CN109649686A - Celestial body detecting automatic obstacle avoiding mobile robot - Google Patents
Celestial body detecting automatic obstacle avoiding mobile robot Download PDFInfo
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- CN109649686A CN109649686A CN201811633996.4A CN201811633996A CN109649686A CN 109649686 A CN109649686 A CN 109649686A CN 201811633996 A CN201811633996 A CN 201811633996A CN 109649686 A CN109649686 A CN 109649686A
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- transmission shaft
- friction pulley
- flop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
- F03D9/20—Wind motors characterised by the driven apparatus
- F03D9/25—Wind motors characterised by the driven apparatus the apparatus being an electrical generator
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Combustion & Propulsion (AREA)
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Abstract
The invention belongs to celestial body detecting technical field, in particular to a kind of celestial body detecting automatic obstacle avoiding mobile robot.Including chassis and the vertical axis aerogenerator being set on chassis, driving forward system, path reset system, avoidance back off system, avoidance turning system and coupled flip-flop, wherein forward system, path reset system, avoidance back off system and avoidance turning system is driven to be coupled by coupled flip-flop, coupled flip-flop can be movable relatively with chassis, driving forward system is connect with vertical axis aerogenerator, and vertical axis aerogenerator is as power source；After coupled flip-flop and barrier collide, avoidance back off system, avoidance turning system and path reset system are triggered by the way that relative motion occurs with chassis, to realize that the avoidance of mobile robot retreats, avoidance is turned and path resetting movement.The present invention reduces driving quantity, simplify drive mechanism, improve the stability of entire mobile sniffing robot.
Description
Technical field
The invention belongs to celestial body detecting technical field, in particular to a kind of celestial body detecting automatic obstacle avoiding mobile robot.
Background technique
Robots for celestial body's exploration is a kind of mobile device that detection is maked an inspection tour on detected celestial body surface, and scientific name is visited tour
Survey device.They adapt to the various complex environments in celestial body surface, carry scientific research equipment detected celestial body surface into
The mobile detection of row, and detection data is transmitted and is analyzed back to control mechanism, be one kind can detected celestial body surface certainly
By moving, the space mobile robot of scientific exploration task is completed.Occur a large amount of novel lunar rovers in global range at present
And Marsokhod.These lunar rovers and Marsokhod carry the existing advanced electronic circuit of the mankind, can be in moonscape and fire
Realize various detection missions in star catalogue face.These sniffing robots, because of earth's surface well lighted, can using solar energy and
The mode of battery joint power supply is powered, and electronic circuit system also can be used and complete a series of function.But for surface
Dim light, temperature is high, and the temperature difference is big, and there are the celestial body surfaces of the radioactive substance of high concentration, the corrosive substance of high concentration
Detection, current sniffing robot can not carry out scientific exploration activity well.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of celestial body detecting automatic obstacle avoiding mobile robots, so that
Probe vehicles can complete for a long time detection mission on the celestial body surface with extreme environment, it will solve currently for pole
The problem of end ring border celestial body detecting.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of celestial body detecting automatic obstacle avoiding mobile robot, including chassis and the vertical-shaft wind being set on the chassis
Generator, driving forward system, path reset system, avoidance back off system, avoidance turning system and coupled flip-flop, wherein driving
Dynamic forward system, path reset system, avoidance back off system and avoidance turning system are coupled by coupled flip-flop, institute
Stating coupled flip-flop and the chassis can be movable relatively, and the driving forward system is connect with vertical axis aerogenerator, described
Vertical axis aerogenerator is as power source；After the coupled flip-flop and barrier collide, by occurring with the chassis
Relative motion triggers avoidance back off system, avoidance turning system and path reset system, to realize keeping away for mobile robot
Barrier retreats, avoidance turning and path resetting move.
