CN108146167B - Wheel leg type composite driving mechanism for amphibious spherical robot - Google Patents
Wheel leg type composite driving mechanism for amphibious spherical robot Download PDFInfo
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- CN108146167B CN108146167B CN201711189461.8A CN201711189461A CN108146167B CN 108146167 B CN108146167 B CN 108146167B CN 201711189461 A CN201711189461 A CN 201711189461A CN 108146167 B CN108146167 B CN 108146167B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 19
- 239000002131 composite material Substances 0.000 title abstract description 6
- 230000033001 locomotion Effects 0.000 claims abstract description 59
- 230000009193 crawling Effects 0.000 claims abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 68
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- 210000001364 upper extremity Anatomy 0.000 claims description 27
- 230000005021 gait Effects 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 9
- 150000001875 compounds Chemical class 0.000 claims description 8
- 238000011065 in-situ storage Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The invention discloses a wheel leg type composite driving mechanism for an amphibious spherical robot, which belongs to the technical field of underwater robots and comprises the following components: more than two mechanical legs distributed along the circumferential direction of the bottom of the spherical robot and lifting sliding joints positioned at the center of the bottom of the spherical robot; when the lifting sliding joint ascends, the universal roller at the bottom of the lifting sliding joint does not contact with the road surface, and when the lifting sliding joint descends, the universal roller at the bottom of the lifting sliding joint contacts with the road surface and lifts the spherical robot to a set height; the four mechanical legs can move along the circumferential direction of the spherical robot, slide of the spherical robot is realized by being matched with the lifting sliding joint in a falling state, and crawling of the spherical robot is realized by being matched with the lifting sliding joint in a rising state; the invention can adopt different movement modes aiming at different terrains, and realize movement in an underwater environment, crawling on a rugged road surface and sliding on a flat road surface.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to a wheel-leg type composite driving mechanism for an amphibious spherical robot.
Background
With the progress of human awareness of the sea, development of the sea, utilization of sea resources and protection of sea resources, underwater robots play an important role in sea development and utilization as a means of moving under water, having vision and perception systems, using mechanical or other means to replace or assist a person in completing an underwater work task by remote control or autonomous remote control.
In recent years, underwater robots have become a hotspot for foreign research. Third generation hovering unmanned underwater autonomous vehicles (HAUV 3) developed in combination by the american college of bureau of technology, the united states naval research bureau (ONR), and the united states blue fin robot (Bluefin Robotics) are capable of detecting mines at the bottom of warships, and the appearance of HAUV 3 resembles an underwater flying saucer. A variety of functionally different AUVs have been developed by URA laboratories at university of tokyo, japan, such as "Twin Burger AUV". "AUV-EX1" developed successfully by the Japanese Tritropy industry can be used for exploration in deep sea of 3500 m. Scientists at the university of Kill, germany, developed a novel deep water robot "ROV KIEL 6000" capable of going down to the sea floor at 6000 meters depth, looking for mysterious deep water creatures and "white gold" combustible ice. The research on autonomous robots in China basically surrounds two centers, namely, the Shenyang automation center of the Chinese academy is adopted, the R-01 type/CR-02 type (6000 m) unmanned cable-free underwater robot is developed, the mining area working environment with multi-metal tuberculosis can adapt to deep sea floor flat topography, and the detection content is limited only in acoustic, optical and hydrological measurement; secondly, military intelligent underwater robots such as intelligent water I, intelligent water II, intelligent water III, intelligent water IV and the like are developed by taking Harbin engineering university as a center. The underwater robot adopts a torpedo-shaped streamline structure design, has the defects of large volume, large turning radius, poor concealment and the like, and cannot finish the task in a narrow area. The propeller adopted by the motion of the device is easy to generate noise and is not suitable for concealment and biocompatibility.
Compared with a torpedo-shaped underwater robot, the spherical robot has more advantages, good symmetry and simpler control. The research units of the underwater spherical robot in China mainly comprise Harbin engineering university, beijing post university and the like. In 2007, a spherical underwater vehicle developed by a bionic micro-robot laboratory at Harbin engineering university, the spherical diameter of the spherical underwater vehicle is 0.22m, the mass in the air is 5.6kg, two water spraying motors are adopted as driving devices, and two water inlets and two water outlets are arranged. The spherical underwater vehicle adopts a control method of signal feedback adjustment of an attitude sensor to control the motion of the spherical underwater vehicle, but because the design of a power system is relatively extensive, the motion flexibility is limited, and the maneuverability is poor. Professor Sun Hanxu of the university of Beijing post and electronics 2010 and doctor of the silk of blue, et al have also conducted a related study on spherical underwater robots. The doctor et al at the blue and the juan published some related papers describing the structural configuration, the working principle and the performance parameters of the spherical underwater robot BYSQ-2 with the built-in posture adjustment mechanism, the spherical diameter of the spherical robot BYSQ-2 is 0.54m, and the mass of the spherical underwater robot BYSQ-2 in the air is about 80kg. The spherical underwater robot realizes six degrees of freedom underwater motion through the cooperation of the double-drive steering mechanism and the propeller inside the spherical underwater robot. However, the design has a large size and limited survivability in shallow water, swamps, beaches and other environments.
