CN101125564A - Six-wheel/leg hemispherical outer casing detecting robot - Google Patents

Six-wheel/leg hemispherical outer casing detecting robot Download PDF

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Publication number
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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CN
China
Prior art keywords
leg
wheel
joint
robot
hemispherical
Prior art date
Application number
CNA2007101752937A
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Chinese (zh)
Inventor
丁希仑
石旭尧
王志英
徐坤
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北京航空航天大学
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Application filed by 北京航空航天大学 filed Critical 北京航空航天大学
Priority to CNA2007101752937A priority Critical patent/CN101125564A/en
Publication of CN101125564A publication Critical patent/CN101125564A/en

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Abstract

The invention relates to a six-wheel/leg half ball shell detecting robot, pertaining to the celestial body detecting facility field, which comprises a body and a moving mechanism connected which the body. The body comprises an upper chassis and a lower chassis, and a vision mechanism positioned at the upper end and a half ball shell; wherein the upper and lower chassis consists of two layers of round tray type structures which are parallelly arranged; the interlayer of the component is provided with an energy module; the circumferential edge between the upper chassis and the lower chassis is evenly provided with six wheel/leg structures. The middle part of the upper chassis is provided with an interlayer supporting component which fixes the vision mechanism which can be lifted. The robot can adapt to special environment through changing the different moving manners of the robot. The invention has the advantages of the foot type walking mechanism of a wheel type steering mechanism; the six groups of wheels/legs can realize a plurality of moving manners so as to realize no-radius turning; the two legs of the detecting robot can realize the function of an operation arm; flexible and reliable operation also can be progressed in special environment through arranging various additional devices.

Description

The six-wheel/leg hemispherical outer casing detecting robot

Technical field

The invention belongs to the celestial body detecting apparatus field, particularly a kind of six-wheel/leg hemispherical outer casing detecting robot that is applicable to celestial body detecting.

Background technology

Along with the continuous rise of celestial body detecting area research, to the different motion form, the robot that can better adapt to the complex survey environment has demand more and more widely.Sniffing robot must will have excellent adaptability to complex-terrain, also will have to stablize high-revolving driveability.The relevant celestial body detecting robot of research is many based on wheeled probe vehicles in the current field, as courage mars exploration car etc., the sniffing robot of part with walking movement and crawler type motion also arranged, pressing mode of motion distinguishes, mainly contain this three kinds of mode of motion at present, this three all has the advantage of himself, but also there is mode of motion mono-shortcoming, wheeled mechanism obstacle climbing ability is poor, the walking mechanism kinematic velocity is slow, and control is complicated, crawler type motion quick abrasion, because the existence of these defectives greatly reduces the adaptive capacity of sniffing robot to various different complex environments.

Summary of the invention

The technical issues that need to address of the present invention are, poor at wheeled probe vehicles in the current known technology to complicated landforms adaptive capacity, existing sufficient formula walking detection robot movement velocity is slow, control is than many weak points such as complexity, improved plan will be proposed, the purpose of this invention is to provide a kind of six-wheel/leg hemispherical outer casing detecting robot, this sniffing robot can change the displacement mode to adapt to complicated particular surroundings according to the topography and geomorphology of reality, combine the polypody good stability, gressorial is strong, wheeled moving velocity waits many-sided advantage soon, realizes having complementary advantages.

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

A kind of 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 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, this visual mechanisms rotate in a circumferential direction and luffing by three intermeshing assemblies of finishing bevel gear cuter.By two drive bevel gear in the same way with incorgruous rotation, drive the up and down pitching and rotating in a circumferential direction of the 3rd gear, this assembly then is connected the realization function with vision element; Semisphere body housing structure can be enclosed within its inside with robot driver, controller and operative sensor, realizes that protective effect is to resist abominable external environment condition; Semisphere body housing surface is covered with solar cell, does not need rotational angle to receive luminous energy, has maximum receiver area under equal volume.

Described kinematic mechanism is made of jointly six wheel/leg shape 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, the terminal wheel of shank has common axis of rotation with the foot of walking, can realize various mode of motion such as wheeled motion and walking movement, the rotation folding and unfolding of the foot by walking realizes the change of mode of motion.