The vertical axis aerogenerator includes blade, blade support axis, spindle of vertical-axis wind motor and vertical axis
Wind engine base, wherein vertical-shaft wind motor seat is set on the chassis, the spindle of vertical-axis wind motor
Lower end and the vertical-shaft wind motor seat be rotatablely connected, upper end has by blade support axis connection multiple circumferentially lays
Blade, the spindle of vertical-axis wind motor connect by bevel gear set I with the driving forward system.
The driving forward system includes transmission shaft I, transmission shaft II, transmission shaft III, synchronous belt transmission device, wherein being driven
Axis I and transmission shaft II are rotatablely arranged on the chassis and parallel with the direction of advance of the mobile robot, described
Transmission shaft I is connect by bevel gear set I with vertical axis aerogenerator, and the transmission shaft I and transmission shaft II are by being set to
State chassis front end friction pulley group I be sequentially connected, the transmission shaft III be set to the rear end on the chassis and with the moving machine
The direction of advance of device people is vertical, and the transmission shaft II is connect by bevel gear set II with the transmission shaft III, the transmission
Axis III passes through synchronous belt transmission device and the rear wheel drive axis connection.
The friction pulley group I includes the friction pulley I and friction pulley II of mutual CONTACT WITH FRICTION, wherein friction pulley I and the biography
Moving axis I is keyed and can axially move, and the friction pulley I is rotatably coupled with the fixed bracket of friction pulley, the friction pulley
Fixed bracket is fixedly connected with the coupled flip-flop, and the friction pulley II is sheathed on the transmission shaft II and axial direction and week
To fixing, the friction pulley I, relative to the movement on the chassis, is realized and the friction pulley II by the coupled flip-flop
Separation and engagement.
The avoidance back off system includes friction pulley group II, friction drive wheel I and friction drive wheel support shaft, wherein rubbing
Wheel group II includes friction pulley III and friction pulley IV, and friction pulley III and friction pulley IV are fixedly arranged on the transmission shaft I and transmission shaft respectively
On II, one end of the friction drive wheel support shaft is fixedly connected with the coupled flip-flop, and the other end and friction drive wheel I can
Rotationally connect, the friction drive wheel I is moved backward by the coupled flip-flop, with the friction pulley III for being located at two sides and
Friction pulley IV engages, so that the rear wheel driving axle be driven to invert, realizes the fallback function of mobile robot.
The avoidance turning system includes upper rack, fixed gear, lower rack gear, knuckle arm and knuckle, wherein upper tooth
Item is connect with the coupled flip-flop, and the lower rack gear is fixedly connected with the chassis and, institute hinged with one end of knuckle arm
The other end for stating knuckle arm is connect with the knuckle, the fixed gear rotationally connect with the chassis and with it is upper
Rack gear and the engagement of lower rack gear.
The path reset system includes friction wheel assembly III, friction drive wheel II, frictional drive wheel support, bevel gear set
III, transmission shaft IV, transmission shaft V and cam, wherein transmission shaft IV and transmission shaft V be rotatablely arranged on the chassis and
Transmission shaft IV is parallel with transmission shaft I, and the transmission shaft V is vertically arranged with the transmission shaft IV and by bevel gear set III and institute
The transmission connection of transmission shaft IV is stated, the friction wheel assembly III includes friction pulley IV and friction pulley V, the friction pulley IV and friction
Wheel V is fixedly arranged on the transmission shaft I and transmission shaft IV and corresponding respectively, and the cam is fixedly arranged on the transmission shaft V,
The friction drive wheel II is mounted on the coupled flip-flop by frictional drive wheel support, and the friction drive wheel II passes through
The coupled flip-flop is engaged relative to the movement on the chassis with the friction pulley IV and friction pulley V, and the cam is driven to turn
Dynamic, the cam pushes coupled flip-flop to reset.
The coupled flip-flop is equipped with roll wheel assembly corresponding with the cam, and the roll wheel assembly includes idler wheel branch
Frame and the idler wheel being mounted on the rolling wheel support, the rolling wheel support are connect with the coupled flip-flop, the cam rotation
Pushing rolling wheels realize the reset of the coupled flip-flop.