The traditional underwater robot is only suitable for the underwater environment and has small application value to the amphibious environment at the sea, so that the method has great significance to the research of the amphibious robot. The American IS robot company develops an underwater autonomous walking robot ALUV, which has six legs, each leg has two degrees of freedom and has amphibious motion function, but the robot can only perform crawling motion, IS only suitable for underwater motion, and has a relatively short motion distance. In 2005, the university of Mejier developed an amphibious robot Whegs simulating cockroaches, and the propulsion mechanism adopts a three-spoke wheel paddle leg design, which approximates wheels and can realize high-performance and stable propulsion. On the basis, georgiades C et al develops an amphibious hexapod robot AQUA, the AQUA adopts arc legs to push when moving on land, and the characteristics of high maneuvering performance and good universality of the arc legs are utilized to realize high-speed pushing in various land environments; under water, the AQUA can realize the motions of cruising, lifting, pitching, steering, rolling and the like by utilizing the flapping propulsion of six paddles. Because of the different propulsion mechanisms employed by AQUA in land mountains and under water, manual replacement of the drive mechanism is required when making the transition. An amphibious robot snake of ACM-R5 developed by Tokyo winter night university in Japan is composed of a plurality of joints, each joint has two degrees of freedom, and can realize pitching and yawing movements. During the land exercise, ACM-R5 is propelled by the body in a meandering manner, and can realize the rolling motion; when moving underwater, ACM-R5 is propelled by eel-like fluctuation, and the movement is slower.
Therefore, the existing amphibious robot and amphibious spherical robot have the following problems:
1 the current amphibious robot generally adopts the principle design of bionics, such as bionic cockroaches, snakes and the like, the bionic cockroaches robot adopts different driving structures under water and on land, and when the underwater and land movement is switched, the driving structures need to be manually replaced. The bionic snake robot adopts a joint type design, and the land and underwater movement is slower and can only reach 0.4m/s.
2, the amphibious spherical robot designed before is light in weight, has smaller pressure on legs, can creep by adopting four mechanical legs, and has smaller capacity of carrying sensors. In order to improve the intelligence of the robot, the robot is required to have more sensing means, and thus the size of the robot needs to be increased. Along with the increase of robot weight, only rely on four legs hardly to satisfy long-time motion, and because the increase of carrying sensor quantity, lead to robot weight great, robot shank servo steering wheel bearing increases, has increased the loss of robot servo steering wheel. The existing spherical robot adopts gait forward, the number of servo steering engines of a driving structure is more, the energy consumption is more, and the same movement mode is adopted in different terrains, so that the energy saving purpose cannot be realized.
Disclosure of Invention
In view of the above, the present invention aims to provide a wheel-leg type composite driving mechanism for an amphibious spherical robot, which can adopt different movement modes for different terrains to realize movement in an underwater environment, crawling on a rugged road surface and sliding on a flat road surface.
The invention is realized by the following technical scheme:
a wheel-legged compound drive mechanism for an amphibious spherical robot, comprising: more than two mechanical legs distributed along the circumferential direction of the bottom of the spherical robot and lifting sliding joints positioned at the center of the bottom of the spherical robot;
when the lifting sliding joint ascends, the universal roller at the bottom of the lifting sliding joint does not contact with the road surface, and when the lifting sliding joint descends, the universal roller at the bottom of the lifting sliding joint contacts with the road surface and lifts the spherical robot to a set height;
the four mechanical legs can move along the circumferential direction of the spherical robot and are matched with the lifting sliding joint in a falling state to realize the rotation of the spherical robot;
the bottoms of the four mechanical legs are provided with water spraying motors capable of performing pitching motion, and when the spherical robot moves underwater and does not contact the water, underwater movement power is provided through water spraying; when the spherical robot moves on a rugged road, the bottom of the water spraying motor is contacted with the road, the universal roller at the bottom of the liftable sliding joint is not contacted with the road, and crawling forward or backward of the spherical robot is realized by swinging the mechanical legs; when the spherical robot moves on a flat road surface, the universal roller at the bottom of the liftable sliding joint is contacted with the road surface, and the spherical robot slides forwards or backwards by matching with the swing of the mechanical legs.
Further, the mechanical leg further includes: the steering device comprises a lower bracket, a first steering engine, a steering wheel, a bearing, a second steering engine and an upper support plate;
the lower bracket is a U-shaped bracket consisting of a bottom plate and two opposite side plates;
the second steering engine is arranged at one end of the upper support plate, and an output shaft of the second steering engine penetrates through the upper support plate and is fixed on the middle plate of the spherical robot; the other end of the upper support plate is fixedly connected with the bottom plate of the lower support; one side of the water spraying motor is arranged on a corresponding side plate of the lower bracket through a bearing, the water spraying motor on the other side of the water spraying motor is fixed with a first steering engine on the outer side of the lower bracket through a steering wheel, the first steering engine is fixed with the lower bracket, and the steering wheel is fixed with a first steering engine output shaft through a screw; when the second steering engine works, the whole mechanical leg can be driven to rotate along the circumferential direction of the spherical robot; when the first steering engine works, the water spraying motor can be controlled to rotate by taking the axis of the steering engine output shaft and the axis of the bearing as a rotation center.
