CN101125564A - Six-wheel/leg hemispherical shell detection robot - Google Patents

Six-wheel/leg hemispherical shell detection robot Download PDF

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CN101125564A
CN101125564A CNA2007101752937A CN200710175293A CN101125564A CN 101125564 A CN101125564 A CN 101125564A CN A2007101752937 A CNA2007101752937 A CN A2007101752937A CN 200710175293 A CN200710175293 A CN 200710175293A CN 101125564 A CN101125564 A CN 101125564A
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leg
wheel
joint
robot
outer casing
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丁希仑
石旭尧
王志英
徐坤
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Beihang University
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Abstract

一种六轮/腿半球形外壳探测机器人,属于星球探测设备领域,包括本体和连接在本体上的运动机构,所述的本体包括上下底盘,位于上端的视觉机构以及半球形外壳,其中上下底盘由平行放置的两层圆形盘式结构组成,该构件夹层内设置有能源模块,在上下底盘之间圆周边缘平均分布有六支轮/腿结构;位于上底盘中部设有隔层支撑构件,该支撑构件固定着可升降的所述视觉机构,可通过改变机器人不同的运动方式来适应特殊环境,本发明兼有足式步行机构和轮式行驶机构的优点,六组轮腿可以实现多种运动方式,实现零半径转弯,探测机器人两条腿可以实现操作臂功能,可通过安装各种附加装置,进行特殊环境下的灵活可靠的操作。

Figure 200710175293

A six-wheeled/legged hemispherical casing detection robot, belonging to the field of planetary detection equipment, includes a body and a motion mechanism connected to the body. The body includes an upper and lower chassis, a vision mechanism at the upper end and a hemispherical casing, wherein the upper and lower chassis are composed of It consists of two layers of circular disc structures placed in parallel. Energy modules are arranged in the interlayer of the component, and six wheel/leg structures are evenly distributed on the circumferential edge between the upper and lower chassis; a support member is provided in the middle of the upper chassis. The supporting member fixes the visual mechanism that can be lifted and lowered, and can adapt to the special environment by changing the different movement modes of the robot. The present invention has the advantages of both the footed walking mechanism and the wheeled driving mechanism, and the six sets of wheel legs can realize various movements The method realizes zero-radius turning, and the two legs of the detection robot can realize the function of the manipulator arm, and various additional devices can be installed to perform flexible and reliable operations in special environments.

Figure 200710175293

Description

六轮/腿半球形外壳探测机器人 Six-wheel/leg hemispherical shell detection robot

技术领域technical field

本发明属于星球探测设备领域,特别涉及一种适用于星球探测的六轮/腿半球形外壳探测机器人。The invention belongs to the field of planetary detection equipment, in particular to a six-wheel/leg hemispherical shell detection robot suitable for planetary detection.

背景技术Background technique

随着星球探测领域研究的不断兴起,对不同运动形式,能够更好的适应复杂探测环境的机器人有着越来越广泛的需求。探测机器人必须对复杂地形要有很好的适应性,还要具有稳定高速的行驶能力。当前领域内研究有关星球探测机器人多以轮式探测车为主,如勇气号火星探测车等,也有部分以步行运动和履带式运动的探测机器人,按运动形式区分,目前主要有这三种运动形式,这三者皆有其自身的优点,但也存在运动形式单一的缺点,轮式机构越障能力差,步行机构运动速度缓慢,控制复杂,履带式运动磨损快,由于这些缺陷的存在,大大降低了探测机器人对各种不同复杂环境的适应能力。With the continuous rise of research in the field of planetary exploration, there is an increasing demand for robots that can better adapt to complex detection environments in different forms of motion. The detection robot must have good adaptability to complex terrain, and also have the ability to drive stably and at high speed. In the current field, most of the planetary exploration robots are mainly wheeled exploration rovers, such as the Mars rover of Spirit, etc. There are also some exploration robots that move on foot and crawler. They are distinguished according to the form of movement. At present, there are mainly three types of movement. Form, these three all have their own advantages, but also have the shortcoming of a single movement form, the wheel mechanism has poor ability to overcome obstacles, the walking mechanism moves slowly, the control is complicated, and the crawler movement wears quickly. Due to the existence of these defects, It greatly reduces the adaptability of the detection robot to various complex environments.