The coupled flip-flop includes installation frame, and the installation frame connects with the transmission shaft I and the sliding of transmission shaft II
It connects, the path reset system, avoidance back off system and avoidance turning system are connect with the installation frame.
The coupled flip-flop further includes the impingement plate for being set to the installation frame front end, and the impingement plate is cambered surface knot
Structure.
The invention has the advantages and beneficial effects that:
The wind energy that the present invention can use celestial body surface carries out the generation of energy, and composing environment drives, and utilization high temperature resistant,
Corrosion resistant pure mechanic structure is driven, and without controlling the electronic circuit of probe vehicles traveling, is not easy by putting on celestial body surface
Penetrating property substance is interfered, and realizes autonomous, independent navigation using distributed frame.
The present invention can trouble-free work under, high radioactivity substance poor in high-temperature, highly corrosive substance, hyperbaric environment
Make several weeks, several months, even several years, realizes and acquire data sample in multiple places, there is the sufficiently long working time to acquire weather
Delta data, observation understand the variation of celestial body surface environment.
The present invention is mutually coupled each system on chassis using coupled flip-flop, reduces driving quantity, letter
Change drive mechanism, improves the stability of entire mobile sniffing robot.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the structural schematic diagram of vertical-shaft wind motor in the present invention；
Fig. 4 is the structural schematic diagram that forward system is driven in the present invention；
Fig. 5 is the structural schematic diagram of avoidance back off system in the present invention；
Fig. 6 is the structural schematic diagram of avoidance turning system in the present invention；
Fig. 7 is the axonometric drawing of avoidance turning system in the present invention；
Fig. 8 is the structural schematic diagram of path reset system in the present invention.
In figure: 1 is blade, and 2 be blade support axis, and 3 be spindle of vertical-axis wind motor, and 4 be power output bevel gear
I, 5 be vertical-shaft wind motor seat, and 6 be power output bevel gear II, and 7 be transmission shaft I, and 8 be feather key, and 9 be friction pulley I,
10 be friction pulley II, and 11 be transmission shaft II, and 12 be drive bevel gear I, and 13 be drive bevel gear II, and 14 be transmission shaft III, and 15 are
V belt translation wheel, 16 be synchronous belt, and 17 be rear wheel driving axle, and 18 be friction pulley III, and 19 be friction pulley IV, and 20 be friction drive wheel I,
21 be coupled flip-flop, and 22 be friction drive wheel support shaft, and 23 be the fixed bracket of friction pulley, and 24 be upper rack, and 25 be fixed tooth
Wheel, 26 be lower rack gear, and 27 be straight pin, and 28 be knuckle arm, and 29 be knuckle, and 30 be front-axle beam, and 31 be friction pulley IV, and 32 be to rub
Wheel V is wiped, 33 be friction drive wheel II, and 34 be drive bevel gear III, and 35 be drive bevel gear IV, and 36 be cam, and 37 be idler wheel,
38 be rolling wheel support, and 39 be frictional drive wheel support, and 40 be chassis, and 41 be transmission shaft IV, and 42 be transmission shaft V, and 43 be installing frame
Frame, 44 be impingement plate, and 50 be vertical axis aerogenerator, and 60 is drive forward system, and 70 be path reset system, and 80 be avoidance
Back off system, 90 be avoidance turning system.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
As shown in Figs. 1-2, a kind of celestial body detecting automatic obstacle avoiding mobile robot provided by the invention, including chassis 40 and set
It is placed in vertical axis aerogenerator 50 on chassis 40, driving forward system 60, path reset system 70, avoidance back off system
80, avoidance turning system 90 and coupled flip-flop 21, wherein driving forward system 60, path reset system 70, avoidance retreat system
System 80 and avoidance turning system 90 are coupled by coupled flip-flop 21, and coupled flip-flop 21 and chassis 40 can opposite fortune
Dynamic, driving forward system 60 is connect with vertical axis aerogenerator 50, and vertical axis aerogenerator 50 is used as power source；Work as coupling
After trigger 21 and barrier collision, avoidance back off system 80 is triggered by the way that relative motion occurs with chassis 40, avoidance is turned
System 90 and path reset system 70, to realize that the avoidance of mobile robot retreats, avoidance turning and path resetting move.