Further, the mechanical leg further comprises universal wheels, the two universal wheels 2-1 are arranged on the bottom plate of the lower bracket, and when the spherical robot walks, the universal wheels are contacted with the bottom surface of the middle plate of the spherical robot.
Further, the angle of the mechanical leg moving along the circumferential direction of the spherical robot is 0-90 degrees.
Further, the liftable sliding joint is characterized by comprising: steering engine, moving platform, supporting leg, liftable sliding joint fixing rod, upper beam, lower beam, fixed guide rod and screw rod;
the movable platform is provided with a guide sleeve which is used for being matched with the fixed guide rod in a sliding way and an internal thread sleeve which is used for being matched with the screw rod;
the upper cross beam is fixed on the middle plate of the spherical robot through a lifting sliding joint fixing rod, and the lower surface of the upper cross beam is fixedly connected with the lower cross beam into a whole through more than two fixed guide rods;
the movable platform is positioned between the upper cross beam and the lower cross beam, and more than one of the fixed guide rods passes through a guide sleeve on the movable platform and is used for guiding the up-and-down movement of the movable platform; the lower end face of the mobile platform is provided with more than two supporting legs, the more than two supporting legs are positioned at the outer side of the lower cross beam, and the bottoms of the supporting legs are provided with universal rollers; when the movable platform moves downwards to the state that the supporting legs contact the flat road surface, the supporting legs provide support and auxiliary sliding for the spherical robot;
the steering engine for driving the screw rod to rotate is fixed on the lifting sliding joint fixing rod; and after penetrating through the internal thread sleeve of the movable platform and being in threaded connection with the internal thread sleeve, one end of the screw rod is arranged on the lower cross beam, and the other end of the screw rod penetrates through the upper cross beam and is coaxially connected with an output shaft of the steering engine.
Further, when the spherical robot slides forward or backward on a flat road, four mechanical legs are respectively a left front leg LF, a left rear leg LH, a right front leg RF and a right rear leg RH, and the left front leg LF and the right rear leg RH are in diagonal positions;
the four mechanical legs respectively advance or retreat according to the steps of periodically lifting the legs, swinging the legs forwards, falling the legs and swinging the legs backwards after the legs are contacted with the ground, wherein the lifting the legs, swinging the legs forwards and falling the legs are the stages that the mechanical legs are not contacted with the flat pavement, and the swinging the legs backwards after the legs are contacted with the ground are the stages contacted with the flat pavement;
when the spherical robot performs diagonal sliding gait movement, the left front leg LF and the right rear leg RH are synchronously moved in one group, the left rear leg LH and the right front leg RF are synchronously moved in the other group, and the two groups are respectively contacted with a flat pavement at intervals; in the movement process of the spherical robot, two mechanical legs are always in contact with a flat road surface, three points are supported together with the middle lifting sliding joint, and the three supporting points are on the same line;
when the spherical robot moves in a triangular sliding gait, the left front leg LF, the right rear leg RH, the right front leg RF and the left rear leg LH are not contacted with a flat road surface in sequence, and three mechanical legs are always contacted with the flat road surface in the movement process of the spherical robot, and are supported by four points together with a middle liftable sliding joint;
when the spherical robot performs synchronous sliding gait movement, the left front leg LF and the right front leg RF are synchronously moved in one group, the left rear leg LH and the right rear leg RH are synchronously moved in the other group, and the two groups are respectively contacted with a flat pavement at intervals; in the movement process of the spherical robot, two mechanical legs are always in contact with a flat road surface, three points are supported together with the middle lifting sliding joint, and the three supporting points are not on the same line.
Further, when the spherical robot performs in-situ rotary motion on a flat road surface, the spherical robot is initially supported on the flat road surface through four mechanical legs and a liftable sliding joint;
the first step, controlling the four mechanical legs not to contact with a flat road surface;
secondly, controlling four mechanical legs to simultaneously rotate a set angle along the circumferential direction of the spherical robot;
thirdly, controlling the four mechanical legs to contact with a flat road surface;
fourth, four mechanical legs are controlled to reversely rotate along the circumferential direction of the spherical robot at the same time by a set angle, and a rotation moment is generated to drive the spherical robot to reversely rotate by the set angle;
fifth, repeating the first step to the fourth step to realize the in-situ rotation of the spherical robot.
Further, when the spherical robot moves on the inclined flat road surface, the spherical robot falls down to contact the flat road surface through the liftable sliding joint, and the mechanical legs are not in contact with the flat road surface, and the spherical robot freely slides down along the inclined flat road surface through the universal rollers at the bottom of the liftable sliding joint.
