CN210100022U - Continuum detection robot - Google Patents
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- CN210100022U CN210100022U CN201822247589.1U CN201822247589U CN210100022U CN 210100022 U CN210100022 U CN 210100022U CN 201822247589 U CN201822247589 U CN 201822247589U CN 210100022 U CN210100022 U CN 210100022U
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Abstract
The utility model discloses a continuum detection robot, which comprises a mobile platform, a continuum mechanical arm and a touch sensor; the mobile platform is used for moving the whole robot to a detection place, the continuous mechanical arm is a flexible arm, the flexible arm of the flexible arm is arranged on the mobile platform and driven by the driver array, and the touch sensor is arranged at the tail end of the flexible arm to execute a detection task; the driver array is arranged in the mobile platform; the continuum mechanical arm is of a strip-shaped structure, a driving rope and a deformable and recoverable material are arranged in the continuum mechanical arm, the driving rope is connected onto the driving array, the driving rope is of a split structure, and the continuum mechanical arm deforms, so that movement is achieved, and the touch sensor moves in the engine. The detection robot is simple in structure and flexible to control, can realize detection of internal parts of the engine under the condition that the engine is not disassembled, can enter narrow areas where common equipment cannot reach for detection, and can realize remote operation.
Description
Technical Field
The invention relates to a continuum detection robot, and belongs to the technical field of engine detection.
Background
The invention is described in detail with the following steps that the internal integration level of precision equipment such as an engine is high, a plurality of narrow space zones exist, the requirement on safety is high, regular detection is needed to ensure the safety of the precision equipment, and the detection of the engine is representative.
Most of the existing engine detection equipment is off-line detection, an engine needs to be disassembled, a target part needing to be detected is taken out, and the specific detection equipment is used for detection. The conventional blade crack detection by using professional equipment is shown in FIG. 1: comprises a driving arm which is a driving mechanism used as a sensing contact; a sensor as a detecting element for detecting cracks on the surface of the blade; and the detection table is used for fixing the parts. When the blade is detected, the engine blade needs to be detached and fixed on a detection table, and the driving arm control sensor is used for detecting the surface cracks of the blade.
As shown in fig. 2, an automated inspection robot capable of performing automated inspection in place of human labor includes a console for mounting the robot as a support platform, a robot for operating an inspection tool and a sensor device, and an actuator, typically a sensor having a specific function. When the detection device is used, the detection device is conveyed to an engine, and detection is carried out by operating the mechanical arm, so that the detection device is often used for external detection.
The traditional detection equipment is used for detecting the engine, the detection is usually off-line detection, the engine needs to be disassembled, and the disassembly and assembly processes consume a large amount of labor and material cost; in addition, the traditional automatic detection equipment can only detect the surface or the outside of the equipment generally, cannot detect the inside of the equipment, and still needs to disassemble the equipment for detecting the inside of the equipment, so that the safety of an engine can be ensured, but the safety is not favorable for economic benefit.
Secondly, although the automatic detection equipment can freely move to a required position for detection, the automatic detection equipment can only detect outside the engine without disassembling the engine, and cannot detect the inside of the engine, such as blades and a rotor shaft.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a continuum detection robot which can execute equipment detection tasks, can detect internal parts of equipment without disassembling the equipment in the detection process, can realize online detection and can greatly save the cost of manpower and material resources.
In order to achieve the above object, the present invention provides a continuum detection robot, comprising a mobile platform, a continuum arm, a tactile sensor; the mobile platform is used for moving the whole robot to a detection place, the continuous mechanical arm is a flexible arm, the flexible arm of the flexible arm is arranged on the mobile platform and driven by a driver array, and the touch sensor is arranged at the tail end of the flexible arm to execute a detection task; the driver array is mounted in the mobile platform;
the continuum mechanical arm is of a strip-shaped structure, a driving rope and a deformable and recoverable material are arranged in the continuum mechanical arm, the driving rope is connected onto the driving array, the driving rope is of a split structure, the continuum mechanical arm deforms, movement is achieved, and the touch sensor moves in the engine.
