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

Abstract

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.

Description

Six-wheel/leg hemispherical shell detection robot

technical field

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.

Background technique

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.

Contents of the invention

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.

The technical solution adopted by the present invention to solve its technical problems is as follows:

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.

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.

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.

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.

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.

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.

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.

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.

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.

Ancillary facilities can also be installed on the vehicle body to operate in special environments. The beneficial effects of the present invention are:

1. It can adapt to the special environment by changing the different movement modes of the robot

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. Easy to transport and store

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. The present invention has the advantages of the foot-type walking mechanism and the wheel-type driving mechanism, and realizes complementary advantages

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. Through the gait planning of the robot, the six sets of wheel legs can realize various movement modes and zero-radius turns.

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. 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. By installing various additional devices, such as samplers, etc., it can be operated flexibly and reliably in special environments.

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.

Description of drawings

1A and 1B are physical schematic diagrams of a six-wheel/leg hemispherical shell detection robot of the present invention.

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.

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.

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.

Fig. 4A is an enlarged view of the vision mechanism of the six-wheel/leg hemispherical shell detection robot of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

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.

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.

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.

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