CN101973028B - Multi-joint series wheeled mobile robot - Google Patents
Multi-joint series wheeled mobile robot Download PDFInfo
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- CN101973028B CN101973028B CN201010508235A CN201010508235A CN101973028B CN 101973028 B CN101973028 B CN 101973028B CN 201010508235 A CN201010508235 A CN 201010508235A CN 201010508235 A CN201010508235 A CN 201010508235A CN 101973028 B CN101973028 B CN 101973028B
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Abstract
The invention discloses a multi-joint series wheeled mobile robot. A middle box body is arranged on a middle axle of the robot, a control system is arranged above the middle box body, a pitching joint is fixed in the middle box body, each pitching joint is symmetrical to the middle axle and is respectively connected with a torsion joint, each torsion joint is respectively connected with a swinging joint which is respectively connected with a front axle and a rear axle, both ends of the front axle, the rear axle and the rear axle are provided with wheels, the torsion joint of the rear end is connected with a mechanical arm installing bracket, a mechanical arm is arranged on the mechanical arm installing bracket, and the front part of the robot is provided with a navigation system. The whole structure of the robot is in central axis symmetry by taking the middle axle as a symmetrical central axis. The gravity is evenly distributed on the wheels to furthest exert the work efficiency of a direct current motor. The multi-joint series wheeled mobile robot can measure and regulate the posture of the middle box body in real time, ensures the relative stabilization of the control system and has simple structure and light weight.
Description
Technical field
The present invention relates to the mobile robot field, specifically, is a kind of wheeled mobile robot of multi-joint series connection.
Background technology
Topography of lunar surface complexity and environment are abominable, and robot carries out the scientific exploration task in the terrain environment of this complexity, must possess superior performance, mobile system that adaptive ability is strong.In the space flight process, robot need place again by in the entrained lander of aircraft, requires the probe vehicles compact conformation, volume is little, in light weight and low-power consumption.From the research situation of present domestic lunar rover, six take turns lunar rover all possesses stronger cross-country ability, but also exists several big weak points:
1. complete vehicle quality is 50Kg, and devices such as torque motor wherein, clutch, brake have increased the matter load ratio of car body greatly, have increased the carrier rocket load indirectly;
2. this car body can't guarantee to adjust in real time the attitude of load platform, and then can't guarantee the safety and stability and the normal operation of navigation system and scientific instrument;
3. the servomotor pilot angle displacement that the vehicle body swing joint need be by band brake, the control difficulty is big, and the cost height has increased the weight of car body;
4. pitching joint position and hub axis relative position are not good before and after, and passive when crossing higher vertical obstacle, pitching moment is only produced by friction, and the relative gravity square is very little, and pitching moment can not be provided effectively, probably the situation that appearance can't passive obstacle detouring;
5. reconfigurable module is not provided, promptly under the situation that loading demand increases considerably, can't be reconstructed at short notice reliable 8 take turns, 12 wheel constructions.
Summary of the invention
But but the objective of the invention is to design a kind of wheeled mobile robot that possesses the various complex-terrain structural remodelings of self adaptation of artificial intelligence and can finish a kind of multi-joint series connection of sampling task, comprise mechanical body, mechanical arm, control system and navigation system.Described mechanical body comprises pitching joint, torsion knuckle, swinging joint, wheel, axletree.Navigation system comprises vision navigation system and ultrasonic sensor.
Wherein, movable sleeve is connected to middle housing on the middle axletree, and the middle housing top is equipped with control system.Middle axletree rear and front end respectively is symmetrically connected with a pitching joint, and the pitching joint is positioned at middle housing, and is positioned at below the wheel axis.Each is connected each pitching joint with a torsion knuckle, and each torsion knuckle respectively is connected with a swinging joint, and final swinging joint is respectively at being connected with front axle, back axle, and each axletree two ends is equipped with wheel.Be positioned on the torsion knuckle of rear end and be connected with the mechanical arm mounting bracket, on the mechanical arm mounting bracket mechanical arm is installed.Vision navigation system is installed on front axle, on the swinging joint of front end ultrasonic sensor is installed.
Described pitching joint comprises direct current generator A, direct current generator mount pad, electromagnetic clutch, bearing A, electromagnetic clutch bearing lid, driving gear, driven gear, driven gear shaft, bearing B, driven gear bearing lid, sleeve A, abutment sleeve, pitching joint arm, pitching joint arm connector, pitching rod member and torsion knuckle connector.
Direct current generator A mounting disc is fixedlyed connected with middle housing.Direct current generator A is connected with the direct current generator mount pad respectively with electromagnetic clutch, the circumferential location of the output shaft of direct current generator A and electromagnetic clutch, bearing A is installed on the output shaft of electromagnetic clutch, the outer ring of bearing A cooperates with the electromagnetic clutch bearing lid, and the electromagnetic clutch bearing lid is connected with middle housing.Fixed cover is connected to driving gear on the output shaft of electromagnetic clutch, driving gear and driven gear engagement, driven gear is fixedly sleeved on driven gear shaft, the two ends of driven gear shaft all are equipped with bearing B, the outer ring of bearing B cooperates with driven gear bearing lid, and driven gear bearing lid is connected with middle housing.The inner ring of bearing B is by sleeve A axial location, and sleeve A is socketed on the driven gear shaft; Abutment sleeve and driven gear shaft are connected, and realize circumferentially locating with driven gear shaft.Two pitching joint arms, one end is socketed on the driven gear shaft, lays respectively between the sleeve A and abutment sleeve at driven gear shaft two ends, realizes axial location by sleeve A and abutment sleeve, is connected with abutment sleeve simultaneously.The pitching joint arm other end and pitching joint arm connector are connected, and two pitching rod members, one end is fixedly connected on the pitching joint arm connector, and the other end is fixedlyed connected with the torsion knuckle connector.The torsion knuckle connector connects torsion knuckle by the torsion knuckle connector between two pitching rod members.