Further, the continuum robot arm comprises a plurality of consecutive robot units; the mechanical unit comprises a stiffness spring, an SMA spring, a stiffness spring seat, an elastic column and a support joint; two adjacent supporting joints are connected through an elastic column, a stiffness spring is arranged between the two adjacent supporting joints, and the elastic column and the stiffness spring are distributed in an orthogonal direction; the SMA spring is sleeved on the stiffness spring seat, and the stiffness spring seat is embedded on the support joint and is arranged on a connecting line of the stiffness spring; the drive rope penetrates through the continuous mechanical arm.
Furthermore, the touch sensor is arranged at the tail end of the continuous mechanical arm, the top of the touch sensor is hemispherical, and the top is provided with a first insulating rubber layer, a sensitive resistance material layer and a second insulating rubber layer from inside to outside in sequence; the sensitive resistance material layer is of a net-shaped structure, when the sensitive resistance material layer is stressed to deform, the net-shaped resistance material is stretched to deform, the resistance value of the material changes more obviously, and the sensitivity can be improved; and a plurality of electrodes are arranged on the edge of the sensitive resistance material layer, and the contact point position can be obtained by measuring the inter-electrode resistance between the electrodes.
Furthermore, each support joint is divided into an upper surface and a lower surface, the two surfaces are respectively connected with two adjacent support joints through a stiffness spring and an elastic column, and the two support joints are opposite to each other as an example: sliding grooves are respectively arranged at corresponding positions on the two opposite surfaces, SMA springs are arranged in the sliding grooves, and the SMA springs are sleeved on the rigidity spring seats; two stiffness springs and two elastic columns are arranged between the two opposite surfaces, the two elastic columns and the two stiffness springs are distributed in an orthogonal direction, and two ends of the SMA spring are connected and fixedly connected with the stiffness springs respectively; two ends of the elastic column are inserted into the openings on the support joints;
all the support joints are connected in the above mode, the stiffness springs and the elastic columns are sequentially connected in the same direction, a cavity is arranged in the middle of the support joints in the axial direction, a data line is connected in the cavity, and the data line is connected to the touch sensor.
Furthermore, the mobile platform comprises a driving wheel, a steering engine, a supporting wheel, a battery, a master controller, a motor array driver, a winding wheel and a supporting structure; the device comprises a movable platform, at least two driving wheels, a driving device and a control device, wherein the number of the driving wheels is at least two, and the driving wheels are arranged on two sides of the bottom of the movable platform and used for driving the whole movable platform to move; the supporting wheels are arranged on the bottom surface of the mobile platform;
the mobile platform is mounted on a plurality of motors to form a motor array, the output ends of the motors are connected with early reels, the reels are driven by the motors to rotate, and the reels are used for winding ropes;
the main controller, the motor array driver and the battery are arranged at the bottom of the mobile platform, the main controller is electrically connected with the motor array driver, and the motor array driver is in data communication with the motor to control the motor to operate; the battery supplies power to the master controller and the motor array driver.
Preferably, 8 electrodes are arranged on the edge of the sensitive and resistive material layer, and the electrodes are uniformly distributed on the edge of the sensitive and resistive material layer at equal intervals.
Preferably, the motor array comprises a 2 x 3 matrix array of 6 motors.
Preferably, the inner part is a support matrix, the three layers of materials on the top part are wrapped in the support matrix, and the support matrix is made of rigid materials and used for supporting the sensor structure.
The invention also provides a method for calculating the position of the sensor contact point of the continuum detection robot, which comprises the following steps: numbering the electrodes in sequence, and respectively connecting No. 1-8 electrodes with an acquisition circuit;
in the first step, when the sensor does not contact with an object, voltage excitation V is respectively applied to eight groups of electrodes of 1-2, 2-3, 3-4, 4-5, 5-6, 6-7, 7-8 and 8-10Measuring inter-electrode voltages between other groups of adjacent electrodes except the applied excitation electrode, and then calculating a sensitivity matrix of the sensor according to the measured data;
and secondly, when the sensor does not contact with the object, measuring data is obtained in the same way as the first step, and the position of the touch point can be calculated by taking the sensitivity matrix obtained by the calculation in the first step as comparison.
Compared with the prior art, the invention has the advantages that:
the detection robot provided by the invention has the advantages of simple structure and flexible control, can realize the detection of internal parts of the engine under the condition of not disassembling the engine, can enter some narrow areas where common equipment cannot reach for detection, can realize remote operation, reduces manual intervention, is suitable for the detection of various compact equipment, can greatly save the detection time of the engine, saves the labor and material cost, provides a new solution for automatic detection equipment, and further improves the detection efficiency.