发明内容Contents of the invention

本发明需要解决的技术问题是,针对当前已知技术中轮式探测车对复杂地貌适应能力差、现有的足式步行探测机器人运动速度慢、控制较复杂等诸多不足之处,就要提出改进的方案,本发明的目的是提供一种六轮/腿半球形外壳探测机器人,该探测机器人可根据实际的地形地貌改变自身运动方式以适应复杂的特殊环境,综合了多足稳定性好、步行适应性强、轮式行驶速度快等多方面优点,实现优势互补。The technical problem to be solved in the present invention is that in view of the poor adaptability of wheeled detection vehicles to complex landforms in the current known technology, the slow movement speed of existing foot-type walking detection robots, and complicated control, it is necessary to propose As an improved solution, the purpose of the present invention is to provide a six-wheeled/legged hemispherical shell detection robot, which can change its own movement mode according to the actual topography to adapt to complex special environments. It has many advantages such as strong adaptability and fast wheeled driving speed, and realizes complementary advantages.

本发明解决其技术问题所采用的技术方案如下:The technical solution adopted by the present invention to solve its technical problems is as follows:

一种六轮/腿半球形外壳探测机器人,包括本体和连接在本体上的运动机构,其特征在于:所述的本体包括上、下底盘,位于上端的视觉机构以及半球形外壳,其中上、下底盘由平行放置的两层圆形盘式结构组成,该构件夹层内设置有供机器人运动的能源模块,在上下底盘之间圆周边缘平均分布有作为运动机构的六支轮/腿结构;位于上底盘中部设有支撑负载的隔层支撑构件,该支撑构件固定着可升降的所述视觉机构,该视觉机构的周向旋转和俯仰运动的由三个锥齿轮相互啮合的组件。通过两个主动锥齿轮的同向和异向旋转,带动第三个齿轮上下俯仰和周向旋转,该组件则与视觉元件连接实现功能;半球形本体外壳结构可以将机器人驱动器、控制器以及部分传感器密闭于其内部,实现保护作用以抵抗恶劣的外部环境;半球形本体外壳表面布满太阳能电池,不需要转动角度来接收光能,在相同体积下拥有最大的接收面积。A six-wheeled/legged hemispherical shell detection robot, including a body and a kinematic mechanism connected to the body, is characterized in that: the body includes upper and lower chassis, a vision mechanism at the upper end and a hemispherical shell, wherein the upper and lower The chassis is composed of two layers of circular disc structures placed in parallel. The energy module for the movement of the robot is arranged in the interlayer of the component, and six wheel/leg structures as the movement mechanism are evenly distributed on the circumferential edge between the upper and lower chassis; The middle part of the chassis is provided with a load-supporting interlayer support member, which fixes the visual mechanism that can be lifted, and the peripheral rotation and pitch movement of the visual mechanism are composed of three bevel gears that are meshed with each other. Through the same and different rotations of the two active bevel gears, the third gear is driven to pitch up and down and rotate in the circumferential direction, and this component is connected with the visual element to realize the function; the hemispherical body shell structure can connect the robot driver, controller and some The sensor is sealed inside to achieve protection against the harsh external environment; the surface of the hemispherical body shell is covered with solar cells, which does not need to be rotated to receive light energy, and has the largest receiving area under the same volume.