Torsion knuckle comprises the torsion knuckle inner ring, torsion knuckle outer ring, end cap A, back-up ring A, sleeve B, bearing C, torsion knuckle bearing cap, swinging joint left side connector, the right connector of swinging joint.
Torsion knuckle inner ring one end is fixedlyed connected with the torsion knuckle connector in the pitching joint; Be socketed with torsion knuckle outer ring, end cap A and back-up ring A on the torsion knuckle inner ring, wherein, fit in torsion knuckle outer ring and back-up ring, end cap A and back-up ring A fix, and described back-up ring A and end cap A are between torsion knuckle outer ring and torsion knuckle inner ring.Between torsion knuckle outer ring and the torsion knuckle inner ring bearing C is installed also, bearing C is implemented in axial location on the torsion knuckle outer ring by back-up ring A and torsion knuckle bearing cap, and the torsion knuckle bearing cap is by fixedly sleeved sleeve B axial location on the torsion knuckle inner ring.Be connected with the right connector of swinging joint left side connector and swinging joint on the torsion knuckle outer ring, the right connector relative fixed of swinging joint left side connector and swinging joint.Swinging joint left side connector is connected with swinging joint with the right connector of swinging joint.
Described swinging joint comprises swinging joint support, swinging joint fork, axletree sleeve, crank, connecting rod, swinging joint axle, crank connecting link axle, connecting rod fork axle, crank support shaft.
Swinging joint support one end and swinging joint fork one end flexibly connect by the swinging joint axle.The swinging joint fork other end has circular hole, and is fixedly connected with the axletree sleeve, axletree sleeve wherein, and the cross section of axletree sleeve and circular hole concentric, and the internal diameter in cross section equates with the diameter of circular hole and the external diameter of axletree or axletree.One end of the other end of swinging joint support and crank flexibly connects by left side connector of the swinging joint in crank support shaft and the torsion knuckle and the right connector of swinging joint.One end of connecting rod flexibly connects by connecting rod fork axle and swinging joint fork middle part.The other end of connecting rod and the other end of crank flexibly connect by the crank connecting link axle.
Described wheel comprises that cylindrical shell, cone shell, lateral wall, madial wall, back-up ring B, end cap B, bearings D, axle bearing lid, angle aluminium, moment of torsion transmit connecting rod, support spring, tyre surface, yielding coupling, direct current generator B, direct current generator mounting disc, shaft coupling output shaft.
Wherein, cylindrical shell is inner engraved structure, is with tyre surface on the cylindrical shell peripheral outer wall; Cylindrical shell inside is respectively arranged with madial wall and the lateral wall that is parallel to each other, and madial wall equates with the cylindrical shell internal diameter that with the diameter of lateral wall madial wall is circular.Transmitting the connecting rod relative fixed by moment of torsion between madial wall and lateral wall is connected.Fixedly connected by angle aluminium between lateral wall and cylindrical shell.Axletree two ends fixed cover is connected to end cap, the direct current generator mounting disc is installed on the axletree both end sides, direct current generator mounting disc and end cap are connected, direct current generator B places in the axletree, be fixed in the direct current generator mounting disc, the output shaft of direct current generator B is connected with yielding coupling 815 after passing the direct current generator mounting disc, and the yielding coupling other end is connected with the shaft coupling output shaft, and shaft coupling output shaft and lateral wall are connected.The madial wall outside is fixedly connected with back-up ring B, and the bearings D inner ring is located by end cap, and the outer ring is by axle bearing lid and back-up ring B location.Cone shell is socketed on the axletree, and fixedlys connected with madial wall in the bottom; Cone shell inside is connected with axletree by support spring.
Described mechanical arm 2 comprises wrist arm, paw seat, paw, a m steering wheel and n linking arm, and n is a positive integer, and n 〉=2.
Described mechanical arm comprises wrist arm, paw seat, paw, a m steering wheel and n linking arm, and m, n are positive integer, and n 〉=2, m=n+4; The 1st steering wheel is installed on the mechanical arm mounting bracket, the 2nd steering wheel links to each other with first steering wheel, the 2nd steering wheel and the 1st linking arm one end are coupling, one end and the 3rd steering wheel of the other end of the 1st linking arm and the 2nd linking arm are coupling, the other end of the 2nd linking arm and the 3rd linking arm and the 4th steering wheel are coupling, by that analogy, n linking arm one end and n-1 linking arm and m-3 steering wheel are coupling, n linking arm other end and wrist arm and m-2 steering wheel are coupling, m-1 steering wheel is installed on the wrist arm, and m-1 steering wheel links to each other with the paw seat; Be fixed with at least two paws on the paw seat, m steering wheel is housed, and m steering wheel link to each other with paw on the paw seat;
Described control system comprises DSP digital signal processor, motor driver, double-shaft tilt angle sensor, wireless telecommunications device, incremental optical-electricity encoder, manipulator motion controller.
The external piloting control PC sends to DSP digital signal processor in the control system with control signal, and the DSP digital signal processor obtains driving signal after control signal is handled, and will drive signal and send to motor driver.Motor driver amplifies the driving signal of receiving, finally drives the electromagnetic clutch running in direct current generator A and direct current generator B and the pitching joint, thus the motion of control robot of the present invention.Double-shaft tilt angle sensor obtains the luffing angle data of middle housing in real time, and pitch angle data is sent to the DSP digital signal processor.Gather the rotating speed of direct current generator A and direct current generator B in real time by incremental optical-electricity encoder, and the data of rotating speed are sent to the DSP digital signal processor, the DSP digital signal processor sends to the external piloting control PC with the data of rotating speed, can make operating personnel understand the luffing angle of middle housing and robot motion's speed in real time.After the DSP digital signal processor is resolved the data of the luffing angle data that receive and rotating speed, send the driving signal to motor driver, drive direct current generator A and direct current generator B rotation, the luffing angle of middle housing is reached and robot movement velocity reaches setting value, control the movement velocity of the luffing angle and the robot of middle housing thus in real time; The manipulator motion controller receives the control signal that the external piloting control PC sends, and drives to rotate, and adjusts the position of paw and the folding angle of control paw.