Drawings
FIG. 1 is a schematic structural diagram of a conventional apparatus for offline detecting cracks on a surface of a part;
FIG. 2 is a schematic view of a conventional automated offline inspection robot;
FIG. 3 is a schematic view of a continuum detection robot according to an embodiment of the invention;
FIG. 4 is a schematic diagram of the continuum inspection robot of the present invention;
FIG. 5 is a schematic structural diagram of a mobile platform according to the present invention;
FIG. 6 is a cross-sectional view of a tactile sensor of the present invention;
FIG. 7 is a schematic view of the web-like layer of sensitive material of the tactile sensor of the present invention;
FIG. 8 is a schematic view of a continuum robot arm;
FIG. 9 is a schematic diagram of a continuum robot arm varying stiffness;
FIG. 10 is a block diagram of a process for detecting an unknown object by a detection robot using a touch sensor;
FIG. 11 is a schematic view of a motion control process;
fig. 12 is a block diagram of a motion control process.
Detailed Description
For a better understanding of the present invention, the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention is not limited thereto.
The invention relates to a continuum detection robot which comprises a moving chassis 1, a continuum mechanical arm 2 and a sensor 3, wherein the continuum mechanical arm and a driving array are arranged on the moving chassis, the continuum mechanical arm is driven by the driving array, and the sensor is arranged at the tail end of the continuum mechanical arm and used for executing a detection task. The specific embodiment is shown in fig. 3. As shown, a continuum detection robot, the robot comprising a mobile platform, a driver array, a continuum manipulator, a tactile sensor; the mobile platform is used for moving the whole robot to a detection place, the continuous mechanical arm is a flexible arm, the flexible arm of the flexible arm is arranged on the mobile platform and driven by a driver array, and the touch sensor is arranged at the tail end of the flexible arm to execute a detection task; the driver array is mounted in the mobile platform;
the continuum mechanical arm is of a strip-shaped structure, a driving rope and a deformable and recoverable material are arranged in the continuum mechanical arm, the driving rope is connected onto the driving array, the driving rope is of a split structure, the continuum mechanical arm deforms, movement is achieved, and the touch sensor moves in the engine.
Further, the continuum robot arm comprises a plurality of consecutive robot units; the mechanical unit comprises a stiffness spring, an SMA spring, a stiffness spring seat, an elastic column and a support joint; two adjacent supporting joints are connected through an elastic column, a stiffness spring is arranged between the two adjacent supporting joints, and the elastic column and the stiffness spring are distributed in an orthogonal direction; the SMA spring is sleeved on the stiffness spring seat, and the stiffness spring seat is embedded on the support joint and is arranged on a connecting line of the stiffness spring; the drive rope penetrates through the continuous mechanical arm.
The tail end of the continuum mechanical arm is provided with the touch sensor for executing a detection task, the continuum mechanical arm is arranged on the moving platform and driven by the motor driving array through the rope, the four driving ropes are of a counter-pull type structure, the continuum mechanical arm is deformed differently when different ropes are stretched, and the four driving ropes are driven in a coupling mode to enable the continuum mechanical arm to be deformed in different forms, so that space motion is realized. Fig. 8 is a schematic diagram of a continuum robot arm, where the leftmost side is a disassembled schematic diagram of a unit, the middle is a continuum robot arm composed of a plurality of units, and the right side is a schematic diagram of a combination of units with a hidden support joint. The continuum robot arm includes: the device comprises a stiffness spring 2-1, a variable stiffness shape memory alloy SMA spring 2-2, a stiffness spring seat 2-3, an elastic column 2-4, a driving rope 2-5 and a support joint 2-6. The support joints 2-6 are connected by elastic columns 2-4 arranged on two sides, the elastic columns 2-4 between each support joint 2-6 are arranged in a 90-degree staggered manner, a sliding groove is formed in a position between the two support joints 2-6 and the elastic columns 2-4 at a distance of 90 degrees, two ends of the variable stiffness SMA spring 2-2 are respectively provided with a stiffness spring seat 2-3, a stiffness spring 2-1 is arranged on the stiffness spring seat 2-3, wherein the stiffness springs 2-1, 2-3 and 2-2 are fixedly connected and placed in the sliding groove of the support joint 2-6.