The beneficial effects are that: (1) According to the invention, the water spraying motors of the four mechanical legs are used for spraying water to provide movement power, so that the spherical robot moves underwater; the steering engine is used for controlling the swing of the mechanical legs, so that the spherical robot can move on various different roads; the first steering engine controls the water spraying motor to rotate and the second steering engine controls the upper support plate to rotate, so that the swing of the mechanical leg is realized; lifting the spherical robot by the lifting sliding joint on a flat road surface, and realizing sliding and rotating movement of the spherical robot by matching with the sequential periodic swing of the mechanical legs; the spherical robot is fallen down by the liftable sliding joint on a rugged road without contacting with the ground, and the robot is matched with the periodic swing of the mechanical legs in sequence to realize the crawling motion of the robot; thereby, energy saving is achieved by using different movement patterns for different terrains.
(2) According to the invention, when aiming at a flat pavement, with the assistance of the liftable sliding joint, the four mechanical legs realize the sliding gait of the spherical robot, and when the flat pavement is an inclined plane, the spherical robot can automatically slide down along the inclined plane by enabling the mechanical legs not to contact with the ground and the universal rollers at the bottom of the liftable sliding joint, so that the electric quantity is saved, and the energy consumption is reduced; the sliding gait of the spherical robot and the automatic sliding down moving speed along the inclined plane are faster, the abrasion of a mechanical structure can be reduced, and the service life is prolonged.
(3) According to the invention, through adjusting the movement sequence of the four mechanical legs and the number of the mechanical legs which move simultaneously, multiple gait can be generated, and the requirements under different environments are met.
Drawings
Fig. 1 is a structural composition diagram of the present invention.
Fig. 2 is a structural view of the mechanical leg of the present invention.
Fig. 3 is a structural view of the liftable sliding joint of the present invention.
Fig. 4 is a top view of the positional relationship of four mechanical legs of the present invention.
Fig. 5 is a diagonal glide gait pattern of the invention.
Fig. 6 is a triangular glide gait pattern of the invention.
Fig. 7 is a synchronous glide gait pattern of the invention.
Fig. 8 is a diagram of a rotary in place gait of the invention.
The lifting sliding joint comprises a 1-1 lifting sliding joint, a 1-2 mechanical leg, a 2-1 universal wheel, a 2-2 lower support, a 2-3 first steering engine, a 2-4 steering wheel, a 2-5 water spraying motor, a 2-6 bearing, a 2-7 disc, a 2-8 second steering engine, a 2-9 upper support plate, a 3-1 lifting sliding joint fixing rod, a 3-2 upper cross beam, a 3-5 fixed guide rod, a 3-6 lead screw, a 3-7 internal thread sleeve, a 3-8 lower cross beam, a 3-12 guide sleeve, a 4-1 steering engine, a 4-2 movable platform, a 4-3 support leg and a 4-4 universal roller.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The embodiment provides a wheel-leg type composite driving mechanism for an amphibious spherical robot, referring to fig. 1, comprising: four mechanical legs 1-2 distributed along the circumferential direction of the bottom of the spherical robot and a lifting sliding joint 1-1 positioned in the center of the bottom of the spherical robot;
when the spherical robot moves on a flat road surface, the lifting sliding joint 1-1 can fall down, so that more than two universal rollers arranged at the bottom of the lifting sliding joint are contacted with the flat road surface, the spherical robot is lifted to a set height, and the universal rollers can assist the spherical robot to slide through the contact with the flat road surface; when the spherical robot crawls on a rugged road, the liftable sliding joint 1-1 can ascend, so that the universal roller at the bottom of the liftable sliding joint is not contacted with the road, namely the movement of the spherical robot on the rugged road is not interfered; when the spherical robot moves underwater and does not contact the water bottom, the lifting sliding joint 1-1 does not interfere with the movement of the spherical robot underwater no matter whether the spherical robot ascends or descends;
referring to fig. 2, the mechanical leg 1-2 includes: the steering wheel comprises a universal wheel 2-1, a lower bracket 2-2, a first steering engine 2-3, a steering wheel 2-4, a water spraying motor 2-5, a bearing 2-6, a disc 2-7, a second steering engine 2-8 and an upper support plate 2-9;
the lower bracket 2-2 is a U-shaped bracket consisting of a bottom plate and two opposite side plates;
the second steering engine is arranged at one end of the upper support plate, and an output shaft of the second steering engine penetrates through the upper support plate and is fixed on the middle plate of the spherical robot; the other end of the upper support plate is fixedly connected with the bottom plate of the lower support; one side of the water spraying motor is arranged on a corresponding side plate of the lower bracket through a disc and a bearing, the water spraying motor on the other side is fixed with a first steering engine on the outer side of the lower bracket through a steering disc, the first steering engine is fixed with the lower bracket, and the steering disc is fixed with a first steering engine output shaft through a screw; when the second steering engine works, the whole mechanical leg can be driven to rotate along the circumferential direction of the spherical robot; when the first steering engine works, the water spraying motor can be controlled to rotate by taking the axis of the steering engine output shaft and the axis of the bearing as a rotation center.