Vision navigation system comprises wireless video encoder, linear array CCD camera in the described navigation system; Linear array CCD camera is used for gathering the external environment condition vision signal, and the vision signal that collects in the coverage sent to the wireless video encoder, the wireless video encoder sends to the vision signal of receiving in the external wireless Video Decoder and decodes, the external wireless Video Decoder sends to outside image pick-up card with decoded vision signal, image pick-up card converts analog video signal to digital video signal, and the digital video signal after the conversion sends to the external piloting control PC the most at last.After the external piloting control PC is resolved the digital video signal that receives, obtain external environmental information, and send to the DSP digital signal processor, after the DSP digital signal processor is resolved the external environmental information that receives, send the driving signal to motor driver, drive direct current generator A and direct current generator B and electromagnetic clutch work, thereby the carrying out of moon exploration moved accordingly.
Ultrasonic sensor in the navigation system is used for gathering the range information between robot and barrier, and range information sent to external piloting control PC and DSP digital signal processor, after the DSP digital signal processor is resolved the range information that receives, send the driving signal to motor driver, drive direct current generator A and direct current generator B and electromagnetic clutch work, thereby the carrying out of moon exploration moved accordingly.
The invention has the advantages that:
1, robot of the present invention overall structure is the central shaft symmetry, makes gravity mean allocation on each wheel, at utmost brings into play the operating efficiency of direct current generator;
2, the attitude of middle housing can be measured and adjust in robot of the present invention in real time, guarantees that control system is relatively stable;
3, the design of swinging joint in the robot of the present invention can be moved this car as required in wheel step mode, guarantee the effect that car body is stable simultaneously;
4, the pitching joint position in the robot of the present invention is positioned at below the wheel axis, has guaranteed passively can obtain enough upward pitching moments when crossing vertical obstacle, thereby has made the anti-side rollover resistant capability of car body stronger;
5, robot of the present invention can whole reconstruct, and under the situation that the demand load significantly increases, can be reconstructed at any time and 8 take turns, 12 more even number wheel constructions such as take turns, and stable, reliable;
6, robot of the present invention is under the prerequisite of assurance function, and is simple in structure, in light weight, reduced the load of carrier rocket.
Description of drawings
Fig. 1 is a robot of the present invention overall structure schematic diagram;
Fig. 2 is a robot of the present invention pitching local joint structure vertical view cutaway drawing;
Fig. 3 is a robot of the present invention pitching local joint structural representation;
Fig. 4 is robot of the present invention torsion knuckle left side TV structure partial sectional view;
Fig. 5 is a robot of the present invention torsion knuckle vertical view;
Fig. 6 is a robot of the present invention swinging joint structural representation;
Fig. 7 is car wheel structure half sectional view in the robot of the present invention;
Fig. 8 is mechanical arm structural representation figure in the robot of the present invention;
Fig. 9 is robot control system of the present invention and navigation system overall structure block diagram;
Among the figure:
The specific embodiment
Come the wheeled mobile robot of a kind of multi-joint series connection of the present invention is described further below in conjunction with accompanying drawing.
The wheeled mobile robot of a kind of multi-joint series connection of the present invention as Fig. 1, shown in Figure 9, comprises mechanical body 1, mechanical arm 2, control system 3 and navigation system 4.Described mechanical body 1 comprises two pitching joints 5, two torsion knuckles 6, two swinging joint 7, six wheels 8, axletree 9.Navigation system 4 comprises vision navigation system 401 and ultrasonic sensor 402, and axletree 9 comprises front axle 901, middle axletree 902 and back axle 903.
Wherein, movable sleeve is connected to middle housing 10 on the middle axletree 902, and middle housing 10 tops are equipped with control system 3; Two pitching joints 5 are fixed on middle housing 10 inside, and about middle axletree 902 symmetries, described pitching joint 5 is positioned at below wheel 8 axis, each pitching joint 5 respectively is connected with a torsion knuckle 6, each torsion knuckle 6 respectively is connected with a swinging joint 7, final two swinging joint 7 are connected with front axle 901, back axle 903 respectively, and described front axle 901, middle axletree 902 are separately installed with wheel 8 with the two ends of back axle 903.Be positioned on the torsion knuckle 6 of rear end and be connected with mechanical arm mounting bracket 11, mechanical arm 2 is installed on the mechanical arm mounting bracket 11.Vision navigation system 401 is installed on front axle 901, on the swinging joint 7 of front end ultrasonic sensor 402 is installed, as shown in Figure 1.
Described pitching joint 5 comprises direct current generator A501, direct current generator mount pad 502, electromagnetic clutch 503, bearing A504, electromagnetic clutch bearing lid 505, driving gear 506, driven gear 507, driven gear shaft 508, bearing B509, driven gear bearing lid 510, sleeve A511, abutment sleeve 512, pitching joint arm 513, pitching joint arm connector 514, pitching rod member 515 and torsion knuckle connector 516, as Fig. 2, shown in Figure 3.
