sucker 24 on the control robot sole 7 as the break-make of sole adsorption affinity control port output control figure switch circuit 23 simultaneously.
As shown in figure 12,12 I/O mouths of micro controller system 22 of the present invention are as the corner of PWM output control steering wheel, the SUCKn signal of 4 I/O mouth outputs is as sole adsorption affinity control port, I/O utilizes the break-make of height voltage control pliotron to reach the purpose of control sole adsorption affinity, RXD, TXD are respectively serial ports and receive data and send data pin, RESET is a reset signal, and VCC connects the 5V input voltage, and SCK, MISO, MOSI are as the in-system programming signal (ISP) of micro controller system; Micro controller system is by the control command of serial ports reception upper computer, if serial ports does not have control command, robot will adopt the default instruction motion.
As shown in figure 13, number switch control circuit 23 is made up of pliotron D1758 and the pull-up resistor R that is positioned on the base stage, connects the sucker electromagnet on the collecting electrode of pliotron D1758.When the voltage of base stage and emitter was 5V in the present embodiment, the magnification factor of this power triode was approximately 190, and the sole absorptive element is an electromagnet, and its resistance sizes is 20 Europe; In order to make power tube be operated in optimum regime, make that sharing voltage on electromagnet reaches maximum, can obtain R=24*190* (5-0.7)/(VCC-2), VCC is 15v, process measurement power tube collecting electrode this moment is approximately 2 volts to the voltage of emitter, can calculate the resistance R size of base stage and should select 1500 Europe for use.
As shown in figure 14: workflow diagram of the present invention, micro controller system inside is provided with two counting machines, counter controls robot creep the cycle (being the robot creeper speed), another counter controls PWM waveform, two counting machines are cooperated simultaneously and are realized that control robot does the motion of various different characteristics.If micro controller system is not received the control command that upper computer sends, then control robot is creeped according to the mode of creeping of acquiescence, otherwise the program response interruption, identification and analysis instruction are called cooresponding control function again; In the control function by reading counter values, equal needed PWM pulsewidth when the pairing time of counter values, corresponding I/O mouth then is set, relatively can simulate 12 road PWM Waveform Control steering wheels by several times and rotate, reach the adsorption affinity of control robot sole simultaneously by the break-make of 4 road I/O mouth power controlling aerotrons.
It is pc control procedure as shown in figure 15: self-defining communication protocol, receive the controlled variable of user's input, then by serial ports to the micro controller system sending controling instruction, in conjunction with the control program of micro controller system can any joint of control robot corner and the creep direction and the creeper speed of robot.
Claims (4)
1, gecko-emulated robot is made up of mechanics and circuit part, it is characterized in that: described mechanics adopts the sufficient formula mode of creeping, working portion and back working portion before being divided into, and two-part structure symmetry fully, have interchangeability, two parts link together by rods; Before working portion or back work constitute by robot health, two soles and two legs respectively, every leg is made up of thigh part, shank part and the leg root element of three controllable degrees of freedom, all be hingedly connected together between one end of the two ends of each thigh part, shank part and the end of leg root element by steering wheel, the other end of each shank part is connected with sole, and the other end of each leg root element is connected with the robot health; Described circuit part comprises: micro controller system, number switch control circuit, steering wheel, sucker and power supply, power supply provides power supply for micro controller system, the sucker and the steering wheel that are positioned on the sole, micro controller system is by output PWM Waveform Control steering wheel corner size, reach the gait of control robot, micro controller system reaches the absorption and the release of sucker on the control robot sole by the break-make of control figure switch circuit simultaneously.
2, gecko-emulated robot according to claim 1 is characterized in that: also be connected to upper computer in the described circuit part, this upper computer is connected with micro controller system by UART or RS232 interface, and the output control command makes micro controller system work.
3, gecko-emulated robot according to claim 1 is characterized in that: described number switch control circuit is made up of with the pull-up resistor R that is positioned on the base stage pliotron, connects the sucker electromagnet on the collecting electrode of pliotron.