The bevel gear set of described visual mechanisms comprises two antidromous in the same way drive bevel gear and pitching and the 3rd finishing bevel gear cuter that rotates in a circumferential direction.

Six groups of its movable joints of kinematic mechanism adopt modular design, and velocity of rotation and the angle of joint in the space all by a driven by motor bevel-gear sett engagement, transmitted in each joint of described shank, each joint, realizes the change of athletic posture.

Two functions with motion arm are arranged in six legs, can realize complicated exploration operation.As carry object, dismounting parts etc.

Generally, kinematic mechanism is made up of the mixed organization of the basic identical and separate leg wheel type of 6 groups of structures.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.

Visual mechanisms in this robot, this mechanism can be contracted in robot body inside under off working state, can rise from body under in working order; Two drive bevel gear by electric machine control in three finishing bevel gear cuters accurately realize circular movement and luffing by driving the 3rd finishing bevel gear cuter with incorgruous rotation in the same way.

When robot advanced with wheeled motion, foot rotation was packed up, and this moment, coaxial wheel contact with ground, and six groups of wheel leg structures are by the control of yaw joint, and formation three layout after first three is by finishing wheeled motion to the motion control of taking turns.

In addition, robot can also realize taking turns the hybrid-type motion of leg, and the motion of leg drives the motion of wheel simultaneously, as the mode of motion of roller skate.

Also affiliated facility can be installed on vehicle body, carry out the operation under the particular surroundings.The invention has the beneficial effects as follows:

1, can adapt to particular surroundings by changing the different mode of motion of robot

In the probe vehicles traveling process, can run into the special topography and geomorphology of various complexity, as physical features when rugged, general wheeled probe vehicles then can't be passed through, similarly when the detection mission of finishing in a big way, walking robot is because its motion slowly, reduced work efficiency, and the present invention has realized that the kinematic mechanism on a robot body has possessed the ability that is fit to various different operating environment simultaneously.The present invention has excellent adaptability and crossing ability, and the height of robot body of the present invention also can be regulated by the pitching of thigh and calf is folding, when leg all stretches, good crossing ability and obstacle detouring is arranged.

2, be convenient to transportation and storage

Because emission of celestial body detecting device and delivery problem are very crucial design considerations, the present invention designs bulk volume and dwindles much than Conventional detectors, and leg can have very big shrink space, be convenient to emission and delivery, in order better to adapt to detection operations, robot of the present invention can also carry out detection mission with formation group, and individual machine people volume is very little, but does not influence the single-piece working ability.

3, the present invention has the advantage of sufficient formula walking mechanism and wheeled traveling mechanism concurrently, has realized mutual supplement with each other's advantages

When advancing on comparing flat ground surface, be adjusted to wheeled movement position by the shank joint, end switches to wheeled construction, makes it as wheeled probe vehicles fast running, has and stablizes high-revolving driveability.When the structural adjustment of wheel leg is walking movement, just become sufficient formula walking detection robot, have reasonable manoevreability, simultaneously, the mode of motion that robot also can adopt the wheel leg to mix, with better raising manoevreability and work efficiency, in the traveling process, can observe surrounding environment better, the terrain environment that can adapt to rugged complexity, in the process of moving, the chiasma interference of can not walking between six legs, and when indivedual legs break down, can not lose locomitivity yet.

4, by robot's gait planning, six groups of wheel legs can be realized multiple mode of motion, realize the no-radius turning.

Coordinating robot by each joint of robot can realize following several gait form: three after first three, and each leg dislocation is advanced; Shank and yaw are coordinated to advance; Thigh and calf and yaw are coordinated to advance.

5, the sniffing robot two legs can be realized the motion arm function, finishes as tasks such as carrying, part dismounting.

6, can be by various additional devices be installed, as sampler etc., carry out the operation of the flexibility and reliability under the particular surroundings.

The present invention can install various additional devices thereon as a terminal platform of celestial body detecting, to carry out the operation of flexibility and reliability under special environment, finishes detection mission.

Description of drawings

Figure 1A, 1B are the entity scheme drawings of six-wheel/leg hemispherical outer casing detecting robot of the present invention.