The second steering engine 2-8 is arranged at one end of the upper support plate 2-9, and an output shaft of the second steering engine passes through the upper support plate 2-9 and is fixed on the middle plate of the spherical robot; the other end of the upper support plate 2-9 is connected with the bottom plate of the lower support 2-2 through bolts; two universal wheels 2-1 are arranged on the bottom plate, and when the spherical robot walks, the universal wheels 2-1 are contacted with the bottom surface of the middle plate to prevent the upper support plate 2-9 from being stressed and bent; one side of the water spraying motor 2-5 is arranged on the corresponding side plate of the lower bracket 2-2 through a disc 2-7 and a bearing 2-6, the disc 2-7 is fixed on one side of the water spraying motor 2-5, and a rotating shaft on the disc 2-7 is arranged on the corresponding side plate of the lower bracket 2-2 after being matched with the bearing 2-6; the other side of the water spraying motor is connected through a rudder disc 2-4, the rudder disc 2-4 is fixed with an output shaft of a steering engine 2-3, and the steering engine 2-3 is fixed with the other side plate of the lower bracket 2-2; when the first steering engine 2-3 works, the water spraying motor 2-5 can be controlled to rotate by taking the axes of the bearing 2-6 and the output shaft of the steering engine 2-3 as the rotation center, so that the water spraying motor 2-5 is in contact with the road surface or not in contact with the road surface, and when the water spraying motor 2-5 is not in contact with the road surface, the water spraying direction can be adjusted; when the spherical robot moves underwater and does not contact the water bottom, the spherical robot provides movement power by spraying water through the water spraying motor 2-5; when the spherical robot moves on a rough road or a flat road including the ground or the water bottom, the water spraying motor 2-5 serves only as a swing leg and does not spray water; when the lifting sliding joint 1-1 falls and the mechanical leg 1-2 is not contacted with the road surface, the second steering engine 2-8 works and can drive the whole mechanical leg 1-2 to rotate along the circumferential direction of the spherical robot, and the rotation angle range is 0-90 degrees;
referring to fig. 3, the liftable sliding joint 1-1 includes: the steering engine 4-1, the moving platform 4-2, the supporting leg 4-3, the liftable sliding joint fixing rod 3-1, the upper cross beam 3-2, the lower cross beam 3-8, the fixing guide rod 3-5 and the screw rod 3-6;
the movable platform 4-2 is provided with a guide sleeve 3-12 which is used for being in sliding fit with the fixed guide rod 3-5 and an internal thread sleeve 3-7 which is used for being in fit with the screw rod 3-6;
the bottom of the supporting leg 4-3 is provided with a universal roller 4-4;
the upper cross beam 3-2 is fixed on the middle plate of the spherical robot through a lifting sliding joint fixing rod 3-1, and the lower surface of the upper cross beam is fixedly connected with the lower cross beam 3-8 into a whole through more than two fixed guide rods 3-5;
the movable platform 4-2 is positioned between the upper cross beam 3-2 and the lower cross beam 3-8, and more than one of the fixed guide rods 3-5 passes through a guide sleeve 3-12 on the movable platform 4-2 and is used for guiding the up-and-down movement of the movable platform 4-2; the lower end surface of the mobile platform 4-2 is provided with more than two supporting legs 4-3, and the more than two supporting legs 4-3 are positioned at the outer side of the lower cross beam 3-8; when the movable platform 4-2 moves down until the supporting legs 4-3 contact the flat road surface, the spherical robot is supported by the supporting legs 4-3;
the steering engine 4-1 for driving the screw rod 3-6 to rotate is fixed on the liftable sliding joint fixing rod 3-1; the screw rod 3-6 passes through an internal thread sleeve 3-7 of the movable platform 4-2 and is in threaded connection with the internal thread sleeve 3-7, one end of the screw rod is arranged on the lower cross beam 3-8, and the other end of the screw rod passes through the upper cross beam 3-2 and is coaxially connected with an output shaft of the steering engine 4-1.
Working principle: when the spherical robot moves underwater and does not contact the water, the water spraying motors 2-5 of the four mechanical legs 1-2 work, and the movement power is provided by spraying water, so that the movement of the spherical robot is realized.
When the spherical robot moves on a rugged road, the liftable sliding joint 1-1 is lifted to a position where the universal roller at the bottom of the liftable sliding joint is not contacted with the road, the water spraying motors 2-5 of the four mechanical legs 1-2 do not work, and the bottoms of the water spraying motors 2-5 are contacted with the rugged road by controlling the rotation of the first steering engines 2-3 of the four mechanical legs 1-2 so as to realize the standing of the spherical robot; in the walking process of the spherical robot, the first steering engine 2-3 is controlled to drive the water spraying motor 2-5 to rotate and the second steering engine 2-8 is controlled to control the upper support plate 2-9, so that friction force between the bottom of the water spraying motor 2-5 and a rugged road surface is generated, and crawling forward and backward movement of the spherical robot is realized.