4, gecko-emulated robot according to claim 1 is characterized in that: described rods is a spring leaf.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNB2006101147719A CN100450856C (en) | 2006-11-23 | 2006-11-23 | Gecko-emulated robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101147719A CN100450856C (en) | 2006-11-23 | 2006-11-23 | Gecko-emulated robot |
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| CN1966337A true CN1966337A (en) | 2007-05-23 |
| CN100450856C CN100450856C (en) | 2009-01-14 |
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| CNB2006101147719A Expired - Fee Related CN100450856C (en) | 2006-11-23 | 2006-11-23 | Gecko-emulated robot |
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Cited By (22)
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| CN101830253A (en) * | 2010-05-21 | 2010-09-15 | 哈尔滨工业大学 | Six-foot crawling robot |
| CN101367413B (en) * | 2007-08-17 | 2010-10-13 | 高汉光 | Multifunctional robot for climbing wall |
| CN101870310A (en) * | 2010-06-02 | 2010-10-27 | 南京航空航天大学 | Gecko-like robot and mechanical structure thereof |
| CN101890988A (en) * | 2010-06-02 | 2010-11-24 | 南京航空航天大学 | Adhesive toe for gecko robot and movement method thereof |
| CN101927793A (en) * | 2010-07-23 | 2010-12-29 | 南京航空航天大学 | Variable-structure quadruped robot structure interconverting creeping motion and vertical motion |
| CN102756373A (en) * | 2012-07-23 | 2012-10-31 | 韩卓苇 | Bio-robot anole |
| CN102774445A (en) * | 2012-07-24 | 2012-11-14 | 华南理工大学 | Bionic climbing robot |
| CN102874397A (en) * | 2012-09-06 | 2013-01-16 | 上海大学 | Lizard-imitated overwater robot |
| CN103786806A (en) * | 2014-01-20 | 2014-05-14 | 北京航空航天大学 | Multifunctional leg-and-wheel combination robot and multi-movement-mode intelligent switching method thereof |
| CN104678781A (en) * | 2015-03-05 | 2015-06-03 | 南京航空航天大学 | System and method of regulation and control of postures and landing experiments for space robot simulating gecko |
| CN104859746A (en) * | 2015-05-26 | 2015-08-26 | 南京航空航天大学 | Experimental system and ground experimental method for gecko-inspired robot under micro-gravity environment |
| CN105128971A (en) * | 2015-09-07 | 2015-12-09 | 南京航空航天大学 | Bionic four-footed wall-climbing robot based on falcula attachment |
| CN108001558A (en) * | 2017-11-28 | 2018-05-08 | 中国电子科技集团公司第二十八研究所 | A kind of bio-robot with flexible waist joint |
| CN108583941A (en) * | 2018-03-08 | 2018-09-28 | 南京航空航天大学 | Adapt to the bionic wall climbing robot of complicated small space in the microgravity environment of space station |
| CN108674512A (en) * | 2018-06-04 | 2018-10-19 | 北京航空航天大学 | A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this |
| CN109018051A (en) * | 2018-07-09 | 2018-12-18 | 南京航空航天大学 | Circle wheel climbing robot based on pasting material |
| CN109605400A (en) * | 2019-01-24 | 2019-04-12 | 中国地质大学（武汉） | Three-dimensional porous graphene Composite sucker formula imitates gecko foot type multi-function robot |
| CN110015353A (en) * | 2019-04-29 | 2019-07-16 | 佛山科学技术学院 | A kind of four-footed imitative gecko climbing robot structure flexible |
| CN110143245A (en) * | 2019-05-28 | 2019-08-20 | 重庆邮电大学 | A kind of magnetic control bionic adhesion sole device based on magnetosensitive pasting material |
| CN110341824A (en) * | 2019-07-05 | 2019-10-18 | 广州供电局有限公司 | Climbing robot |
| CN111409732A (en) * | 2020-04-03 | 2020-07-14 | 天津理工大学 | Modularized multi-foot crawling robot |
| CN111493732A (en) * | 2020-04-26 | 2020-08-07 | 陕西科技大学 | Gecko-like glass wiping robot and glass wiping method |
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| JP2002011679A (en) * | 2000-06-26 | 2002-01-15 | Sony Corp | Multiped walking robot |
| CN1233509C (en) * | 2002-12-30 | 2005-12-28 | 上海交通大学 | Miniature creeping vehicle based on shape memory alloy driving |
| CN2688461Y (en) * | 2004-03-18 | 2005-03-30 | 上海大学 | Miniature four-foot bionic climbing mechanism |
| CN2827823Y (en) * | 2005-09-23 | 2006-10-18 | 哈尔滨工程大学 | Mechanical crab |
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| CN101367413B (en) * | 2007-08-17 | 2010-10-13 | 高汉光 | Multifunctional robot for climbing wall |