As shown in figure 3, vertical axis aerogenerator 50 includes blade 1, blade support axis 2, vertical-shaft wind motor master
Axis 3 and vertical-shaft wind motor seat 5, wherein vertical-shaft wind motor seat 5 is set on chassis 40, and vertical-shaft wind starts
The lower end of owner's axis 3 and vertical-shaft wind motor seat 5 are rotatablely connected, and upper end is connected with multiple along week by blade support axis 2
To the blade 1 of laying, spindle of vertical-axis wind motor 3 is connect by bevel gear set I with driving forward system 60.
In the embodiment of the present invention, blade 1 uses the NACA0018 of National Advisory Committee for Aeronautics (NACA) production
Airfoil fan.
As shown in figure 4, driving forward system 60 includes transmission shaft I 7, transmission shaft II 11, transmission shaft III 14, toothed belt transmission
Device, wherein transmission shaft I 7 and transmission shaft II 11 are rotatablely arranged on chassis 40 and the advance side with mobile robot
To parallel, transmission shaft I 7 is connect by bevel gear set I with vertical axis aerogenerator 50, and transmission shaft I 7 and transmission shaft II 11 pass through
The friction pulley group I for being set to 40 front end of chassis is sequentially connected, transmission shaft III 14 be set to the rear end on chassis 40 and with mobile machine
The direction of advance of people is vertical, and transmission shaft II 11 is connect by bevel gear set II with transmission shaft III 14, and transmission shaft III 14 passes through synchronization
Belt driver is connect with rear wheel driving axle 17.
Friction pulley group I includes the friction pulley I 9 and friction pulley II 10 of mutual CONTACT WITH FRICTION, wherein friction pulley I 9 and transmission shaft I
7 are keyed and can axially move, and friction pulley I 9 is rotatably coupled with the fixed bracket 23 of friction pulley, the fixed bracket of friction pulley
23 are fixedly connected with coupled flip-flop 21, and friction pulley II 10 is sheathed on transmission shaft II 11 and axial and circumferential are fixed, friction
Take turns I 9 movement by coupled flip-flop 21 with respect to chassis 40, realization with the separation of friction pulley II 10 and engage.
Bevel gear set I includes power output bevel gear I 4 and power output bevel gear II 6, and power output bevel gear I 4 is arranged
In on spindle of vertical-axis wind motor 3, power output bevel gear II 6 is set to the end of transmission shaft I 7 and and power output
Bevel gear I 4 engages.
Bevel gear set II includes drive bevel gear I 12 and drive bevel gear II 13, and drive bevel gear I 12 is set to transmission shaft
II 11 end, drive bevel gear II 13 are set to the end of transmission shaft III 14 and engage with drive bevel gear I 12.Synchronous belt
Transmission device includes synchronous belt 16 and two V belt translation wheels 15, and two V belt translation wheels 15 are sheathed on transmission shaft III 14 and rear-wheel respectively
It is sequentially connected in drive shaft 17 and by synchronous belt 16.
The blade 1 of vertical axis aerogenerator 50 is by the effect setting in motion of wind-force, vertical-shaft wind motor 50 at this time
Start to transform wind energy into mechanical energy, kinetic energy is passed to by transmission shaft I 7 by bevel gear set I, friction pulley group I is by transmission shaft I 7
Kinetic energy pass to transmission shaft II 11, bevel gear set II imparts power to transmission shaft III 14 again, and transmission shaft III 14 passes through synchronization
Belt driver is driven rear wheel driving axle 17, and final power output completes driving forward travel to driving wheel.