The continuum mechanical arm designed by the method has the characteristic of variable stiffness, and the stiffness of the mechanical arm can be adjusted by driving the variable-stiffness SMA spring, so that the load capacity and the control precision of the mechanical arm can be adjusted. The length of the variable-stiffness SMA spring 2-2 can be changed at different temperatures, so that the variable-stiffness SMA spring 2-1 is driven to be close to or far away from the axis of the support joint, when the variable-stiffness SMA spring 2-1 is close to the axis of the support joint, the overall stiffness of the continuum mechanical arm is reduced, and when the variable-stiffness SMA spring 2-1 is far away from the axis of the support joint, the overall stiffness of the continuum mechanical arm is increased, so that the function of changing the stiffness of the continuum mechanical arm is realized. In addition, the central cavity of the continuum robot arm can be used to route the sensors.
FIG. 9 is a schematic diagram showing the stiffness of the continuum mechanical arm, in which a spring 2-1 is compressed to some extent when the continuum mechanical arm is not bent, so as to ensure that two ends of the spring can be pressed against grooves in the support joints, and the left side of FIG. 9 is a schematic diagram showing the bending of the SMA spring when the SMA spring is shortened, at this time, because the SMA spring 2-2 is shortened, the spring 2-1 is closer to the center of the continuum mechanical arm, the distance L from the stiffness spring 2-1 to the center of the continuum mechanical arm is smaller, and the overall stiffness is smaller; fig. 9 is a schematic diagram of the bending of the SMA spring when it is extended, where the SMA spring 2-2 is extended, the stiffness spring 2-1 is farther from the center of the continuum arm than the stiffness spring 2-1, and the distance L from the spring 2-1 to the center of the continuum arm is larger, at this time, the overall stiffness is larger.
Furthermore, the touch sensor is arranged at the tail end of the continuous mechanical arm, the top of the touch sensor is hemispherical, and the top is provided with a first insulating rubber layer, a sensitive resistance material layer and a second insulating rubber layer from inside to outside in sequence; the sensitive resistance material layer is of a net-shaped structure, when the sensitive resistance material layer is stressed to deform, the net-shaped resistance material is stretched to deform, the resistance value of the material changes more obviously, and the sensitivity can be improved; and a plurality of electrodes are arranged on the edge of the sensitive resistance material layer, and the contact point position can be obtained by measuring the inter-electrode resistance between the electrodes.
As shown in fig. 6, which is a cross-sectional view of a touch sensor, the touch sensor has a hemispherical shape, which is advantageous in that when contacting an object, the three-dimensional coordinates of a measurement point and the normal vector of a contact point (from the center of the hemisphere to the outside of the contact point) can be obtained simultaneously, the three-dimensional cross-sectional structure of the touch sensor is shown in the figure, 3-1 is an insulating rubber which mainly protects the internal structure and contact deformation, 3-2 is a net-shaped sensitive resistance material, and the net-shaped structure has advantages over a uniform resistance material: when the stress deforms, the net-shaped resistance material is stretched and deformed to become thin, the material resistance can change more obviously, the sensitivity can be improved, 3-3 is a sensor supporting base body which is made of rigid materials and can support a sensor structure, 3-4 are 8 electrodes distributed around the sensor and are in good contact with the sensitive material layer, when the sensor is in contact with an object, the contact point position deforms to cause the layer 2 to recess inwards, the net-shaped resistance material is subjected to local stretching deformation, the local resistance changes, and the contact point position can be obtained by measuring the inter-electrode resistance between the 8 electrodes around the sensor.
Fig. 7 is a schematic diagram of a mesh-shaped sensitive material layer of a touch sensor, which partially changes when a certain point is pressed, and as shown in the figure, when the mesh-shaped sensitive material is stretched, the part of the mesh-shaped sensitive material becomes thinner and longer, so that the local resistance value is increased, and the pressed position can be calculated by measuring the inter-electrode resistance between 8 surrounding electrodes.
Preferably, 8 electrodes are arranged on the edge of the sensitive and resistive material layer, and the electrodes are uniformly distributed on the edge of the sensitive and resistive material layer at equal intervals.