| CN101830253A (en) * | 2010-05-21 | 2010-09-15 | 哈尔滨工业大学 | Six-foot crawling robot |
| CN101870310A (en) * | 2010-06-02 | 2010-10-27 | 南京航空航天大学 | Gecko-like robot and mechanical structure thereof |
| CN101890988A (en) * | 2010-06-02 | 2010-11-24 | 南京航空航天大学 | Adhesive toe for gecko robot and movement method thereof |
| CN101890988B (en) * | 2010-06-02 | 2011-11-30 | 南京航空航天大学 | Adhesive toe for gecko robot and movement method thereof |
| CN101927793A (en) * | 2010-07-23 | 2010-12-29 | 南京航空航天大学 | Variable-structure quadruped robot structure interconverting creeping motion and vertical motion |
| CN102756373A (en) * | 2012-07-23 | 2012-10-31 | 韩卓苇 | Bio-robot anole |
| CN102756373B (en) * | 2012-07-23 | 2015-04-01 | 韩卓苇 | Bio-robot anole |
| CN102774445A (en) * | 2012-07-24 | 2012-11-14 | 华南理工大学 | Bionic climbing robot |
| CN102774445B (en) * | 2012-07-24 | 2014-07-30 | 华南理工大学 | Bionic climbing robot |
| CN102874397A (en) * | 2012-09-06 | 2013-01-16 | 上海大学 | Lizard-imitated overwater robot |
| CN103786806A (en) * | 2014-01-20 | 2014-05-14 | 北京航空航天大学 | Multifunctional leg-and-wheel combination robot and multi-movement-mode intelligent switching method thereof |
| CN103786806B (en) * | 2014-01-20 | 2016-02-03 | 北京航空航天大学 | A kind of multi-functional leg wheel composite machine people and multi-locomotion mode intelligent switch method thereof |
| CN104678781B (en) * | 2015-03-05 | 2017-03-29 | 南京航空航天大学 | Imitative gecko robot for space attitude regulation and control and landing experimental system and method |
| CN104678781A (en) * | 2015-03-05 | 2015-06-03 | 南京航空航天大学 | System and method of regulation and control of postures and landing experiments for space robot simulating gecko |
| CN104859746A (en) * | 2015-05-26 | 2015-08-26 | 南京航空航天大学 | Experimental system and ground experimental method for gecko-inspired robot under micro-gravity environment |
| CN104859746B (en) * | 2015-05-26 | 2017-10-03 | 南京航空航天大学 | Experimental system and ground experiment method of the gecko-emulated robot under microgravity environment |
| CN105128971A (en) * | 2015-09-07 | 2015-12-09 | 南京航空航天大学 | Bionic four-footed wall-climbing robot based on falcula attachment |
| CN108001558B (en) * | 2017-11-28 | 2019-08-02 | 中国电子科技集团公司第二十八研究所 | A kind of bio-robot with flexible waist joint |
| CN108001558A (en) * | 2017-11-28 | 2018-05-08 | 中国电子科技集团公司第二十八研究所 | A kind of bio-robot with flexible waist joint |
| CN108583941A (en) * | 2018-03-08 | 2018-09-28 | 南京航空航天大学 | Adapt to the bionic wall climbing robot of complicated small space in the microgravity environment of space station |
| CN108583941B (en) * | 2018-03-08 | 2023-07-25 | 南京航空航天大学 | Bionic wall climbing robot suitable for complex narrow space in microgravity environment of space station |
| CN108674512A (en) * | 2018-06-04 | 2018-10-19 | 北京航空航天大学 | A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this |
| CN109018051A (en) * | 2018-07-09 | 2018-12-18 | 南京航空航天大学 | Circle wheel climbing robot based on pasting material |
| CN109605400A (en) * | 2019-01-24 | 2019-04-12 | 中国地质大学（武汉） | Three-dimensional porous graphene Composite sucker formula imitates gecko foot type multi-function robot |
| CN109605400B (en) * | 2019-01-24 | 2023-09-22 | 中国地质大学（武汉） | Three-dimensional porous graphene composite sucker type gecko foot-like multifunctional robot |
| CN110015353A (en) * | 2019-04-29 | 2019-07-16 | 佛山科学技术学院 | A kind of four-footed imitative gecko climbing robot structure flexible |
| CN110015353B (en) * | 2019-04-29 | 2024-02-13 | 佛山科学技术学院 | Four-foot flexible gecko-like crawling robot structure |
| CN110143245A (en) * | 2019-05-28 | 2019-08-20 | 重庆邮电大学 | A kind of magnetic control bionic adhesion sole device based on magnetosensitive pasting material |
| CN110143245B (en) * | 2019-05-28 | 2021-11-02 | 重庆邮电大学 | Magnetic control bionic adhesion sole device based on magnetic sensitive adhesion material |
| CN110341824A (en) * | 2019-07-05 | 2019-10-18 | 广州供电局有限公司 | Climbing robot |
| CN111409732A (en) * | 2020-04-03 | 2020-07-14 | 天津理工大学 | Modularized multi-foot crawling robot |
| CN111493732A (en) * | 2020-04-26 | 2020-08-07 | 陕西科技大学 | Gecko-like glass wiping robot and glass wiping method |
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