As shown in figure 5, avoidance back off system 80 includes friction pulley group II, friction drive wheel I 20 and friction drive wheel support
Axis 22, wherein friction pulley group II includes friction pulley III 18 and friction pulley IV 19, and friction pulley III 18 and the difference of friction pulley IV 19 are fixed
In on transmission shaft I 7 and transmission shaft II 11, one end of friction drive wheel support shaft 22 is fixedly connected with coupled flip-flop 21, another
End is rotatably coupled with friction drive wheel I 20, and friction drive wheel I 20 passes through coupled flip-flop 21 and moves backward, and is located at
The friction pulley III 18 and friction pulley IV 19 of two sides engage, to drive rear wheel driving axle 17 to invert, after realizing mobile robot
Move back function.
When driving is advanced, the power transmission between transmission shaft I 7 and transmission shaft II 11 relies primarily on friction pulley group I to complete,
Friction pulley I 9 in friction pulley group I can slidably reciprocate on feather key 8, and friction pulley I 9 is fixed on coupling with fixed bracket 23
On trigger 21, it can be moved back and forth with coupled flip-flop 21 and realize clutch with friction pulley II 10.When mobile robot strikes
When barrier, coupled flip-flop 21 is drawn back a certain distance, and coupled flip-flop 21 is inconjunction with the fixation bracket 23 of friction pulley I 9
It draws back, friction pulley group I is disengaged from onward impulse disappearance.Friction drive wheel I 20 is backed to coupled flip-flop 21 and is rubbed at this time
It wipes between wheel group II, friction pulley group II realizes engagement, and reverse power transmission realizes reversion to transmission shaft II 11, final driving wheel.
As shown in fig. 6-7, avoidance turning system 90 includes upper rack 24, fixed gear 25, lower rack gear 26, knuckle arm 28
And knuckle 29, wherein upper rack 24 is connect with coupled flip-flop 21, and lower rack gear 26 is fixedly connected with chassis 40 and and knuckle
One end of arm 28 is hinged, and the other end of knuckle arm 28 is connect with knuckle 29, and fixed gear 25 rotationally connects with chassis 40
It connects and is engaged with upper rack 24 and lower rack gear 26.
When coupled flip-flop 21 moves backward, the upper rack 24 in gear and rack teeth mechanism is inconjunction with coupled detector at this time
21 move backward together, excite lower rack gear 26 in gear and rack teeth mechanism to cooperate with counter motion, the end of lower rack gear 26 passes through cylinder
Pin 27 is connected with the knuckle arm 28 in bridge before mobile robot and can be with relative motion.Instantly rack gear 26 is to mobile robot
When forward, knuckle arm 28 also travels forward, and the knuckle 29 being inconjunction with will deflect angle, realizes wheel steering.
Mobile robot is realized to turn to and be retreated at this time, generates certain deflection angle with original direction of advance.
As shown in figure 8, path reset system 70 includes friction wheel assembly III, friction drive wheel II 33, friction drive wheel branch
Frame 39, bevel gear set III, transmission shaft IV 41, transmission shaft V 42 and cam 36, wherein transmission shaft IV 41 and transmission shaft V 42 can turn
It is set on chassis 40 dynamicly and transmission shaft IV 41 is parallel with transmission shaft I 7, transmission shaft V 42 and transmission shaft IV 41 be vertically arranged,
And be sequentially connected by bevel gear set III and transmission shaft IV 41, friction wheel assembly III includes friction pulley IV 31 and friction pulley V 32,
Friction pulley IV 31 and friction pulley V 32 are fixedly arranged on transmission shaft I 7 and transmission shaft IV 41 and corresponding respectively, and cam 36 is fixedly arranged on
On transmission shaft V 42, friction drive wheel II 33 is mounted on coupled flip-flop 21 by frictional drive wheel support 39, frictional drive
II 33 are taken turns by coupled flip-flop 21 relative to the movement on chassis 40, is engaged with friction pulley IV 31 and friction pulley V 32, band moving cam
36 rotations, cam 36 push coupled flip-flop 21 to reset.
Bevel gear set III includes drive bevel gear III 34 and drive bevel gear IV 35, and bevel gear III 34 is sheathed on transmission shaft IV
On 41, drive bevel gear IV 35 is sheathed on transmission shaft V 42 and engages with drive bevel gear III 34.