The specific measurement mode is as follows: the electrodes No. 1-8 are respectively connected with an acquisition circuit, in the first step, when the sensor does not contact an object, voltage excitation V0 is respectively applied to eight groups of electrodes 1-2, 2-3, 3-4, 4-5, 5-6, 6-7, 7-8 and 8-1, the interelectrode voltages between the adjacent electrodes of other groups except the applied excitation electrodes are measured, and then the sensitivity matrix of the sensor is calculated according to the measured data. And secondly, when the sensor does not contact with the object, measuring data is obtained in the same way as the first step, and the position of the touch point can be calculated by taking the sensitivity matrix obtained by the calculation in the first step as comparison.
Furthermore, each support joint is divided into an upper surface and a lower surface, the two surfaces are respectively connected with two adjacent support joints through a stiffness spring and an elastic column, and the two support joints are opposite to each other as an example: sliding grooves are respectively arranged at corresponding positions on the two opposite surfaces, SMA springs are arranged in the sliding grooves, and the SMA springs are sleeved on the rigidity spring seats; two stiffness springs and two elastic columns are arranged between the two opposite surfaces, the two elastic columns and the two stiffness springs are distributed in an orthogonal direction, and two ends of the SMA spring are connected and fixedly connected with the stiffness springs respectively; and two ends of the elastic column are inserted into the openings on the support joints.
SMA spring temperature lifting and stretching mode: two ends of an SMA spring in the continuum mechanical arm are connected by two wires to form a parallel structure, and a certain driving current is added to the two wires to control the temperature rise of the SMA spring or remove the added current to realize the temperature drop of the SMA spring so as to control the deformation of the SMA spring (the wires connected with the SMA spring are thinner, and are not shown in the figure).
All the support joints are connected in the above mode, the stiffness springs and the elastic columns are sequentially connected in the same direction, a cavity is arranged in the middle of the support joints in the axial direction, a data line is connected in the cavity, and the data line is connected to the touch sensor.
Furthermore, the mobile platform comprises a driving wheel, a steering engine, a supporting wheel, a battery, a master controller, a motor array driver, a winding wheel and a supporting structure; the device comprises a movable platform, at least two driving wheels, a driving device and a control device, wherein the number of the driving wheels is at least two, and the driving wheels are arranged on two sides of the bottom of the movable platform and used for driving the whole movable platform to move; the supporting wheels are arranged on the bottom surface of the mobile platform; the mobile platform is mounted on a plurality of motors to form a motor array, the output ends of the motors are connected with early reels, the reels are driven by the motors to rotate, and the reels are used for winding ropes; the main controller, the motor array driver and the battery are arranged at the bottom of the mobile platform, the main controller is electrically connected with the motor array driver, and the motor array driver is in data communication with the motor to control the motor to operate; the battery supplies power to the master controller and the motor array driver.
As shown in figure 5, the mobile platform comprises two driving wheels 1-5, a steering engine 1-6, two supporting wheels 1-9, a battery 1-3, a master controller 1-8, a motor array 1-2, a motor array driver 1-7, a reel 1-1 and a supporting structure 1-4. The mobile platform is two drive wheels, the form of two supporting wheels (but not limited to this form), realize the turn through the differential motion of two drive wheels, two supporting wheels only play supporting role, the steering wheel is used for driving two drive wheels of mobile platform rotatory, the battery provides the power supply for mobile platform, total controller control mobile platform and with host computer communication, the motor array is used for driving flexible arm, the motor array driver is used for the driving motor array, the reel is used for the tensile and the relaxation of flexible arm driving rope, provide supporting role for other structures on the mobile platform.
Preferably, the motor array comprises a 2 x 3 matrix array of 6 motors.
The engine detection continuum robot provided by the invention has the advantages that the structure is simple, the control is flexible, the detection of internal parts of the engine can be realized under the condition that the engine is not disassembled, the detection can be carried out in narrow areas where ordinary equipment cannot reach, the remote operation can be realized, the manual intervention is reduced, the robot is suitable for the detection of various compact equipment, the detection time of the engine can be greatly saved, the labor and material cost is saved, a new solution is provided for automatic detection equipment, and the detection efficiency is further improved.