When the spherical robot moves on a flat road surface, the lifting sliding joint 1-1 falls down to enable the universal roller at the bottom of the spherical robot to be in contact with the flat road surface; when the spherical robot walks, the first steering engine 2-3 is controlled to drive the water spraying motor 2-5 to rotate, so that friction force between the bottom of the water spraying motor 2-5 and a flat road surface is generated, the second steering engine 2-8 is controlled to drive the upper support plate 2-9 to rotate, and the sliding forward and backward of the spherical robot are realized by matching with the liftable sliding joint 1-1; when the water spraying motor 2-5 contacts with the flat road surface, the second steering engine 2-8 is controlled to drive the mechanical leg 1-2 to rotate along the circumferential direction of the spherical robot (the axial direction of the output shaft of the second steering engine 2-8), and the spherical robot is supported on the flat road surface by matching with the lifting sliding joint 1-1, so that the rotary motion of the spherical robot is realized; when the flat road surface is an inclined surface, the first steering engine 2-3 is controlled to drive the water spraying motor 2-5 to rotate, so that the water spraying motor 2-5 is not contacted with the flat road surface, and the spherical robot can freely slide down along the inclined surface through the universal roller at the bottom of the lifting sliding joint 1-1;
(1) Forward or backward sliding motion of spherical robot
The four mechanical legs 1-2 are respectively a left front leg LF, a left rear leg LH, a right front leg RF and a right rear leg RH, wherein the left front leg LF and the right rear leg RH are in diagonal positions, and refer to fig. 4; the four mechanical legs 1-2 respectively advance or retreat according to the steps of periodically lifting the legs, swinging the legs forwards, falling the legs and swinging the legs backwards after the legs are contacted with the ground, wherein the lifting the legs, swinging the legs forwards and falling the legs are the stages of the mechanical legs 1-2 which are not contacted with the flat road surface, and are represented by white bars in the attached figures 5-8, and the stages of swinging the legs backwards after the legs are contacted with the ground are represented by black bars in the attached figures 5-8;
referring to fig. 5, when the left front leg LF and the right rear leg RH are synchronously operated in one group and the left rear leg LH and the right front leg RF are synchronously operated in the other group, the spherical robot is in diagonal sliding gait when the two groups are respectively spaced to contact with a flat road surface; at the moment, two mechanical legs are always in contact with a flat road surface in the movement process of the spherical robot, three points are supported together with the middle lifting sliding joint, and the three supporting points are on the same line, so that the movement speed is high;
referring to fig. 6, when the left front leg LF, the right rear leg RH, the right front leg RF, and the left rear leg LH are not in contact with the flat road surface in sequence, and the contact time of each mechanical leg with the flat road surface is three times longer than the contact time with the flat road surface, that is, the contact time of the first mechanical leg with the flat road surface is continued until the fourth mechanical leg just falls down, the first mechanical leg can lift the leg again; at this time, the spherical robot is a triangle sliding gait; three mechanical legs are always in contact with a flat road surface in the movement process of the spherical robot, and four point supports are shared with the middle lifting sliding joint, so that the movement is stable;
referring to fig. 7, when the left front leg LF and the right front leg RF are synchronously operated in one group and the left rear leg LH and the right rear leg RH are synchronously operated in the other group, the spherical robot is in synchronous sliding gait when the two groups are respectively spaced to contact with a flat road surface; at this time, there are two mechanical legs and flat road surface contact all the time in spherical robot's motion in-process, and with the liftable slip joint in the middle together three point supports, and three supporting points are not on a line, and the travel speed is faster and the removal is more stable.