Coupled flip-flop 21 is equipped with roll wheel assembly corresponding with cam 36, and roll wheel assembly includes rolling wheel support 38 and peace
Idler wheel 37 on rolling wheel support 38, rolling wheel support 38 are connect with coupled flip-flop 21, and cam 36 rotates pushing rolling wheels 37, real
The reset of existing coupled flip-flop 21.
When coupled flip-flop 21 retreats, the friction drive wheel II 33 and idler wheel 37 being connected with coupled flip-flop are also backward
It moves back, friction drive wheel II 33 is wiped into friction wheel assembly III, and transmission shaft IV 41 obtains power, and power is transmitted by bevel gear set III
To transmission shaft V 42,36 setting in motion of cam.While friction drive wheel II 33 retreats, idler wheel 37 moves to the basic circle of cam 36
At radius, so the movement of cam 36 can push idler wheel 37 and generate resetting movement.When cam 36 moves to maximum distance, with
The reset of idler wheel 37, coupled flip-flop 21 return to origin position, and friction drive wheel I 20 and friction drive wheel II 33 detach, upper tooth
Item 24 returns to origin, and wheel resets, and friction pulley group I realizes engagement again, and transmission shaft II 11 obtains the power that driving is advanced, and drives
Driving wheel rotates forward, and mobile robot is advanced.
Coupled flip-flop 21 includes installation frame 43 and the impingement plate 44 for being set to 43 front end of installation frame, installation frame 43
It is slidably connected with transmission shaft I 7 and transmission shaft II 11, and is slideway reciprocating motion with transmission shaft I 7 and transmission shaft II 11.Path weight
It sets system 70, avoidance back off system 80 and avoidance turning system 90 to connect with installation frame 43, to realize multi-modal movement.
Impingement plate 44 is globoidal structure, and impingement plate 44 is preposition, can effectively mitigate the impact load of vehicle body, plays protection well and makees
With.
In the embodiment of the present invention, the rotation of bevel gear set I is compared for 1:2；The transmission ratio of friction pulley group I is 1:1；Friction pulley
The transmission ratio of group II is 1:1；The transmission ratio of bevel gear set II is 1:2；The transmission ratio of friction pulley group III is 1:4, bevel gear set III
Transmission ratio be 1:2.
The present invention will use the purely mechanic components such as rack-and-pinion, cam, friction pulley, realize the mobile row of multi-modal automatic obstacle avoiding
It walks, wherein coupled flip-flop is effectively reduced the quantity of driving, and can effectively couple each system of sniffing robot, letter
Change the control system of robot.The present invention can be autonomous to complete avoidance movement in the case where no electronic circuit control, simultaneously
Use material of the titanium alloy and stainless steel generally used using aerospace field as robot, it is not dry by radioactive substance
It disturbs, resistance to corrosion is strong, is adapted to celestial body surface high temperature and temperature difference, and the radioactive substance of high concentration will no longer shadow
The automatic obstacle avoiding system for ringing the movement sniffing robot, substantially increases the stability of the robot.The movement sniffing robot
Using vertical wind engine as power device, celestial body surface that can be very faint in no sunlight or sunray,
Wind energy transformation using celestial body surface is mechanical energy, completes the generation and conversion of energy, realizes unregulated power driving.