The feature matching method comprises the following steps:
when the engine detection task is executed, the position of the engine rotor is unknown, so that the access of the detection robot to the internal passage of the engine is unknown. In order to better plan the path of the robot advancing path, the rotor position needs to be positioned, and in order to obtain the rotor position information, the environment needs to be identified by using a touch sensor for detecting the end part of the robot by a continuum, and the identification method comprises the following steps:
the detection robot detects an unknown target by using the touch sensor, a point cloud model of the target is obtained after multiple detections, and the space attitude information of the target can be obtained by matching the point cloud model obtained by detection with the standard point cloud model of the target because the standard model of the target is known. The method comprises the following steps:
assuming that three-dimensional point sets of the detected target point cloud model and the standard point cloud model are respectively P and Q, the model matching is mainly divided into the following steps:
the method comprises the following steps of firstly, calculating the corresponding closest point of each point in Q in a P point set;
secondly, obtaining a transformation relation which enables the average distance of the corresponding points to be minimum, and obtaining a translation parameter and a rotation parameter;
thirdly, obtaining a new transformation point set Q1 by using the translation and rotation parameters obtained in the previous step for Q;
fourthly, if the average distance between the new transformation point set Q1 and the reference point set is smaller than a given threshold value, stopping calculation, otherwise, repeating the first step of iteration by taking the transformation point set Q1 as a new Q, and stopping iteration until the requirement of the threshold value is met.
The following formula is an objective function of an error between two point clouds, and represents a minimum distance difference between all points of the point cloud to be matched and the standard point cloud after translation and rotation transformation.
After the matching between the two point clouds is completed, a translation matrix T and a rotation matrix R between the two point clouds can be obtained, each characteristic parameter of the standard point cloud is known, and the characteristic parameter of the point cloud to be measured can be obtained through the translation matrix and the rotation matrix, and a process block diagram is shown in fig. 10.
The motion control method comprises the following steps:
in order to enable the end effector of the detection robot to smoothly reach the target position, the detection robot needs to be controlled to move to the target position after the path planning is performed, and a control frame algorithm is proposed for motion control.
As shown in fig. 11, a schematic diagram of a motion control process is shown, in which a subsequent part of the continuum robot moves along a path of a previous part, and the configuration of the previous part can be continued. Assuming that the forward movement distance of each frame of the robot is w and the total length of the path is L, the number of frames to be moved is L/w, and the four schematic diagrams in fig. 8 are respectively schematic diagrams when the continuum robot moves to a certain position of the first section of the path, the end of the first section of the path, a certain position of the second section of the path, and all the movements are completed, and the process block diagram is shown in fig. 12.
The photovoltaic module packaging tool provided by the invention is described in detail above; the description of the present embodiment is intended only to aid in the understanding of the method of the present invention. The application mode of the present invention can be adjusted according to the actual situation, and is not intended to limit the present invention.
Claims (8)
1. A continuum detection robot, the robot comprising a mobile platform, a continuum manipulator, a tactile sensor; the mobile platform is used for moving the whole robot to a detection place, the continuous mechanical arm is a flexible arm, the flexible arm of the flexible arm is arranged on the mobile platform and driven by a driver array, and the touch sensor is arranged at the tail end of the flexible arm to execute a detection task; the driver array is mounted in the mobile platform;
the continuum mechanical arm is of a strip-shaped structure, a driving rope and a deformable and recoverable material are arranged in the continuum mechanical arm, the driving rope is connected onto the driving array, the driving rope is of a split structure, the continuum mechanical arm deforms, movement is achieved, and the touch sensor moves in the engine.
2. The continuum detection robot of claim 1, wherein the continuum robot comprises a plurality of consecutive robotic units;
the mechanical unit comprises a stiffness spring, an SMA spring, a stiffness spring seat, an elastic column and a support joint; two adjacent supporting joints are connected through an elastic column, a stiffness spring is arranged between the two adjacent supporting joints, and the elastic column and the stiffness spring are distributed in an orthogonal direction; the SMA spring is sleeved on the stiffness spring seat, and the stiffness spring seat is embedded on the support joint and is arranged on a connecting line of the stiffness spring; the drive rope penetrates through the continuous mechanical arm.
3. The continuum detection robot according to claim 2, wherein the tactile sensor is mounted at the end of the continuum arm, the top of the tactile sensor is hemispherical, and the top is sequentially provided with a first insulating rubber layer, a sensitive resistance material layer and a second insulating rubber layer from inside to outside; the sensitive resistance material layer is of a net-shaped structure, when the sensitive resistance material layer is stressed to deform, the net-shaped resistance material is stretched to deform, the resistance value of the material changes more obviously, and the sensitivity can be improved; and a plurality of electrodes are arranged on the edge of the sensitive resistance material layer, and the contact point position can be obtained by measuring the inter-electrode resistance between the electrodes.