Fig. 2 A, 2B are the configuration state figure of six-wheel/leg hemispherical outer casing detecting robot of the present invention during with wheeled advancing.

Fig. 3 A is the deformation pattern (volume minimum) of six-wheel/leg hemispherical outer casing detecting robot of the present invention when all shrinking.

Fig. 3 B is the deformation patterns of the whole radial direction of six-wheel/leg hemispherical outer casing detecting robot thigh shank of the present invention when launching.

Fig. 4 A is a six-wheel/leg hemispherical outer casing detecting robot device people visual mechanisms figure enlarged drawing of the present invention.

The specific embodiment

The present invention is further described below in conjunction with drawings and Examples.

With reference to Figure 1A, 1B-Fig. 2 A, 2B is depicted as a kind of embodiment of the novel sniffing robot of six-wheel/leg hemispheric body of the present invention, this sniffing robot comprises body and kinematic mechanism, 1 for being positioned at the vision system of robot upper part among the figure, the present invention at the body center erection plan as visual apparatus, make it under complicated dangerous environment, to carry out the operation of flexibility and reliability, finish detection mission, its downside is a hemisphere shell 3, shell is down for last, low bottom-disc, low bottom-disc is 2, be provided with chassis trussing bar 4 in order to bear the load pressure tray bottom, six wheel leg even structure are distributed in, the periphery of low bottom-disc 2, every supporting leg is linked to each other with the chassis about 5 by yaw separately, be connected with hip joint 7 and huckle 8 by the portion of striding 6, the huckle lower end is connected with knee joint 9 and shank 10, the bottom is an ankle-joint 11, also be provided with joint end cap 12 outside the joint, being positioned at uppermost vision system is supported by support section vision system interlayer 14, the 1st interlayer 13 and second interlayer 16 are arranged above top bottom-disc 15 successively, be positioned at bottom be walking operation member 17 and wheeled moving member 18, kinematic mechanism is made up of the mixed organization of the identical and separate leg wheel type of 6 groups of structures, every leg has 4 rotary joints, be respectively yaw joint 5 from top to bottom, realize the yaw function; Hip joint 7 is realized the robot pitching; Knee joint 9 is finished jointly with hip joint and to be squatted, and realizes a kind of gait motion of form simultaneously; Ankle-joint 11, ankle-joint are used to take turns the joint that leg switches, and put down and lift the change of finishing mode of motion by foot.Each is kinematic mechanism totally 5 degree of freedom independently.

When 6 groups of wheel/legs of sniffing robot during, shown in Fig. 2 A, 2B, just can move at a relatively high speed on comparatively mild ground with wheeled advancing; When advancing by manner of walking, walking movement member 17 is rotated down, and becomes motion foot, cooperates the rotation of every leg along with the demand yaw joint 5 of gait, hip joint 7, knee joint 9, the realization walking movement.

Six-wheel/leg hemispherical outer casing detecting robot of the present invention can be adjusted own vol effectively by the rotation in each joint of kinematic mechanism, guarantees convenient transportation.As: each leg of the robot shown in Fig. 3 A all is contracted to minimum volume, and each leg of the robot shown in Fig. 3 B all stretches and reaches maximum body radius.Adjust as required.

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 outer casing detecting robot CN101125564A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNA2007101752937A CN101125564A (en) 2007-09-28 2007-09-28 Six-wheel/leg hemispherical outer casing detecting robot