In conclusion having for earth's surface, excessive temperature is poor, atmospheric pressure is very big, there is extremely more radioactive substances and corrosion
Property substance and surface covered by atmosphere, cannot be designed a kind of based on purely mechanic using the celestial body of the extreme environments such as solar energy
Structure is capable of the objects outside Earth probe vehicles of independent navigation.It is driven using high temperature resistant, corrosion resistant pure mechanic structure, without control
The electronic circuit that probe vehicles processed are advanced, is not easy to be interfered by the radioactive substance on celestial body surface, be realized using distributed frame
Autonomous, independent navigation.It can be stable under, high radioactivity substance poor in high-temperature, highly corrosive substance, hyperbaric environment
It works several weeks, several months, even several years.It realizes and acquires data sample in multiple places, there is the sufficiently long working time to acquire day
Gas delta data, observation understand the variation of celestial body surface environment.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of celestial body detecting automatic obstacle avoiding mobile robot, which is characterized in that including chassis (40) and be set to the chassis
(40) vertical axis aerogenerator (50), driving forward system (60), path reset system (70), avoidance back off system on
(80), avoidance turning system (90) and coupled flip-flop (21), wherein driving forward system (60), path reset system (70),
Avoidance back off system (80) and avoidance turning system (90) are coupled by coupled flip-flop (21), the coupled flip-flop
(21) it can be movable relatively with the chassis (40), the driving forward system (60) connect with vertical axis aerogenerator (50),
The vertical axis aerogenerator (50) is used as power source；After the coupled flip-flop (21) and barrier collide, by with
Relative motion occurs for the chassis (40) to trigger avoidance back off system (80), avoidance turning system (90) and path reset system
(70), to realize that the avoidance of mobile robot retreats, avoidance turning and path resetting move.
2. celestial body detecting automatic obstacle avoiding mobile robot according to claim 1, which is characterized in that the vertical-shaft wind
Generator (50) includes blade (1), blade support axis (2), spindle of vertical-axis wind motor (3) and vertical-shaft wind motor
Seat (5), wherein vertical-shaft wind motor seat (5) is set on the chassis (40), the spindle of vertical-axis wind motor
(3) lower end and the vertical-shaft wind motor seat (5) is rotatablely connected, and upper end is connected with multiple by blade support axis (2)
The blade (1) circumferentially laid, the spindle of vertical-axis wind motor (3) is advanced by bevel gear set I and the driving is
System (60) connection.
3. celestial body detecting automatic obstacle avoiding mobile robot according to claim 1 or 2, which is characterized in that before the driving
It include transmission shaft I (7), transmission shaft II (11), transmission shaft III (14), synchronous belt transmission device into system (60), wherein transmission shaft I
(7) and transmission shaft II (11) is rotatablely arranged on the chassis (40) and the direction of advance with the mobile robot
In parallel, the transmission shaft I (7) is connect by bevel gear set I with vertical axis aerogenerator (50), the transmission shaft I (7) and biography
Moving axis II (11) is sequentially connected by being set to the friction pulley group I of the chassis (40) front end, transmission shaft III (14) setting
In the rear end of the chassis (40) and vertical with the direction of advance of the mobile robot, the transmission shaft II (11) passes through cone
Gear set II is connect with the transmission shaft III (14), the transmission shaft III (14) by synchronous belt transmission device and it is described after
Wheel drive shaft (17) connection.
4. celestial body detecting automatic obstacle avoiding mobile robot according to claim 3, which is characterized in that the friction pulley group I
Friction pulley I (9) and friction pulley II (10) including mutual CONTACT WITH FRICTION, wherein friction pulley I (9) and transmission shaft I (7) key connect
It connects and can axially move, the friction pulley I (9) is rotatably coupled with friction pulley fixed bracket (23), and the friction pulley is solid
Fixed rack (23) is fixedly connected with the coupled flip-flop (21), and the friction pulley II (10) is sheathed on the transmission shaft II (11)
Upper and axial and circumferential are fixed, and the friction pulley I (9) passes through the coupled flip-flop (21) relatively described chassis (40)
It is mobile, it realizes and the separation of the friction pulley II (10) and engages.
5. celestial body detecting automatic obstacle avoiding mobile robot according to claim 3, which is characterized in that the avoidance retreats system
System (80) includes friction pulley group II, friction drive wheel I (20) and friction drive wheel support shaft (22), and wherein friction pulley group II includes
Friction pulley III (18) and friction pulley IV (19), friction pulley III (18) and friction pulley IV (19) are fixedly arranged on the transmission shaft I (7) respectively
On transmission shaft II (11), one end of the friction drive wheel support shaft (22) is fixedly connected with the coupled flip-flop (21),
The other end is rotatably coupled with friction drive wheel I (20), and the friction drive wheel I (20) passes through the coupled flip-flop (21)
Move backward, be located at two sides friction pulley III (18) and friction pulley IV (19) engage, to drive the rear wheel driving axle
(17) it inverts, realizes the fallback function of mobile robot.