Direct current generator mount pad 502 is fixedlyed connected with middle housing 10 by screw bolt and nut; Direct current generator A501 is connected with direct current generator mount pad 502 by bolt respectively with electromagnetic clutch 503, the output shaft of direct current generator A501 is by the circumferential location of holding screw realization with electromagnetic clutch 503, bearing A504 is installed on the output shaft of electromagnetic clutch 503, the outer ring of bearing A504 and electromagnetic clutch bearing lid 505 cooperates, and electromagnetic clutch bearing lid 505 and middle housing 10 are connected by hex bolts.Decide the screw fixed cover by two-restriction on the output shaft of electromagnetic clutch 503 and be connected to driving gear 506, driving gear 506 and driven gear 507 engagements, driven gear 507 is fixedly sleeved on driven gear shaft 508, the two ends of driven gear shaft 508 all are equipped with bearing B509, the outer ring of bearing B509 and driven gear bearing lid 510 cooperates, and the driven gear bearing covers 510 and is connected by hex bolts and middle housing 10.The inner ring of bearing B509 is by sleeve A511 axial location, and sleeve A511 is socketed on the driven gear shaft 508.Abutment sleeve 512 and driven gear shaft 508 are connected by holding screw, realize circumferentially locating with driven gear shaft 508.Two pitching joint arms, 513 1 ends are socketed on the driven gear shaft 508, lay respectively between the sleeve A511 and abutment sleeve 512 at driven gear shaft 508 two ends, realize axial location by sleeve A511 and abutment sleeve 512, are connected with abutment sleeve 512 simultaneously.Pitching joint arm 513 other ends and pitching joint arm connector 514 are connected, and two pitching rod members, 515 1 ends are bolted to connection on pitching joint arm connector 514, and the other end is fixedlyed connected with torsion knuckle connector 516 by bolt; Torsion knuckle connector 516 connects torsion knuckle 6 by torsion knuckle connector 516 between two pitching rod members 515.
As Fig. 4, shown in Figure 5, torsion knuckle 6 comprises torsion knuckle inner ring 601, torsion knuckle outer ring 602, end cap A603, back-up ring A604, sleeve B605, bearing C606, torsion knuckle bearing cap 607, swinging joint left side connector 608, the right connector 609 of swinging joint, connects backing plate 610.
Torsion knuckle inner ring 601 is a tubular structure, and the torsion knuckle connector 516 in an end and the pitching joint 5 is bolted to connection.Be socketed with torsion knuckle outer ring 602, end cap A603 and back-up ring A604 on the torsion knuckle inner ring 601, wherein, fit with back-up ring 604 in torsion knuckle outer ring 602, be embedded into respectively among the groove A611 and groove B612 that makes progress in 601 weeks of torsion knuckle inner ring, and the degree of depth of described groove A611 is greater than the degree of depth of groove B612, end cap A603 fixes by bolt and back-up ring A604, realize that thus torsion knuckle outer ring 602 and back-up ring A604 in the location of torsion knuckle inner ring 601 on axially, also can upwards rotate in 601 weeks of torsion knuckle inner ring simultaneously.Described back-up ring A604 and end cap A603 are between torsion knuckle outer ring 602 and torsion knuckle inner ring 601.Between torsion knuckle outer ring 602 and the torsion knuckle inner ring 601 bearing C606 is installed also, bearing C606 is implemented in axial location on the torsion knuckle outer ring 602 by back-up ring A604 and torsion knuckle bearing cap 607, and torsion knuckle bearing cap 607 is by fixedly sleeved sleeve B605 axial location on torsion knuckle inner ring 601.Be connected with swinging joint left side connector 608 and the right connector 609 of swinging joint on the torsion knuckle outer ring 602, and will connect backing plate 610 by bolt and be connected, thereby with swinging joint left side connector 608 and right connector 609 relative fixed of swinging joint with swinging joint left side connector 608, the right connector 609 of swinging joint.Swinging joint left side connector 608 is connected with swinging joint 7 with the right connector 609 of swinging joint.
As shown in Figure 6, described swinging joint 7 comprises swinging joint support 701, swinging joint fork 702, axletree sleeve 703, crank 704, connecting rod 705, swinging joint axle 706, crank connecting link axle 707, connecting rod fork axle 708, crank support shaft 709.
Swinging joint support 701 1 ends and swinging joint fork 702 1 ends flexibly connect by swinging joint axle 706.Swinging joint fork 702 other ends have circular hole 710, and be bolted to connection axletree sleeve 703, wherein axletree sleeve 703 is cylindrical tubular structure, the cross section of axletree sleeve 703 and circular hole 710 concentrics, and the internal diameter in cross section equates with the diameter of circular hole 710 and the external diameter of axletree or axletree, make front axle or back axle can pass circular hole 710 and sleeve successively thus, and can front axle or back axle and axletree sleeve 703 is fixing by bolt.One end of the other end of swinging joint support 701 and crank 704 all flexibly connects by crank support shaft 709 and the right connector 609 of left connector 608 of the swinging joint in the torsion knuckle 6 and swinging joint.One end of connecting rod 705 flexibly connects by connecting rod fork axle 708 and swinging joint fork 702 middle parts.Make that by above-mentioned connection the wobbling action that puts down is freely lifted in realization between swinging joint fork 702 and 701 on swinging joint support and swinging joint support 701 and the torsion knuckle 6.The other end of the other end of connecting rod 705 and crank 704 flexibly connects by crank connecting link axle 707.Wherein, the two ends of crank support shaft 709, connecting rod fork axle 708, crank connecting link axle 707 can prevent thus that all by nut and pad location the coupling part is loosening, guarantee the normal operation of swinging joint 7.Described pad can play self-lubricating function for poly-Tetrafluoro spacer, and the friction of transition between can preventing.
Described wheel 8 comprises that cylindrical shell 801, cone shell 802, lateral wall 803, madial wall 804, back-up ring B805, end cap B806, bearings D 807, axle bearing lid 808, angle aluminium 809, moment of torsion transmit connecting rod 810, support spring 811, tyre surface 812, yielding coupling 815, direct current generator B814, direct current generator mounting disc 813, shaft coupling output shaft 816, as shown in Figure 7.