(2) In-situ rotational motion of spherical robots
Initially, the spherical robot is supported on a flat road surface by four mechanical legs 1-2 and a liftable sliding joint 1-1;
the first step, the first steering engine 2-3 is controlled to drive the water spraying motor 2-5 to rotate, so that the water spraying motor 2-5 is not contacted with a flat road surface;
secondly, driving the four mechanical legs 1-2 to rotate in the same direction by controlling a second steering engine 2-8 of the four mechanical legs 1-2 to set an angle smaller than 90 degrees;
thirdly, controlling the first steering engine 2-3 to drive the water spraying motor 2-5 to contact with a flat road surface;
fourth, the second steering engine 2-8 of the four mechanical legs 1-2 is controlled to drive the four mechanical legs 1-2 to reversely rotate at a set angle at the same time, and a rotation moment is generated to drive the spherical robot to reversely rotate at the set angle;
and fifthly, repeating the first step to the fourth step to realize the in-situ rotation of the spherical robot, and realizing synchronous action of the four mechanical legs and contact with the flat pavement, wherein black bars refer to fig. 8, and white bars refer to the contact stage of the four mechanical legs with the flat pavement, and white bars refer to the non-contact stage of the four mechanical legs with the flat pavement.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A wheel-legged compound drive mechanism for an amphibious spherical robot, comprising: more than two mechanical legs (1-2) distributed along the circumferential direction of the bottom of the spherical robot and a lifting sliding joint (1-1) positioned at the center of the bottom of the spherical robot;
when the lifting sliding joint (1-1) ascends, the universal roller at the bottom of the lifting sliding joint is not contacted with the road surface, and when the lifting sliding joint falls down, the universal roller at the bottom of the lifting sliding joint is contacted with the road surface and lifts the spherical robot to a set height;
the four mechanical legs (1-2) can move along the circumferential direction of the spherical robot and are matched with the lifting sliding joint (1-1) in a falling state to realize the rotation of the spherical robot;
the bottoms of the four mechanical legs (1-2) are provided with water spraying motors (2-5) capable of performing pitching motion, and when the spherical robot moves underwater and does not contact the water bottom, underwater movement power is provided through water spraying; when the spherical robot moves on a rugged road, the bottom of the water spraying motor (2-5) is contacted with the road, the universal roller at the bottom of the lifting sliding joint (1-1) is not contacted with the road, and the crawling forward or backward of the spherical robot is realized by swinging the water spraying motor (2-5); when the spherical robot moves on a flat road surface, the universal roller at the bottom of the liftable sliding joint (1-1) is in contact with the road surface, and the spherical robot slides forwards or backwards by matching with the swing of the water spraying motor (2-5);
the liftable sliding joint (1-1) comprises: the device comprises a steering engine (4-1), a movable platform (4-2), supporting legs (4-3), a liftable sliding joint fixing rod (3-1), an upper cross beam (3-2), a lower cross beam (3-8), a fixed guide rod (3-5) and a screw rod (3-6);
a guide sleeve (3-12) which is used for being in sliding fit with the fixed guide rod (3-5) and an internal thread sleeve (3-7) which is used for being in fit with the lead screw (3-6) are arranged on the moving platform (4-2);
the bottoms of the supporting legs (4-3) are provided with universal rollers (4-4);
the upper cross beam (3-2) is fixed on a middle plate at the bottom of the spherical robot through a lifting sliding joint fixing rod (3-1), and the lower surface of the upper cross beam is fixedly connected with the lower cross beam (3-8) into a whole through more than two fixed guide rods (3-5);
the movable platform (4-2) is positioned between the upper cross beam (3-2) and the lower cross beam (3-8), and more than one of the two fixed guide rods (3-5) passes through a guide sleeve (3-12) on the movable platform (4-2) and is used for guiding the up-and-down movement of the movable platform (4-2); the lower end surface of the mobile platform (4-2) is provided with more than two supporting legs (4-3), and the more than two supporting legs (4-3) are positioned at the outer side of the lower cross beam (3-8); when the movable platform (4-2) moves downwards to the supporting leg (4-3) to contact the flat road surface, the supporting leg (4-3) is used for supporting the spherical robot;
the steering engine (4-1) for driving the screw rod (3-6) to rotate is fixed on the lifting sliding joint fixing rod (3-1); the screw rod (3-6) passes through an internal thread sleeve (3-7) of the mobile platform (4-2) and is in threaded connection with the internal thread sleeve (3-7), one end of the screw rod is arranged on the lower cross beam (3-8), and the other end of the screw rod passes through the upper cross beam (3-2) and is coaxially connected with an output shaft of the steering engine (4-1).
2. A wheel-leg compound drive mechanism for an amphibious spherical robot according to claim 1, wherein the mechanical leg (1-2) further comprises: the steering device comprises a lower bracket (2-2), a first steering engine (2-3), a steering wheel (2-4), a bearing (2-6), a second steering engine (2-8) and an upper support plate (2-9);
the lower bracket (2-2) is a U-shaped bracket consisting of a bottom plate and two opposite side plates;
the second steering engine (2-8) is arranged at one end of the upper support plate (2-9), and an output shaft of the second steering engine passes through the upper support plate (2-9) and is fixed on a middle plate at the bottom of the spherical robot; the other end of the upper support plate (2-9) is fixedly connected with the bottom plate of the lower support (2-2); one side of a water spraying motor (2-5) is arranged on a corresponding side plate of the lower bracket through a disc 2-7 and a bearing 2-6, the water spraying motor (2-5) on the other side is fixed with a first steering engine (2-3) on the outer side of the lower bracket (2-2) through a steering disc (2-4), the first steering engine (2-3) is fixed with the lower bracket 2-2, and the steering disc 2-4 and an output shaft of the first steering engine 2-3 are fixed by screws; when the second steering engine (2-8) works, the whole mechanical leg (1-2) can be driven to rotate along the circumferential direction of the spherical robot; when the first steering engine (2-3) works, the water spraying motor (2-5) can be controlled to rotate by taking the axis of the first steering engine (2-3) and the axis of the bearing (2-6) as the rotation center.