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102009702A (en) * 2010-11-19 2011-04-13 三一重工股份有限公司 Engineering machinery and crawler type running system thereof
CN102591347A (en) * 2012-01-19 2012-07-18 河海大学常州校区 Multi-leg mobile platform and attitude and height control method thereof
CN102837752A (en) * 2012-09-20 2012-12-26 吉林大学 Six-foot obstacle crossing robot with limb self-cutting function and control system thereof
CN103395456A (en) * 2013-08-15 2013-11-20 上海交通大学 Wheel-legged mobile robot suitable for complicated terrains
CN103538644A (en) * 2013-10-14 2014-01-29 上海大学 Robot with functions of rolling motion and foot walking
CN104340292A (en) * 2014-10-17 2015-02-11 燕山大学 Wheel-leg dual-purpose shape shifting robot
CN104875814A (en) * 2015-05-29 2015-09-02 上海交通大学 Walking robot
CN105109572A (en) * 2015-08-26 2015-12-02 北京航空航天大学 Single-leg structure for wheel-legged type robot in leg-arm mixing operation
CN105383587A (en) * 2015-11-25 2016-03-09 济南大学 Four-leg robot for detecting mine tunnel
CN105857433A (en) * 2016-04-21 2016-08-17 奇弩(北京)科技有限公司 Symmetrically-structured multi-legged robot capable of orientating rapidly
CN105966488A (en) * 2016-06-02 2016-09-28 北京航空航天大学 Six-wheel-leg movable operation robot test platform
CN106005086A (en) * 2016-06-02 2016-10-12 北京航空航天大学 Leg-wheel composite robot based on Xtion equipment and gesture control method thereof
CN106240669A (en) * 2016-07-27 2016-12-21 江苏安格尔机器人有限公司 Robot walking device
CN108271365A (en) * 2015-09-09 2018-07-10 瑞驰机器人有限公司 game robot

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102009702A (en) * 2010-11-19 2011-04-13 三一重工股份有限公司 Engineering machinery and crawler type running system thereof
CN102009702B (en) * 2010-11-19 2012-09-05 三一重工股份有限公司 Engineering machinery and crawler type running system thereof
CN102591347A (en) * 2012-01-19 2012-07-18 河海大学常州校区 Multi-leg mobile platform and attitude and height control method thereof
CN102591347B (en) * 2012-01-19 2014-07-30 河海大学常州校区 Multi-leg mobile platform and attitude and height control method thereof
CN102837752A (en) * 2012-09-20 2012-12-26 吉林大学 Six-foot obstacle crossing robot with limb self-cutting function and control system thereof
CN102837752B (en) * 2012-09-20 2014-11-05 吉林大学 Six-foot obstacle crossing robot with limb self-cutting function and control system thereof
CN103395456A (en) * 2013-08-15 2013-11-20 上海交通大学 Wheel-legged mobile robot suitable for complicated terrains
CN103395456B (en) * 2013-08-15 2016-07-06 上海交通大学 Complicated landform movable robot with wheel legs
CN103538644A (en) * 2013-10-14 2014-01-29 上海大学 Robot with functions of rolling motion and foot walking
CN103538644B (en) * 2013-10-14 2016-01-20 上海大学 A kind of robot with rolling movement and sufficient formula walking function
CN104340292B (en) * 2014-10-17 2016-05-04 燕山大学 The dual-purpose fighter toy of wheel foot
CN104340292A (en) * 2014-10-17 2015-02-11 燕山大学 Wheel-leg dual-purpose shape shifting robot
CN104875814A (en) * 2015-05-29 2015-09-02 上海交通大学 Walking robot
CN104875814B (en) * 2015-05-29 2017-07-11 上海交通大学 Walking robot
CN105109572A (en) * 2015-08-26 2015-12-02 北京航空航天大学 Single-leg structure for wheel-legged type robot in leg-arm mixing operation
CN108271365A (en) * 2015-09-09 2018-07-10 瑞驰机器人有限公司 game robot
CN105383587A (en) * 2015-11-25 2016-03-09 济南大学 Four-leg robot for detecting mine tunnel
CN105857433A (en) * 2016-04-21 2016-08-17 奇弩(北京)科技有限公司 Symmetrically-structured multi-legged robot capable of orientating rapidly
CN105857433B (en) * 2016-04-21 2018-03-20 奇弩(北京)科技有限公司 Can slewing symmetrical structure multi-foot robot
CN106005086A (en) * 2016-06-02 2016-10-12 北京航空航天大学 Leg-wheel composite robot based on Xtion equipment and gesture control method thereof
CN105966488A (en) * 2016-06-02 2016-09-28 北京航空航天大学 Six-wheel-leg movable operation robot test platform
CN106240669A (en) * 2016-07-27 2016-12-21 江苏安格尔机器人有限公司 Robot walking device
CN106240669B (en) * 2016-07-27 2018-06-26 江苏安格尔机器人有限公司 Robot walking device

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