Wherein, cylindrical shell 801 is inner engraved structure, is with tyre surface 812 on cylindrical shell 801 peripheral outer wall, and tyre surface 812 adopts foaming PVC to make, and can increase tyre surface 812 and the frictional force of simulating lunar soil.Cylindrical shell 801 inside are respectively arranged with the madial wall 804 and lateral wall 803 that is parallel to each other, and madial wall 804 equates that with cylindrical shell 801 internal diameters madial wall 804 is circular with the diameter of lateral wall 803.Madial wall 804 transmits connecting rod 810 relative fixed with 803 of lateral walls by moment of torsion and is connected.Wherein, 801 of lateral wall 803 and cylindrical shells are fixedlyed connected by angle aluminium 809, have reinforced being connected of lateral wall 803 and cylindrical shell 801 thus.Axletree 9 two ends fixed covers are connected to end cap B806, on the end face at axletree 9 two ends direct current generator mounting disc 813 is installed, direct current generator mounting disc 813 is connected with end cap B806, direct current generator B814 places in the axletree 9, be fixed in the direct current generator mounting disc 813, the output shaft of direct current generator B814 passes direct current generator mounting disc 813, is connected with yielding coupling 815, yielding coupling 815 other ends are connected with shaft coupling output shaft 816, and shaft coupling output shaft 816 is connected by nut and lateral wall 803.Madial wall 804 outsides are fixedly connected with back-up ring B805, and bearings D 807 inner rings are by end cap B806 location, and the outer ring is by axle bearing lid 808 and back-up ring B805 location.Cone shell 802 is socketed on the axletree 9, and fixedlys connected with madial wall 804 by bolt in the bottom; Be connected with support spring 811 between cone shell 802 inside and the axletree 9, support spring 811 plays cushioning effect.When direct current generator B814 worked, the output shaft of direct current generator B814 drove yielding coupling 815 and rotates, and rotated thereby drive shaft coupling output shaft 816, finally made cylindrical shell 801 and cone shell 802 co-rotation.The outer ring of bearings D 807 and axle bearing lid 808 and back-up ring B805 together rotated with cylindrical shell 801 when cylindrical shell 801 rotated, and the inner ring of axletree, direct current generator mounting disc 813 and end cap B806 and bearings D 807 keeps motionless.
Described mechanical arm 2 is the six degree of freedom mechanical arm of being made up of first steering wheel 201, second steering wheel 202, the 3rd steering wheel 203, the 4th steering wheel 204, the 5th steering wheel 205, the 6th steering wheel 206, time linking arm 207, last linking arm 208, wrist arm 209, paw seat 210, paw 211, as shown in Figure 8.
External piloting control PC 12 sends to DSP digital signal processor 301 in the control system with control signal, obtains driving signal after 301 pairs of control signals of DSP digital signal processor are handled, and will drive signal and send to motor driver 302; The driving signal that 302 pairs of motor drivers are received amplifies, and finally drives electromagnetic clutch 503 runnings in direct current generator A501 and direct current generator B814 and the pitching joint 5, thus the motion of control robot of the present invention.Double-shaft tilt angle sensor 303 obtains the luffing angle data of middle housing 10 in real time, and pitch angle data is sent to DSP digital signal processor 301.Gather the rotating speed of direct current generator A501 and direct current generator B814 in real time by incremental optical-electricity encoder 304, and the data of rotating speed are sent to DSP digital signal processor 301, DSP digital signal processor 301 sends to external piloting control PC 12 with the data and the pitch angle data of rotating speed, can make operating personnel understand the luffing angle of middle housing 10 and robot motion's speed in real time.After the luffing angle data that 301 pairs of DSP digital signal processors receive and the data of rotating speed are resolved, send to motor driver 302 once more and drive signal, drive direct current generator A501 and direct current generator B814 rotation, the luffing angle of middle housing 10 is reached and robot movement velocity reaches setting value, control the movement velocity of the luffing angle and the robot of middle housing 10 thus in real time.Manipulator motion controller 306 receives the control signal that external piloting control PC 12 sends, drive first steering wheel 201, second steering wheel 202, the 3rd steering wheel 203, the 4th steering wheel 204, the 5th steering wheel 205,206 rotations of the 6th steering wheel, adjust the position of paw 211, the folding angle of the 6th steering wheel 206 control paws 211, thus the control robot samples.Data interaction in said external master control PC 12 and the control system 3 is to realize by external wireless communicator 13 and the wireless telecommunications device in the control system 3.
Linear array CCD camera 4011 is used for gathering the external environment condition vision signal, and the vision signal that collects in the coverage sent to wireless video encoder 4012, wireless video encoder 4012 sends to the vision signal of receiving in the external wireless Video Decoder 14 and decodes, external wireless Video Decoder 14 sends to outside image pick-up card 15 with decoded vision signal, image pick-up card 15 converts analog video signal to digital video signal, and the digital video signal after the conversion sends to external piloting control PC 12 the most at last.After 12 pairs of digital video signals that receive of external piloting control PC are resolved, obtain external environmental information, and send to DSP digital signal processor 301, after 301 pairs of external environmental informations that receive of DSP digital signal processor are resolved, send the driving signal to motor driver 302, drive direct current generator A501 and direct current generator B814 and electromagnetic clutch work, thereby the carrying out of moon exploration moved accordingly.
The wheeled mobile robot of a kind of multi-joint series connection of the present invention comprises following motion mode:
A, climbing walking;
Because the moonscape lunar dust is thicker, coefficient of friction is little, by the walking of wheel step formula, and can be so that the climbing gradient be bigger.External piloting control PC 12 is to DSP digital signal processor 301 sending controling instructions (wheel step formula walking instruction), direct current generator B814 in the front vehicle wheel starts, front end swinging joint fork 702 rotates around swinging joint axle 706, make connecting rod 705 and crank 704 motions, swinging joint 7 is launched, and wheel and rear wheel are static in this moment; Direct current generator B814 in the middle wheel starts, and the swinging joint 7 at front vehicle wheel place is drawn in, and the swinging joint 7 at rear wheel place is launched; Direct current generator B814 in two rear wheels starts, and front vehicle wheel and middle wheel are static, so far finishes next round step formula walking.