所述运动机构由六支轮/腿状运动结构共同组成,该结构为同时具有腿、轮式运动的混合机构,各轮、腿相互独立,腿部具有在水平和竖直方向扭转的各个关节,腿部末端轮与步行的足有共同的旋转轴,可以实现轮式运动及步行运动等各种运动方式,通过步行的足的旋转收放实现运动形式的改变。The motion mechanism is composed of six wheel/leg-like motion structures. This structure is a hybrid mechanism with legs and wheel motions. Each wheel and legs are independent of each other, and the legs have joints that twist in the horizontal and vertical directions. The wheel at the end of the leg and the walking foot have a common rotation axis, which can realize various movement modes such as wheeled movement and walking movement, and the change of the movement form can be realized by rotating and retracting the walking foot.

所述视觉机构的锥齿轮组,包括两个同向异向旋转的主动锥齿轮和俯仰及周向旋转的第三个锥齿轮。The bevel gear set of the visual mechanism includes two driving bevel gears rotating in the same direction and in different directions and a third bevel gear rotating in pitch and circumferential direction.

六组运动机构其运动关节采用模块化设计,所述腿部各关节,每个关节都由一个电机带动一对锥齿轮啮合,传递关节在空间中的转动速度和角度,实现运动姿态的改变。The movement joints of the six groups of movement mechanisms adopt a modular design. Each joint of the leg is driven by a motor to engage a pair of bevel gears to transmit the rotation speed and angle of the joint in space to realize the change of movement posture.

在六条腿中有两条具有操作臂的功能,可以实现较复杂的探测操作。如搬运物体,拆装零部件等。Two of the six legs have the function of operating arms, which can realize more complex detection operations. Such as handling objects, disassembling parts and so on.

概括而言,运动机构由6组结构基本相同且相互独立的腿轮式的混合机构组成。所述的腿各关节,每条腿具有4个转动关节,自上而下分别为①横摆关节,②髋关节,③膝关节,④踝关节。In a nutshell, the motion mechanism is composed of 6 sets of leg-wheel hybrid mechanisms with basically the same structure and independent of each other. As for the joints of the legs, each leg has 4 rotating joints, which are respectively ① lateral joint, ② hip joint, ③ knee joint, and ④ ankle joint from top to bottom.

该机器人中的视觉机构,在非工作状态下该机构可以收缩在机器人本体内部,在工作状态下可以升出本体;三个锥齿轮中两个由电机控制的主动锥齿轮,通过同向和异向转动带动第三个锥齿轮精确实现圆周运动和俯仰运动。The visual mechanism in the robot can be shrunk inside the robot body in the non-working state, and can be lifted out of the body in the working state; two of the three bevel gears are controlled by the motor. The rotation drives the third bevel gear to realize the circular motion and pitching motion accurately.

当机器人以轮式运动进行前进时,足旋转收起,此时同轴的轮与地面接触,六组轮腿结构通过横摆关节控制,形成三前三后的布局,通过对轮的运动控制完成轮式运动。When the robot advances in wheeled motion, the feet are rotated and retracted. At this time, the coaxial wheels are in contact with the ground. The structure of six sets of wheel legs is controlled by the yaw joints to form a layout of three fronts and three rears. Through the motion control of the wheels Complete the wheel exercise.

此外,机器人还可以实现轮腿混合式的运动,腿的运动同时带动轮子的运动,如滑旱冰的运动方式。In addition, the robot can also realize the mixed movement of wheels and legs, and the movement of the legs drives the movement of the wheels at the same time, such as the movement mode of roller skating.

还可在车身上安装附属设施,进行特殊环境下的操作。本发明的有益效果是:Ancillary facilities can also be installed on the vehicle body to operate in special environments. The beneficial effects of the present invention are:

1、可通过改变机器人不同的运动方式来适应特殊环境1. It can adapt to the special environment by changing the different movement modes of the robot

