CN210416797U

CN210416797U - A six-legged robot for glass curtain wall detects

Info

Publication number: CN210416797U
Application number: CN201920241317.2U
Authority: CN
Inventors: 黄林青; 魏武; 孙金权; 高勇; 何振勇; 周翔; 陈逸东
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2019-02-26
Filing date: 2019-02-26
Publication date: 2020-04-28
Anticipated expiration: 2029-02-26

Abstract

The utility model discloses a six sufficient robots for glass curtain wall detects, six sufficient robot system includes: the robot comprises a hexapod robot body and a control system, wherein the hexapod robot body comprises a main body of the robot body with a regular hexagonal structure and six limbs movably arranged on the main body of the robot body, each limb is provided with four active joints in series, and the tail end of each limb is connected with a vacuum chuck through a spherical hinge; the control system is connected with the active joints of all the limbs and the vacuum chuck through a circuit and is used for controlling the coordinated movement of all the limbs and the suction and release of the vacuum chuck. The utility model discloses realize hexapod robot self omnidirectional smooth motion, conveniently scramble to perpendicular wall body gait function from ground.

Description

A six-legged robot for glass curtain wall detects

Technical Field

The utility model relates to a mobile robot field especially relates to a six-legged robot for glass curtain wall detects.

Background

The figure of the mobile robot can be seen everywhere in the fields of industrial production, ocean exploration engineering, military, aerospace and the like, and the mobile robot has great development space. In many large cities, glass curtain walls are often the exterior forming part of many large building structures. In the past, the safety accidents of the glass curtain wall frequently occur, including the falling of glass from high altitude, and people pay attention to the safety performance of the glass curtain wall. Based on this background, the utility model designs a six-footed robot, it can climb on glass curtain wall, passes the barrier, adsorbs on glass curtain wall for the detection of glass quality. The multi-foot robot has multiple degrees of freedom, great flexibility and obstacle avoidance capability. This meets the requirements of glass inspection.

In the last 90 th century, a four-footed wall-climbing robot NINJA-I was developed by Tokyo university of science and engineering. Each leg of the six-legged wall-climbing robot developed by the Spain industrial automation research institute has three degrees of freedom and is used for manufacturing and maintaining ships. The bipedal wall climbing robot CRAWLER developed at michigan state university may move not only on the wall, but also on the ceiling. A four-footed mountain-climbing robot has also been developed by the university of the adult university, which can freely crawl on various slopes. There is a great deal of information on the motion control and gait planning of hexapod robots and their system design.

SUMMERY OF THE UTILITY MODEL

To the application that glass curtain wall detected, the utility model provides a six-footed robot's design, this robot has negative pressure vacuum chuck to attach at every limbs end, can make the robot adsorb in glass curtain wall. In fact, an efficient walking-climbing hexapod robot is proposed.

The utility model discloses a following technical scheme realizes:

a hexapod robot system for glass curtain wall detection comprises: the robot comprises a hexapod robot body and a control system, wherein the hexapod robot body comprises a main body of the robot body with a regular hexagonal structure and six limbs movably arranged on the main body of the robot body, each limb is provided with four active joints in series, and the tail end of each limb is connected with a vacuum chuck through a spherical hinge; the control system is connected with the active joints of all the limbs and the vacuum chuck through a circuit and is used for controlling the coordinated movement of all the limbs and the suction and release of the vacuum chuck.

Furthermore, the four active joints comprise a hip joint, a thigh joint, a shin joint and an ankle joint which are sequentially connected.

Furthermore, the control system comprises an upper computer, a lower computer, six four-axis IONICUBE main boards and an emergency stop button, wherein each four-axis IONICUBE main board is respectively connected with each active joint circuit of the corresponding limb, the four-axis IONICUBE main boards and the emergency stop button are connected through a bus, and the lower computer is connected with the bus through a USB adapter and is used for sending instructions and controlling the closing of each active joint and the vacuum chuck; and the upper computer is in signal connection with the lower computer and is used for sending instructions, receiving feedback and displaying data.

Furthermore, the lower computer adopts a raspberry type microcomputer which is a microcomputer provided with a robot operating system ROS and an Ubuntu Linux operating system and is used for single motion control, control of closing of a sucker through an STM32 and zero adjustment of a motor.

Further, the simple motion control includes: on/off bus, enable motor, leg reset, clear error, initialize and clear cache control.

Further, the upper computer is a PC machine provided with a robot operating system ROS and an Ubuntu Linux operating system, and is used for sending instructions to the lower computer, receiving feedback and displaying data and performing RVIZ man-machine interaction.

Further, the upper computer and the lower computer are connected through a wireless router and by using a communication protocol based on ROS.

Furthermore, a sensor related to glass detection is mounted on the hexapod robot body and used for judging the quality of the glass according to the feedback information.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses an every limbs of six-legged robot has 4 initiative joints and 1 vacuum chuck, can guarantee that the sucking disc plane is parallel with glass, improves robot stability, is convenient for accomplish from ground to crossing over on the wall.