B, leap trench;
External piloting control PC 12 is to DSP digital signal processor 301 sending controling instructions (crossing over the trench instruction), and the trench width of required leap should be not more than the centre-to-centre spacing of adjacent two joint axletrees.Before the front vehicle wheel built on stilts, electromagnetic clutch 503 adhesives in the front end pitching joint 5, mechanical part 1 relative fixed of axletree 902 front portions in making, the swinging joint 7 of rear end is launched simultaneously, distance between mechanical part 1 middle part and rear portion is strengthened, make and move after mechanical part 1 center of gravity, then can be when front vehicle wheel enters vacant state still held stationary travel; Will enter when unsettled at middle wheel, two front vehicle wheels have been in ground state, and this moment, the robot center of gravity overlapped when prevailing roadway travels with robot, can smooth-ride; When front vehicle wheel and middle wheel all are in ground contact state, electromagnetic clutch 503 in the front end pitching joint 5 is removed attracting state, electromagnetic clutch 503 in the pitching joint, rear end 5 enters attracting state, mechanical part 1 relative fixed at axletree 902 rear portions in making, the swinging joint of front end is launched simultaneously, distance between mechanical part 1 middle part and front portion is strengthened, make mechanical part 1 center of gravity move forward, rear wheel can stride across a trench safely.
C, obstacle detouring and keep away barrier;
When robot runs into barrier, by linear array CCD camera 4011 the image/video information of barrier is sent to wireless video codec 4012, wireless video codec 16 is decoded to image after receiving the image information of barrier, decoded image information is sent to outside image pick-up card 15, after external image capture card 15 converts the video analog signal that collects to video signal, send to external piloting control PC 12,12 pairs of video signals that receive of external piloting control PC are resolved, finally obtain the geological information of barrier, and send to DSP digital signal processor 301.Simultaneously, ultrasonic sensor 402 sends to DSP digital signal processor 301 with robot and the range information between barrier that collects, range information in the barrier geological information that DSP digital signal processor 301 will obtain after will being resolved by external piloting control PC 12 compares with the range information that is collected by ultrasonic sensor 402, if error is excessive, then measure once more, until error less than threshold value, thereby obtain the accurate information of barrier.When obstacle height greater than when setting value, then lunar rover implements to keep away the barrier behavior; Otherwise, then implement the obstacle detouring behavior.
When carrying out obstacle detouring, can be divided into one-sided obstacle detouring and bilateral obstacle detouring dual mode:
During 1. one-sided obstacle detouring, swinging joint fork 702 rotates around swinging joint axle 706, makes connecting rod 705 and crank 704 motions, and swinging joint 7 is drawn in.When the front vehicle wheel of a side during by barrier jack-up, the torsion knuckle outer ring 602 in the torsion knuckle 6, swinging joint left side connector 608 and the right connector 609 of swinging joint rotate with bearing C606.Pitching joint arm 513 lifts, and driving gear 506 and driven gear 507 gear motions make middle housing 10 maintenance levels.When wheel is by barrier jack-up in the homonymy, middle housing 10 will fall to an inclination, and the front portion drives the rotation of torsion knuckle circle with the outer ring of the torsion knuckle 6 middle (center) bearing C606 at rear portion.The homonymy trailing wheel is during by barrier jack-up, and the torsion knuckle outer ring 602 in the torsion knuckle 6, swinging joint left side connector 608 and the right connector 609 of swinging joint rotate with bearing C606.Pitching joint arm 513 lifts, and driving gear 506 and driven gear 507 gear motions make middle housing 10 maintenance levels.In the obstacle detouring process, six wheels 8 of robot land all the time, after obstacle detouring is finished, with middle housing 10 adjustment levels.
2. during the bilateral obstacle detouring, swinging joint fork 702 rotates around swinging joint axle 706, makes connecting rod 705 and crank 704 motions, and swinging joint 7 is packed up.
When two front vehicle wheels during by barrier jack-up, pitching joint arm 513 lifts, and driving gear 506 and driven gear 507 gear motions make middle housing 10 maintenance levels.When wheel in two during by barrier jack-up, two pitching joint arms reduce, driving gear 506 and driven gear 507 gear motions, and middle housing 10 is by jack-up; When two rear wheels during by barrier jack-up, pitching joint arm 513 lifts, and driving gear 506 and driven gear 507 gear motions guarantee middle housing 10 levels.In the obstacle detouring process, six wheels 8 of robot land all the time, after obstacle detouring is finished, with middle housing 10 adjustment levels.
When robot runs into the barrier that can't cross, then need to carry out the motion of avoiding obstacles, accurate information according to the barrier after 12 parsings of external piloting control PC, the circuit of advancing when obtaining keeping away barrier, send to DSP digital signal processor 301, DSP digital signal processor 301 is handled the control signal of receiving and is obtained driving signal, will drive signal and send to motor driver 302, thereby implement the barrier behavior that keeps away by motor driver 302 driven machine people along keeping away the barrier travel line.
In the robot of the present invention, can pass through to increase by two pitching joints in middle housing and the middle housing, thereby robot is reconstructed into the s wheel construction, wherein s is a positive even numbers, and s 〉=8.Its method is: the torsion knuckle inner ring 601 that connects on the torsion knuckle connector 516 in the pitching joint 5 in middle housing 10, link to each other by Hooks coupling universal coupling with the torsion knuckle inner ring that is connected on the pitching joint in the middle housing that increases, thereby the quantity in pitching joint in the increase robot, remainder remains unchanged.