在探测车行进过程中,会遇到各种复杂特殊的地形地貌,如遇地势崎岖时,一般轮式探测车则无法通过,类似的在完成较大范围的探测任务时,步行机器人由于其运动缓慢,降低了工作效率,而本发明实现了在一个机器人本体上的运动机构具备了同时适合各种不同工作环境的能力。本发明有着很好的适应性和通过性,本发明的机器人本体的高低也可通过大小腿的俯仰折叠进行调节,当腿全部伸展时,有着很好的通过性和越障性。During the travel of the probe vehicle, it will encounter various complex and special terrains. If the terrain is rough, the general wheeled probe vehicle will not be able to pass through. slow, reducing work efficiency, but the present invention realizes that the kinematic mechanism on a robot body has the ability to be suitable for various working environments at the same time. The present invention has good adaptability and passability. The height of the robot body of the present invention can also be adjusted by pitching and folding the legs.

2、便于运输和储存2. Easy to transport and store

由于星球探测器发射和运载问题是一个非常关键的设计考虑因素,本发明设计本体体积较传统探测器缩小很多,且腿可以有很大的收缩空间,便于发射和运载,为了更好的适应探测工作,本发明机器人还可以以编队群组进行探测任务,单个机器人体积很小,但并不影响整体的工作能力。Since the launch and carrying of planetary probes is a very critical design consideration, the volume of the body designed by the present invention is much smaller than that of traditional probes, and the legs can have a large shrinkage space, which is convenient for launching and carrying. In order to better adapt to the detection Work, the robots of the present invention can also perform detection tasks in a formation group, and the volume of a single robot is small, but it does not affect the overall working ability.

3、本发明兼有足式步行机构和轮式行驶机构的优点,实现了优势互补3. The present invention has the advantages of the foot-type walking mechanism and the wheel-type driving mechanism, and realizes complementary advantages

当在比较平坦的地面上行进时,通过腿部关节调整至轮式运动位置,末端切换至轮式结构,使之作为轮式探测车快速行驶,具有稳定高速的行驶能力。当轮腿结构调整为步行运动时,就成为足式步行探测机器人,具有比较好的机动性,同时,机器人还可采用轮腿混合的运动方式,以更好的提高机动性和工作效率,行进过程中,可更好地观察周围环境,可以适应崎岖复杂的地形环境,在行驶过程中,六条腿之间不会发生行走交叉干涉,而且当个别腿出现故障时也不会失去运动能力。When traveling on a relatively flat ground, the leg joints are adjusted to the wheel-type movement position, and the end is switched to the wheel-type structure, so that it can run quickly as a wheel-type exploration vehicle with stable and high-speed driving capabilities. When the wheel-leg structure is adjusted to walking motion, it becomes a footed walking detection robot with better maneuverability. During the process, you can better observe the surrounding environment, and you can adapt to the rugged and complex terrain environment. During the driving process, there will be no walking cross interference between the six legs, and you will not lose your mobility when individual legs fail.

4、通过机器人的步态规划,六组轮腿可以实现多种运动方式,实现零半径转弯。4. Through the gait planning of the robot, the six sets of wheel legs can realize various movement modes and zero-radius turns.

通过机器人各关节的协调机器人可以实现以下几种步态形式:三前三后,各腿错位前进;小腿和横摆协调前进;大小腿和横摆协调前进。Through the coordination of each joint of the robot, the robot can realize the following gait forms: three fronts and three rears, each leg moves forward in dislocation; the lower leg and the lateral swing move forward in coordination; the large legs and the lateral swing move forward in coordination.

5、探测机器人两条腿可以实现操作臂功能,完成如搬运、零件拆装等任务。5. The two legs of the detection robot can realize the function of operating the arm and complete tasks such as handling, disassembling and assembling of parts.

6、可通过安装各种附加装置,如采样器等,进行特殊环境下的灵活可靠的操作。6. By installing various additional devices, such as samplers, etc., it can be operated flexibly and reliably in special environments.

本发明作为星球探测的一个终端平台,可在其上安装各种附加装置,以在特殊的环境下进行灵活可靠的操作,完成探测任务。As a terminal platform for planetary exploration, the present invention can be equipped with various additional devices to perform flexible and reliable operations in special environments and complete the detection task.