6. celestial body detecting automatic obstacle avoiding mobile robot according to claim 3, which is characterized in that avoidance turning system
System (90) includes upper rack (24), fixes gear (25), lower rack gear (26), knuckle arm (28) and knuckle (29), wherein on
Rack gear (24) is connect with the coupled flip-flop (21), the lower rack gear (26) be fixedly connected with the chassis (40) and with turn
Hinged to one end of joint arm (28), the other end of the knuckle arm (28) is connect with the knuckle (29), the fixed tooth
Wheel (25) rotationally connect with the chassis (40) and engages with upper rack (24) and lower rack gear (26).
7. celestial body detecting automatic obstacle avoiding mobile robot according to claim 3, which is characterized in that path resetting system
System (70) includes friction wheel assembly III, friction drive wheel II (33), frictional drive wheel support (39), bevel gear set III, transmission shaft
IV (41), transmission shaft V (42) and cam (36), wherein transmission shaft IV (41) and transmission shaft V (42) are rotatablely arranged at institute
It states on chassis (40) and transmission shaft IV (41) is parallel with transmission shaft I (7), the transmission shaft V (42) and the transmission shaft IV
(41) it is vertically arranged and is sequentially connected by bevel gear set III and the transmission shaft IV (41), the friction wheel assembly III includes
Friction pulley IV (31) and friction pulley V (32), the friction pulley IV (31) and friction pulley V (32) are fixedly arranged on the transmission shaft respectively
On I (7) and transmission shaft IV (41) and corresponding, the cam (36) is fixedly arranged on the transmission shaft V (42), and the friction passes
Driving wheel II (33) is mounted on the coupled flip-flop (21) by frictional drive wheel support (39), the friction drive wheel II
(33) by the coupled flip-flop (21) relative to the movement of the chassis (40), with the friction pulley IV (31) and friction pulley V
(32) it engages, the cam (36) is driven to rotate, the cam (36) pushes coupled flip-flop (21) to reset.
8. celestial body detecting automatic obstacle avoiding mobile robot according to claim 7, which is characterized in that the coupled flip-flop
(21) it is equipped with roll wheel assembly corresponding with the cam (36), the roll wheel assembly includes rolling wheel support (38) and is mounted on
Idler wheel (37) on the rolling wheel support (38), the rolling wheel support (38) connect with the coupled flip-flop (21), described convex
(36) rotation pushing rolling wheels (37) is taken turns, realizes the reset of the coupled flip-flop (21).
9. celestial body detecting automatic obstacle avoiding mobile robot according to claim 3, which is characterized in that the coupled flip-flop
It (21) include installation frame (43), the installation frame (43) is slidably connected with the transmission shaft I (7) and transmission shaft II (11),
The path reset system (70), avoidance back off system (80) and avoidance turning system (90) connect with the installation frame (43)
It connects.
10. celestial body detecting automatic obstacle avoiding mobile robot according to claim 9, which is characterized in that the coupling triggering
Device (21) further includes the impingement plate (44) for being set to the installation frame (43) front end, and the impingement plate (44) is globoidal structure.
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| CN113788162A (en) * | 2021-09-18 | 2021-12-14 | 北京空间飞行器总体设计部 | High-performance Mars vehicle |
| CN113979360A (en) * | 2021-10-28 | 2022-01-28 | 江苏芯安集成电路设计有限公司 | Singlechip control terminal based on internet |
| CN114659556A (en) * | 2022-03-03 | 2022-06-24 | 中国科学院计算技术研究所 | Tour device oriented separable star catalogue material identification method and system |
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