4. The continuum detection robot of claim 2 or 3, wherein each support joint has an upper surface and a lower surface, the upper surface and the lower surface are respectively connected with two adjacent support joints through a stiffness spring and an elastic column, and the two support joints face to face are taken as an example:
sliding grooves are respectively arranged at corresponding positions on the two opposite surfaces, SMA springs are arranged in the sliding grooves, and the SMA springs are sleeved on the rigidity spring seats; two stiffness springs and two elastic columns are arranged between the two opposite surfaces, the two elastic columns and the two stiffness springs are distributed in an orthogonal direction, and two ends of the SMA spring are fixedly connected with the stiffness springs respectively; two ends of the elastic column are inserted into the openings on the support joints;
all the support joints are connected in the above mode, the stiffness springs and the elastic columns are sequentially connected in the same direction, a cavity is arranged in the middle of the support joints in the axial direction, a data line is connected in the cavity, and the data line is connected to the touch sensor.
5. The continuum detection robot of claim 2 or 3, wherein the mobile platform comprises drive wheels, steering engines, support wheels, batteries, general controllers, motor arrays, motor array drivers, reels, support structures; the device comprises a movable platform, at least two driving wheels, a driving device and a control device, wherein the number of the driving wheels is at least two, and the driving wheels are arranged on two sides of the bottom of the movable platform and used for driving the whole movable platform to move; the supporting wheels are arranged on the bottom surface of the mobile platform;
the mobile platform is provided with a plurality of motors to form a motor array, the output ends of the motors are connected to reels, the reels are driven by the motors to rotate, and the reels are used for winding ropes;
the main controller, the motor array driver and the battery are arranged at the bottom of the mobile platform, the main controller is electrically connected with the motor array driver, and the motor array driver is in data communication with the motor to control the motor to operate; the battery supplies power to the master controller and the motor array driver.
6. The continuum detection robot of claim 3, wherein 8 electrodes are disposed at the edge of the layer of piezoresistive material, and wherein the electrodes are evenly spaced at the edge of the layer of piezoresistive material.
7. The continuum detection robot of claim 5, wherein the array of motors comprises a 2 x 3 matrix of 6 motors.
8. The continuum detection robot of claim 5, wherein the inner portion is a support matrix and the top three layers of material are encased within the support matrix, the support matrix being a rigid material for supporting the sensor structure.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025684A (en) * | 2020-09-08 | 2020-12-04 | 中南大学 | Under-actuated variable-rigidity flexible robot |
| CN112025763A (en) * | 2020-09-08 | 2020-12-04 | 中南大学 | Robot becomes rigidity mechanism and flexible interaction becomes rigidity grabbing device |
| CN112748262A (en) * | 2021-01-14 | 2021-05-04 | 深圳市泰源倍倍科技有限公司 | Lithium battery endurance detection device |
| CN114227660A (en) * | 2021-12-17 | 2022-03-25 | 北京空间飞行器总体设计部 | Rigid-flexible coupling super-redundancy intelligent sensing mechanical arm and use method thereof |
-
2018
- 2018-12-29 CN CN201822247589.1U patent/CN210100022U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025684A (en) * | 2020-09-08 | 2020-12-04 | 中南大学 | Under-actuated variable-rigidity flexible robot |
| CN112025763A (en) * | 2020-09-08 | 2020-12-04 | 中南大学 | Robot becomes rigidity mechanism and flexible interaction becomes rigidity grabbing device |
| CN112748262A (en) * | 2021-01-14 | 2021-05-04 | 深圳市泰源倍倍科技有限公司 | Lithium battery endurance detection device |
| CN112748262B (en) * | 2021-01-14 | 2021-08-17 | 深圳市泰源倍倍科技有限公司 | Lithium battery endurance detection device |
| CN114227660A (en) * | 2021-12-17 | 2022-03-25 | 北京空间飞行器总体设计部 | Rigid-flexible coupling super-redundancy intelligent sensing mechanical arm and use method thereof |
| CN114227660B (en) * | 2021-12-17 | 2023-10-27 | 北京空间飞行器总体设计部 | Rigid-flexible coupling super-redundancy intelligent sensing mechanical arm and application method thereof |
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