附图说明Description of drawings

图1A、1B是本发明六轮/腿半球形外壳探测机器人的实体示意图。1A and 1B are physical schematic diagrams of a six-wheel/leg hemispherical shell detection robot of the present invention.

图2A、2B是本发明六轮/腿半球形外壳探测机器人以轮式前进时的结构状态图。2A and 2B are structural state diagrams of the six-wheel/legged hemispherical shell detection robot of the present invention when it advances in a wheeled manner.

图3A是本发明六轮/腿半球形外壳探测机器人全部收缩时的变形图(体积最小)。Fig. 3A is a deformation diagram (minimum volume) of the six-wheel/leg hemispherical shell detection robot of the present invention when it is fully contracted.

图3B是本发明六轮/腿半球形外壳探测机器人大腿小腿全部径向方向展开时的变形图。Fig. 3B is a deformation diagram of the six-wheel/leg hemispherical shell of the present invention when the thigh and calf of the detection robot are deployed in all radial directions.

图4A是本发明六轮/腿半球形外壳探测机器人器人视觉机构图放大图。Fig. 4A is an enlarged view of the vision mechanism of the six-wheel/leg hemispherical shell detection robot of the present invention.

具体实施方式Detailed ways

下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

参照图1A、1B-图2A、2B所示为本发明六轮/腿半球式本体新型探测机器人的一种实施例,该探测机器人包括本体及运动机构,图中1为位于机器人上部的视觉系统,本发明在本体中央安装图像视觉设备,使之可在复杂危险的环境下进行灵活可靠的操作,完成探测任务,它的下侧为半球外壳3,外壳下为上、下底盘,下底盘为2,为了承受负载压力底盘底部设有底盘加固条4,六支轮腿结构均匀分布在上、下底盘2的周边,每支腿由各自的横摆关于5与底盘相连,通过跨部6连有髋关节7及大腿部8,大腿部下端连有膝关节9和小腿10,最下面为踝关节11,关节之外还设有关节端盖12,位于最上面的视觉系统由支撑部分视觉系统隔层14所支撑,在上底盘15的上方依次有第1隔层13和第二隔层16,位于最下边的是步行运行构件17和轮式运动构件18,运动机构由6组结构相同且相互独立的腿轮式的混合机构组成,每条腿各具有4个转动关节,自上而下分别为横摆关节5,实现横摆功能;髋关节7,实现机器人俯仰;膝关节9,与髋关节共同完成蹲起,同时实现一种形式的步态运动;踝关节11,踝关节用于轮腿切换的关节,通过足的放下与抬起完成运动方式的改变。每个独立的运动机构共5个自由度。Referring to Fig. 1A, 1B-Fig. 2A, 2B is a kind of embodiment of the novel detection robot of six-wheel/leg hemispherical body of the present invention, and this detection robot comprises body and kinematic mechanism, among the figure 1 is positioned at the visual system of robot top, The present invention installs image vision equipment in the center of the body, so that it can perform flexible and reliable operations in complex and dangerous environments, and complete the detection task. , in order to bear the load and pressure, the bottom of the chassis is provided with a chassis reinforcing strip 4, and the six wheel leg structures are evenly distributed around the upper and lower chassis 2, and each leg is connected to the chassis by its own yaw axis 5, and connected to the chassis through a span 6 Hip joint 7 and thigh 8, the lower end of thigh is connected with knee joint 9 and calf 10, the bottom is ankle joint 11, joint end cover 12 is also provided outside the joint, and the vision system located at the top is supported by part vision Supported by the system compartment 14, there are a first compartment 13 and a second compartment 16 above the upper chassis 15 in sequence, and the bottom one is a walking running component 17 and a wheeled moving component 18. The kinematic mechanism consists of 6 groups with the same structure And it is composed of independent leg-wheel hybrid mechanism. Each leg has 4 rotating joints. From top to bottom, they are yaw joints 5, which realize the yaw function; hip joints 7, which realize robot pitching; knee joints 9, Complete squatting together with the hip joint, and at the same time realize a form of gait movement; the ankle joint 11, the joint used for wheel-leg switching, completes the change of motion mode by putting down and lifting the foot. Each independent motion mechanism has a total of 5 degrees of freedom.