3. A wheel-leg type compound driving mechanism for an amphibious spherical robot according to claim 2, wherein the mechanical leg (1-2) further comprises universal wheels (2-1), the two universal wheels (2-1) are mounted on the bottom plate of the lower bracket (2-2), and when the spherical robot walks, the universal wheels (2-1) are in contact with the bottom surface of the middle plate of the spherical robot.
4. A wheel-leg compound drive mechanism for an amphibious spherical robot according to claim 1, wherein the angle of movement of the mechanical legs (1-2) in the circumferential direction of the spherical robot is 0 ° to 90 °.
5. A wheel-leg type compound driving mechanism for an amphibious spherical robot according to claim 1, wherein four mechanical legs (1-2) are respectively a left front leg LF, a left rear leg LH, a right front leg RF, a right rear leg RH, and the left front leg LF and the right rear leg RH are diagonally positioned when the spherical robot is slid forward or backward on a flat road surface;
the four mechanical legs (1-2) respectively advance or retreat according to the steps of periodically lifting the legs, swinging the legs forwards, falling the legs and swinging the legs backwards after the legs are contacted with the ground, wherein the lifting the legs, swinging the legs forwards and falling the legs are the stages that the mechanical legs (1-2) are not contacted with the flat road, and the swinging the legs backwards after the legs are contacted with the ground are the stages contacted with the flat road;
when the spherical robot performs diagonal sliding gait movement, the left front leg LF and the right rear leg RH are synchronously moved in one group, the left rear leg LH and the right front leg RF are synchronously moved in the other group, and the two groups are respectively contacted with a flat pavement at intervals; in the movement process of the spherical robot, two mechanical legs are always in contact with a flat road surface, three points are supported together with the middle lifting sliding joint, and the three supporting points are on the same line;
when the spherical robot moves in a triangular sliding gait, the left front leg LF, the right rear leg RH, the right front leg RF and the left rear leg LH are not contacted with a flat road surface in sequence, and three mechanical legs are always contacted with the flat road surface in the movement process of the spherical robot, and are supported by four points together with a middle liftable sliding joint;
when the spherical robot performs synchronous sliding gait movement, the left front leg LF and the right front leg RF are synchronously moved in one group, the left rear leg LH and the right rear leg RH are synchronously moved in the other group, and the two groups are respectively contacted with a flat pavement at intervals; in the movement process of the spherical robot, two mechanical legs are always in contact with a flat road surface, three points are supported together with the middle lifting sliding joint, and the three supporting points are not on the same line.
6. A wheel-leg type compound driving mechanism for an amphibious spherical robot according to claim 4, wherein the spherical robot is initially supported on a flat road surface by four mechanical legs (1-2) and a liftable sliding joint (1-1) when the spherical robot performs in-situ rotational movement on the flat road surface;
the first step, the four mechanical legs (1-2) are controlled not to contact with a flat road surface;
secondly, controlling four mechanical legs (1-2) to simultaneously rotate a set angle along the circumferential direction of the spherical robot;
thirdly, controlling the four mechanical legs (1-2) to be in contact with a flat road surface;
fourth, four mechanical legs (1-2) are controlled to reversely rotate along the circumferential direction of the spherical robot by a set angle at the same time, and a rotational moment is generated to drive the spherical robot to reversely rotate by the set angle;
fifth, repeating the first step to the fourth step to realize the in-situ rotation of the spherical robot.
7. A wheel-leg type compound driving mechanism for an amphibious spherical robot according to claim 1, wherein when the spherical robot moves on an inclined flat road surface, the spherical robot falls down and contacts on the flat road surface through a liftable sliding joint (1-1), and the mechanical leg (1-2) does not contact with the flat road surface, and free sliding along the inclined flat road surface is realized through a universal roller at the bottom of the liftable sliding joint (1-1).
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| CN108859637B (en) * | 2018-07-27 | 2023-11-14 | 北京理工大学 | Spherical amphibious robot |
| CN109109999B (en) * | 2018-10-19 | 2023-10-27 | 吉林大学 | Self-adaptive sandy soil ground connecting rod type four-foot robot foot pad |
| CN110001320A (en) * | 2019-04-03 | 2019-07-12 | 山东大学 | A kind of amphibious robot |
| CN111003124B (en) * | 2019-12-30 | 2023-09-19 | 西南石油大学 | Mechanical leg, six-foot robot and underwater movement method thereof |
| CN112277551B (en) * | 2020-10-28 | 2022-04-15 | 北京航空航天大学 | Variable structure multi-mode mobile robot |
| CN113148076B (en) * | 2021-04-25 | 2022-09-02 | 哈尔滨工程大学 | Underwater bionic spherical/hemispherical robot and motion control method thereof |
| CN114454982B (en) * | 2021-12-31 | 2022-12-27 | 德清县浙工大莫干山研究院 | Controllable multi-mode hexapod mobile platform |
| CN114833843B (en) * | 2022-04-26 | 2023-04-14 | 西安理工大学 | Spherical wheel leg explosive-handling robot |
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