Drawings

Fig. 1(a) -1(c) are front, top and bottom views, respectively, of the mechanical structure of a walking-climbing hexapod robot system.

Fig. 2 is a schematic view of a single-leg structure of the walking-climbing hexapod robot.

Fig. 3 is a graph of the linear relationship between voltage and pressure.

Fig. 4 is a walking-climbing hexapod robot hardware system.

FIG. 5 is a RVIZ visual control interface in ROS.

Fig. 6(a) and 6(b) are the hexagonal attitude and the crab-shaped attitude of the walking-climbing hexapod robot, respectively.

FIGS. 7(a) -7(i) are various walking-climbing gait simulation diagrams of the walking-climbing hexapod robot.

In the figure: 1-a fuselage body; 2-hip joint; 3-the femoral joint; 4-tibial joint; 5-ankle joint; 6-vacuum chuck.

Detailed Description

The purpose of the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments, which are not repeated herein, but the embodiments of the present invention are not limited to the following embodiments.

Example 1

As shown in fig. 1(a) -1(c), a hexapod robot for glass curtain wall inspection comprises: the robot comprises a hexapod robot body and a control system, wherein the hexapod robot body comprises a main body 1 with a regular hexagonal structure and six limbs movably arranged on the main body, each limb is provided with four active joints in series, and the tail end of each limb is connected with a vacuum chuck through a spherical hinge, so that the chuck can be adaptive to a glass wall body, and the flexibility of the system is improved; the control system is connected with the active joints of all the limbs and the vacuum chuck 6 through a circuit and is used for controlling the coordinated movement of all the limbs and the suction and release of the vacuum chuck. And a sensor related to glass detection is mounted on the hexapod robot body and used for judging the quality of the glass according to the received feedback information.

The fuselage body 1 is designed as a regular hexagon (side length 0.18m) to reduce interference between legs. It has 6 limbs and 6 vacuum cups. Most hexapod robots have only 3 joints per limb. Fig. 2, the utility model discloses a six-legged robot has four initiative joints and 1 vacuum chuck 6 per limbs, four initiative joints including hip joint 2, thigh joint 3, shin joint 4, ankle joint 5 that connect gradually. The vacuum chuck 6 can ensure the safety in the climbing process.

The addition of the ankle joint 5 ensures that the plane of the suction cup is parallel to the glass, wherein the hip joint 2 is 0.093m long, the thigh joint 3 is 0.14489m long, the shin joint 4 is 0.164m long, and the ankle joint 5 is 0.157m long. The hexapod robot weighs about 25 kg. Normally, a hexapod robot has at least 3 legs on the wall, which means that the suction provided by the 3 vacuum chucks 6 should be sufficient to support the weight of the robot according to the suction equation:

W＝(P·S)/K

in order to balance the gravity of the hexapod robot, the following equation is used:

mg＝N·μW

wherein N is the number of legs adsorbed on the wall, and K is a safety factor, and usually K is more than or equal to 2.5. To ensure safety, K is taken to be 8.4. In conjunction with the above formula, P ≈ 43.352Kpa when N ≈ 5; p ≈ 54.184Kpa when N ≈ 4; p ≈ 72.248Kpa when N ≈ 3. In order to meet the requirement, the vacuum pump KVP15-KL can provide the maximum negative pressure of 80-90 KPa. In addition, feedback is performed by using a KITA digital pressure sensor KP 25. By STM32, a linear relationship between voltage and pressure can be obtained as shown in fig. 3.

In addition, the ankle joint is connected with the vacuum chuck through a ball hinge, so that the chuck has self-adaptability to the glass curtain wall.

The control system comprises an upper computer, a lower computer, six four-axis IONICUBE mainboards and an emergency stop button, wherein each four-axis IONICUBE mainboard is respectively connected with each active joint circuit of the corresponding limb, the four-axis IONICUBE mainboards and the emergency stop button are connected through a bus, and the lower computer is connected with the bus through a USB adapter and is used for sending instructions and controlling the closing of each active joint and the vacuum chuck; and the upper computer is in signal connection with the lower computer and is used for sending instructions, receiving feedback and displaying data.

The lower computer adopts a raspberry type microcomputer which is a microcomputer provided with a robot operating system ROS and an Ubuntu Linux operating system and is used for single motion control, control of closing of a vacuum chuck through STM32 and zero adjustment of a motor. The simple motion control comprises the following steps: on/off bus, enable motor, leg reset, clear error, initialize and clear cache control. The upper computer is a PC machine provided with a robot operating system ROS and an Ubuntu Linux operating system and is used for sending instructions to the lower computer, receiving feedback and displaying data and performing RVIZ man-machine interaction. The upper computer and the lower computer are connected through a wireless router and a communication protocol based on ROS.

Fig. 4 is a block diagram of the overall hardware system of the hexapod robot. The hexapod robot comprises six four-axis IONICUBE masters, each including 4 IONICUBE servo actuators, each actuator connected to a position, velocity and torque feedback motor to control a joint. The four motherboards are connected to an SM bus. The mainboard adopts 24V DC power supply to supply power, and the motor adopts 48V AC power supply to supply power. Through a USB adapter, 24 motors can be controlled by one raspberry pi. The parameters of the motor are specifically referred to in table 1.