当探测机器人的6组轮/腿以轮式前进时,如图2A、2B所示,就可在较为平缓的地面以较高速度运动了;当通过步行方式前进时,步行运动构件17向下旋转,成为运动足,配合每条腿随着步态的需求横摆关节5、胯关节7、膝关节9的转动,实现步行运动。When the 6 sets of wheels/legs of the detection robot advance in a wheeled manner, as shown in Figures 2A and 2B, they can move at a relatively high speed on relatively gentle ground; Rotate to become a sports foot, and cooperate with the rotation of each leg along with the demand of gait to swing the joint 5, the hip joint 7, and the knee joint 9 to realize the walking motion.

本发明六轮/腿半球形外壳探测机器人通过运动机构各关节的转动,可以有效地调整自身体积,保证方便运输。如:图3A所示的机器人各腿全部收缩至最小体积,图3B所示的机器人各腿全部伸展达到最大机体半径。根据需要进行调整。The six-wheel/leg hemispherical casing detection robot of the present invention can effectively adjust its own volume through the rotation of each joint of the motion mechanism, and ensure convenient transportation. For example, each leg of the robot shown in FIG. 3A is fully shrunk to the minimum volume, and each leg of the robot shown in FIG. 3B is fully extended to reach the maximum body radius. Adjust as needed.

Claims (6)

1. six-wheel/leg hemispherical outer casing detecting robot, comprise body and the kinematic mechanism that is connected on the body, it is characterized in that: described body comprises upper and lower chassis, be positioned at the visual mechanisms and the hemispherical shell of upper end, wherein upper and lower chassis is become by the two-layer circular disc type structural group of parallel placement, be provided with the energy module for the robot motion in this member interlayer, the circumferential edges average mark is furnished with six wheel/leg structures as kinematic mechanism between last low bottom-disc; Be positioned at the top bottom-disc middle part and be provided with the interlayer load-carrying element that supports load, this load-carrying element is being fixed liftable described visual mechanisms, and rotate in a circumferential direction and the luffing of this visual mechanisms are made up of three intermeshing assemblies of finishing bevel gear cuter.
2. six-wheel/leg hemispherical outer casing detecting robot according to claim 1, it is characterized in that: described kinematic mechanism is made up of six wheel/leg hybrid motion structures, this structure is for having the mixed organization of leg, wheeled motion simultaneously, each is taken turns, leg is separate, shank has each joint of reversing at level and vertical direction, and the terminal wheel of shank has common axis of rotation with the foot of walking.
3. six-wheel/leg hemispherical outer casing detecting robot according to claim 1 is characterized in that: the described visual mechanisms assembly that is meshing with each other, comprise two can antidromous in the same way drive bevel gear and pitching and the 3rd finishing bevel gear cuter rotating in a circumferential direction.
4. six-wheel/leg hemispherical outer casing detecting robot according to claim 1 is characterized in that: each joint of described shank, each joint are all by the finishing bevel gear cuter engagement component of a pair of transmission of a driven by motor joint in spatial rotational speed and angle.
5. according to claim 1 or 4 described six-wheel/leg hemispherical outer casing detecting robots, it is characterized in that: each joint of described leg, every leg has 4 rotary joints, is respectively 1. yaw joint from top to bottom, 2. hip joint, 3. knee joint, 4. ankle-joint.
6. six-wheel/leg hemispherical outer casing detecting robot according to claim 1 is characterized in that: the case surface of semisphere body is covered with solar cell.
CNA2007101752937A 2007-09-28 2007-09-28 Six-wheel/leg hemispherical shell detection robot Pending CN101125564A (en)

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