Claims (8)
1. the wheeled mobile robot of a multi-joint series connection is characterized in that: comprise mechanical body, mechanical arm, control system and navigation system; Described mechanical body comprises pitching joint, torsion knuckle, swinging joint, wheel, axletree; Navigation system comprises vision navigation system and ultrasonic sensor; Axletree comprises front axle, middle axletree and back axle; Wherein, movable sleeve is connected to middle housing on the middle axletree, and the middle housing top is equipped with control system; Middle axletree rear and front end respectively is symmetrically connected with a pitching joint, and the pitching joint is positioned at middle housing, and is positioned at below the wheel axis; Each is connected each pitching joint with a torsion knuckle, and each torsion knuckle respectively is connected with a swinging joint, and final swinging joint is connected with front axle, back axle respectively, and front axle, middle axletree and back axle two ends are equipped with wheel; Be positioned on the torsion knuckle of rear end and be connected with the mechanical arm mounting bracket, on the mechanical arm mounting bracket mechanical arm is installed; Vision navigation system is installed on front axle, on the swinging joint of front end ultrasonic sensor is installed;
Described pitching joint comprises direct current generator A, direct current generator mount pad, electromagnetic clutch, bearing A, electromagnetic clutch bearing lid, driving gear, driven gear, driven gear shaft, bearing B, driven gear bearing lid, sleeve A, abutment sleeve, pitching joint arm, pitching joint arm connector, pitching rod member and torsion knuckle connector; The direct current generator mount pad is fixedlyed connected with middle housing; Direct current generator A is connected with the direct current generator mount pad respectively with electromagnetic clutch, output shaft and the electromagnetic clutch of direct current generator A are circumferentially located, bearing A is installed on the output shaft of electromagnetic clutch, the outer ring of bearing A cooperates with the electromagnetic clutch bearing lid, and the electromagnetic clutch bearing lid is connected with middle housing; Fixed cover is connected to driving gear on the output shaft of electromagnetic clutch, driving gear and driven gear engagement, driven gear is fixedly sleeved on driven gear shaft, the two ends of driven gear shaft all are equipped with bearing B, the outer ring of bearing B cooperates with driven gear bearing lid, and driven gear bearing lid is connected with middle housing; The inner ring of bearing B is by sleeve A axial location, and sleeve A is socketed on the driven gear shaft; Abutment sleeve and driven gear shaft are connected, and realize circumferentially locating with driven gear shaft; Two pitching joint arms, one end is socketed on the driven gear shaft, lays respectively between the sleeve A and abutment sleeve at driven gear shaft two ends, realizes axial location by sleeve A and abutment sleeve, is connected with abutment sleeve simultaneously; The pitching joint arm other end and pitching joint arm connector are connected, and two pitching rod members, one end is fixedly connected on the pitching joint arm connector, and the other end is fixedlyed connected with the torsion knuckle connector; The torsion knuckle connector connects torsion knuckle by the torsion knuckle connector between two pitching rod members;
Torsion knuckle comprises the torsion knuckle inner ring, torsion knuckle outer ring, end cap A, back-up ring A, sleeve B, bearing C, torsion knuckle bearing cap, swinging joint left side connector, the right connector of swinging joint; Torsion knuckle inner ring one end is fixedlyed connected with the torsion knuckle connector in the pitching joint; Be socketed with torsion knuckle outer ring, end cap A and back-up ring A on the torsion knuckle inner ring, wherein, torsion knuckle outer ring and back-up ring A fit, and end cap A and back-up ring A fix, and described back-up ring A and end cap A are between torsion knuckle outer ring and torsion knuckle inner ring; Between torsion knuckle outer ring and the torsion knuckle inner ring bearing C is installed also, bearing C is implemented in axial location on the torsion knuckle outer ring by back-up ring A and torsion knuckle bearing cap, and the torsion knuckle bearing cap is by fixedly sleeved sleeve B axial location on the torsion knuckle inner ring; Be connected with the right connector of swinging joint left side connector and swinging joint on the torsion knuckle outer ring, the right connector relative fixed of swinging joint left side connector and swinging joint; Swinging joint left side connector is connected with swinging joint with the right connector of swinging joint;
Described swinging joint comprises swinging joint support, swinging joint fork, axletree sleeve, crank, connecting rod, swinging joint axle, crank connecting link axle, connecting rod fork axle, crank support shaft; Swinging joint support one end and swinging joint fork one end flexibly connect by the swinging joint axle; The swinging joint fork other end has circular hole, and is fixedly connected with the axletree sleeve, the wherein cross section of axletree sleeve and circular hole concentric, and the internal diameter in cross section equates with the diameter of circular hole and the external diameter of axletree; One end of the other end of swinging joint support and crank flexibly connects by left side connector of the swinging joint in crank support shaft and the torsion knuckle and the right connector of swinging joint; One end of connecting rod flexibly connects by connecting rod fork axle and swinging joint fork middle part; The other end of connecting rod and the other end of crank flexibly connect by the crank connecting link axle;
Described wheel comprises that cylindrical shell, cone shell, lateral wall, madial wall, back-up ring B, end cap B, bearings D, axle bearing lid, angle aluminium, moment of torsion transmit connecting rod, support spring, tyre surface, yielding coupling, direct current generator B, direct current generator mounting disc, shaft coupling output shaft; Wherein, cylindrical shell is inner engraved structure, is with tyre surface on the cylindrical shell peripheral outer wall; Cylindrical shell inside is respectively arranged with madial wall and the lateral wall that is parallel to each other, and madial wall equates with the cylindrical shell internal diameter that with the diameter of lateral wall madial wall is circular; Transmitting the connecting rod relative fixed by moment of torsion between madial wall and lateral wall is connected; Fixedly connected by angle aluminium between lateral wall and cylindrical shell; Axletree two ends fixed cover is connected to end cap B, the direct current generator mounting disc is installed on the axletree both ends of the surface, direct current generator mounting disc and end cap B are connected, direct current generator B places in the axletree, be separately fixed in the direct current generator mounting disc, the output shaft of direct current generator B is fixedlyed connected with lateral wall after passing the direct current generator mounting disc, on the output shaft of the direct current generator B between madial wall and the lateral wall, yielding coupling is installed, the yielding coupling other end is connected with the shaft coupling output shaft, and shaft coupling output shaft and lateral wall are connected; The madial wall outside is fixedly connected with back-up ring B, and the bearings D inner ring is by end cap B location, and the outer ring is by axle bearing lid and back-up ring B location; Cone shell is socketed on the axletree, and fixedlys connected with madial wall in the bottom; Be connected by support spring between cone shell and the axletree;