TABLE 1

Rated voltage	48V
		Speed of no load	10100rpm
No load current	16.2mA
		Rated speed	9020rpm
Rated torque (maximum continuous torque)	30.3mNm
		Rated current (maximum continuous current)	0.687A
Stall torque	294mNm
		Stall current	6.5A
Maximum efficiency	89.9％

As shown in fig. 5, information is transmitted through topics and services among ROS nodes, and in the upper computer, the RVIZ is responsible for manual command input and robot state display of hexapod system information. The lower machine is a raspberry pie and is responsible for controlling movement and a vacuum chuck. The PC and the raspberry group communicate through the wireless router using the ROS communication protocol. The RVIZ is a visualization tool provided by the ROS, and can realize real-time human-machine interaction, including the transmission of robot control instructions and the display of robot states.

As shown in fig. 6(a) -6(b), three gaits of the robot in the hexagonal posture and the crab-shaped posture are designed. The motion of the multi-legged robot is essentially a reasonable and orderly alternate working process of the supporting legs and the swinging legs. The general gait of the hexapod robot can be divided into a three-foot gait, a four-foot gait and a five-foot gait according to the duty ratio of the support phase. All these movements ensure a smooth change of the joint angle to avoid system safety hazards due to sudden changes in motor speed.

As shown in fig. 7(a) -7(i), the hexapod robot can walk a variety of gaits. All gait can be simulated in the simulation software Gazebo on the ROS. The size and the weight of the robot in the simulation environment are the same as those of an actual robot platform, and the motion in a real situation can be effectively simulated. Fig. 7(a) -7(i) show simulations in a simulated real-world environment. In the actual operation of the robot, the torque, speed and acceleration of the motor need to be taken into account. In the experiment, the system is stable in the walking process of the hexapod robot, and the working current and voltage are in the safe range of the system. Pressure is provided for the sucker in Gazebo simulation to simulate actual conditions, and feasibility of gait design is verified. In the experiment of a solid machine, a glass curtain wall vertical to the ground is built, and a robot is connected by a steel rope to ensure the safety. In the experiments, the vacuum chuck suction force was sufficient to support the robot. By utilizing the ankle joint and the spherical hinge, the vacuum sucker can be pressed close to the wall surface in parallel, so that the sucker can be firmly adsorbed on the glass, and unnecessary friction is avoided.

The present embodiment mainly illustrates that the hexapod walk-climb robot can walk with various gaits and climb from the ground to the vertical wall. The vacuum chuck connected with the ankle joint can be adsorbed on the glass curtain wall to balance the weight of the robot. The hardware system is effective, practical and safe. The ROS-based software system provides real-time and stability. Both simulation and entity machine experiments show that the system has good performance and can meet the task requirements.

The above embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A hexapod robot for glass curtain wall detects, its characterized in that includes: the robot comprises a hexapod robot body and a control system, wherein the hexapod robot body comprises a main body (1) of a regular hexagonal structure and six limbs movably arranged on the main body of the robot body, each limb is provided with four active joints in series, and the tail end of each limb is connected with a vacuum chuck through a spherical hinge; the control system is connected with the active joint of each limb and the vacuum chuck (6) through a circuit and is used for controlling the coordinated movement of each limb and the suction and release of the vacuum chuck; the four active joints comprise a hip joint (2), a thigh joint (3), a shin joint (4) and an ankle joint (5) which are connected in sequence.

2. The hexapod robot of claim 1, wherein the control system comprises an upper computer, a lower computer, six quadruped ionicity motherboards and emergency stop buttons, each quadruped ionicity motherboard is respectively connected with each active joint circuit of the corresponding limb, the quadruped ionicity motherboards and the emergency stop buttons are connected through a bus, and the lower computer is connected with the bus through a USB adapter and is used for sending instructions and controlling the closing of each active joint and the vacuum chuck; and the upper computer is in signal connection with the lower computer and is used for sending instructions, receiving feedback and displaying data.

3. The hexapod robot of claim 2, wherein the lower computer is a raspberry-style microcomputer, which is a microcomputer equipped with a robot operating system ROS and Ubuntu Linux operating system, for simple motion control, control of the closing of the suction cups by STM32, and motor zero adjustment.

4. The hexapod robot of claim 3, wherein the simple motion control comprises: on/off bus, enable motor, leg reset, clear error, initialize and clear cache control.

5. The hexapod robot of claim 2, wherein the upper computer is a PC equipped with a robot operating system ROS and Ubuntu Linux operating system for sending commands, receiving feedback and display data, and RVIZ human machine interaction to the lower computer.

6. The hexapod robot of claim 2, wherein the upper computer and the lower computer are connected by a wireless router and using an ROS-based communication protocol.

7. The hexapod robot of claim 1, wherein the hexapod robot body is equipped with a sensor related to glass detection for determining the quality of glass based on the information received from feedback.