Described mechanical arm comprises wrist arm, paw seat, paw, a m steering wheel and n linking arm, and m, n are positive integer, and n 〉=2, m=n+4; The 1st steering wheel is installed on the mechanical arm mounting bracket, the 2nd steering wheel links to each other with first steering wheel, the 2nd steering wheel and the 1st linking arm one end are coupling, one end and the 3rd steering wheel of the other end of the 1st linking arm and the 2nd linking arm are coupling, the other end of the 2nd linking arm and the 3rd linking arm and the 4th steering wheel are coupling, by that analogy, n linking arm one end and n-1 linking arm and m-3 steering wheel are coupling, n linking arm other end and wrist arm and m-2 steering wheel are coupling, m-1 steering wheel is installed on the wrist arm, and m-1 steering wheel links to each other with the paw seat; Be fixed with at least two paws on the paw seat, m steering wheel is housed, and m steering wheel link to each other with paw on the paw seat;
Described control system comprises DSP digital signal processor, motor driver, double-shaft tilt angle sensor, wireless telecommunications device, incremental optical-electricity encoder, manipulator motion controller; The external piloting control PC sends to DSP digital signal processor in the control system with control signal, and the DSP digital signal processor obtains driving signal after control signal is handled, and will drive signal and send to motor driver; Motor driver amplifies the driving signal of receiving, finally drives the electromagnetic clutch running in direct current generator A and direct current generator B and the pitching joint, thus the motion of control robot; Double-shaft tilt angle sensor obtains the luffing angle data of middle housing in real time, and the luffing angle data are sent to the DSP digital signal processor; Gather the rotating speed of direct current generator A and direct current generator B in real time by incremental optical-electricity encoder, and the data of rotating speed are sent to the DSP digital signal processor, the DSP digital signal processor sends to the external piloting control PC with the data and the pitch angle data of rotating speed; After the DSP digital signal processor is resolved the data of the luffing angle data that receive and rotating speed, send the driving signal to motor driver, drive direct current generator A and direct current generator B rotation, make the luffing angle and the robot movement velocity of middle housing reach setting value, control the movement velocity of the luffing angle and the robot of middle housing thus in real time; The manipulator motion controller receives the control signal that the external piloting control PC sends, and drives m steering wheel and rotates, and adjusts the position of paw and the folding angle of control paw;
Vision navigation system comprises wireless video encoder, linear array CCD camera in the described navigation system; Linear array CCD camera is used for gathering the external environment condition vision signal, and the vision signal that collects in the coverage sent to the wireless video encoder, the wireless video encoder sends to the vision signal of receiving in the external wireless Video Decoder and decodes, the external wireless Video Decoder sends to outside image pick-up card with decoded vision signal, image pick-up card converts analog video signal to digital video signal, and the digital video signal after the conversion sends to the external piloting control PC the most at last; After the external piloting control PC is resolved the digital video signal that receives, obtain external environmental information, and send to the DSP digital signal processor, after the DSP digital signal processor is resolved the external environmental information that receives, send the driving signal to motor driver, drive direct current generator A and direct current generator B and electromagnetic clutch work;
Ultrasonic sensor in the navigation system is used for gathering the range information between robot and barrier, and range information sent to external piloting control PC and DSP digital signal processor, after the DSP digital signal processor is resolved the range information that receives, send the driving signal to motor driver, drive direct current generator A and direct current generator B and electromagnetic clutch work.
2. a kind of according to claim 1 wheeled mobile robot of multi-joint series connection, it is characterized in that: described back-up ring A and torsion knuckle outer ring are embedded into respectively among the groove A and groove B that makes progress in torsion knuckle inner ring week, and the degree of depth of groove A is greater than the degree of depth of groove B.
3. the wheeled mobile robot of a kind of according to claim 1 multi-joint series connection is characterized in that: interfix by being connected backing plate between swinging joint left side connector and swinging joint right side connector.
4. a kind of according to claim 1 wheeled mobile robot of multi-joint series connection is characterized in that: the two ends of described crank support shaft, connecting rod fork axle, crank connecting link axle are all by nut and pad location.
5. as the wheeled mobile robot of a kind of multi-joint series connection as described in the claim 5, it is characterized in that: described pad is poly-Tetrafluoro spacer.
6. a kind of according to claim 1 wheeled mobile robot of multi-joint series connection is characterized in that: described tyre surface adopts foaming PVC to make.
7. a kind of according to claim 1 wheeled mobile robot of multi-joint series connection, it is characterized in that: the data interaction in said external master control PC and the control system is to realize by the wireless telecommunications device in external wireless communicator and the control system.
8. a kind of according to claim 1 wheeled mobile robot of multi-joint series connection, it is characterized in that: when comprising barrier in the described external environment condition vision signal, the external piloting control PC is resolved the digital video signal that receives, obtain the geological information of barrier, and send to the DSP digital signal processor; Simultaneously, ultrasonic sensor sends to the DSP digital signal processor with robot and the range information between barrier that collects, range information in the barrier geological information that the DSP digital signal processor will obtain after will being resolved by the external piloting control PC compares with the range information that is collected by ultrasonic sensor, if error is excessive, then measure once more, until error less than threshold value, thereby obtain the accurate information of barrier.
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| CN201010508235A CN101973028B (en) | 2010-10-15 | 2010-10-15 | Multi-joint series wheeled mobile robot |
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| CN201010508235A CN101973028B (en) | 2010-10-15 | 2010-10-15 | Multi-joint series wheeled mobile robot |
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