CN109808787B

CN109808787B - Robot jumping moving mechanism and asteroid detection robot

Info

Publication number: CN109808787B
Application number: CN201711175939.1A
Authority: CN
Inventors: 曾祥远; 牛汉青; 刘向东; 陈振
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2017-11-22
Filing date: 2017-11-22
Publication date: 2020-10-02
Anticipated expiration: 2037-11-22
Also published as: CN109808787A

Abstract

The utility model relates to a robot jumping moving mechanism and asteroid exploration robot, jumping moving mechanism includes telescopic link, drive arrangement, a plurality of elastic spoke centers on the telescopic link is evenly arranged, and every elastic spoke's both ends connect respectively in the both ends of telescopic link, so that jumping moving mechanism forms into cage spherical structure, drive arrangement is used for the drive the telescopic link is flexible, makes a plurality of elastic spoke take place deformation. The driving device drives the telescopic rod to contract, so that the elastic spokes are compressed, and the jumping and moving mechanism stores energy. When the elastic spokes are stretched to release energy, the jumping movement mechanism obtains the energy of jumping under the reaction of the ground, thereby realizing the jumping movement. In addition, the cage-shaped spherical structure formed by the elastic spokes is beneficial to the jumping and moving mechanism to realize rolling movement. The elastic spokes can also absorb external impact energy through deformation, so that internal devices of the jumping movement mechanism are effectively protected.

Description

Robot jumping moving mechanism and asteroid detection robot

Technical Field

The disclosure relates to the field of asteroid exploration robots, in particular to a robot jumping movement mechanism and an asteroid exploration robot with the robot jumping movement mechanism.

Background

The mobile robot developed at present mainly adopts wheel type, crawler type, multi-foot type and other mobile modes. However, the three modes have certain limitations in the field of asteroid detection and the like.

Wheel drives, while easy to control, are effective over smooth terrain and can span most obstacles. But a wheel-driven robot has difficulty in crossing over an obstacle having a size larger than its radius, such as a steep rock.

Compared with a wheel type robot, the multi-legged robot has stronger improvement on the obstacle crossing capability, but the gait control of the conventional multi-legged robot is very complex. The design of each leg usually involves multiple degrees of freedom of movement, requiring different controllers to drive the robot, thus also increasing energy consumption. Although the multi-legged robot can span most obstacles, it cannot do so for obstacles more than twice as long as the obstacles.

The caterpillar type robot is generally used in a rugged ground surface environment, the ability of the caterpillar type robot to climb over obstacles is mainly determined by friction between the caterpillar and the ground, and if the slope is too steep, the caterpillar type robot cannot climb over the ground. Especially on the minor planet with weak gravity, the friction force becomes very small due to gravity, and the crawler is not suitable for driving.

In fact, in nature, people can easily find that a plurality of organisms adopt a jumping movement mode. The jumping movement mode can enable the living beings to cross obstacles with the size being several times of the living beings, and the planets consume less energy to realize large-height and long-distance jumping because the gravity of the planets is weak. Although the NASA and other mechanisms develop various robots with bouncing mechanisms in the field of asteroid detection, the mechanisms are complex in structure.

Disclosure of Invention

The purpose of this disclosure is to provide a simple structure's jump mechanism to little planet's microgravity environment or other engineering exploration environment. The jumping mechanism can provide a buffer for the robot when landing while providing jumping capability and rolling capability, and provides support protection for internal devices of the robot.

In order to achieve the above object, the present disclosure provides a robot jumping movement mechanism, which includes a telescopic rod, a driving device, and a plurality of elastic spokes, the plurality of elastic spokes are uniformly arranged around the telescopic rod, two ends of each elastic spoke are respectively connected to two ends of the telescopic rod, so that the jumping movement mechanism is formed into a cage-shaped spherical structure, and the driving device is configured to drive the telescopic rod to extend and retract, so that the plurality of elastic spokes are deformed.

Optionally, the telescopic rod comprises a main rod and an auxiliary rod which are sleeved with each other, the main rod is formed into a hollow structure, two ends of the elastic spokes are respectively connected to the upper end of the main rod and the lower end of the auxiliary rod, and the driving device is used for driving the auxiliary rod to axially slide relative to the main rod.

Optionally, the driving device includes a motor and a gear mounted on an output shaft of the motor, the motor is fixed on the main rod, the secondary rod is formed into a rack structure engaged with the gear, and the motor drives the gear to rotate so as to drive the secondary rod to move axially relative to the main rod.

Optionally, the lower end of the primary rod is formed with a limiting spigot, and the upper end of the secondary rod is formed with a limiting flange, and the limiting spigot is matched with the limiting flange to limit the secondary rod from being pulled out of the primary rod.

Optionally, two ends of the telescopic rod are respectively provided with a spoke fixer.

Optionally, a plurality of assembly holes are arranged on the side wall of the spoke fixing device, and the assembly holes are uniformly distributed along the circumferential direction of the spoke fixing device.

Optionally, the skip moving mechanism further comprises a momentum wheel located at the center of the skip moving mechanism.

Optionally, the momentum wheel is fixed to the main bar.

Optionally, the number of resilient spokes is greater than or equal to eight.

Through above-mentioned technical scheme, drive arrangement drive telescopic link is flexible for a plurality of elastic spokes take place deformation, and when elastic spoke was compressed, jump moving mechanism carried out the energy storage. When the elastic spokes are stretched to release energy, the jumping movement mechanism obtains the energy of jumping under the reaction of the ground, thereby realizing the jumping movement. In addition, the cage-shaped spherical structure formed by the elastic spokes is beneficial to the jumping and moving mechanism to realize rolling movement. The elastic spokes can also absorb external impact energy through deformation, so that internal devices of the jumping movement mechanism are effectively protected.

According to another aspect of the present disclosure, there is provided a asteroid probe robot including the robot hopping movement mechanism described above.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a schematic front view of a robot jump movement mechanism according to an embodiment of the present disclosure;

FIG. 2 is a schematic cross-sectional view of a robotic jump movement mechanism according to one embodiment of the present disclosure;

fig. 3 is a schematic perspective view of a robot jumping movement mechanism according to an embodiment of the present disclosure;

fig. 4 is a schematic sectional exploded view of a telescopic rod in the robot jumping movement mechanism according to an embodiment of the present disclosure;

fig. 5 is a schematic view of a robot jumping movement mechanism in a compressed state according to an embodiment of the present disclosure, wherein a driving device and a momentum wheel are not shown;

FIG. 6 is a schematic structural view of a portion of the components of the robotic skip moving mechanism of the present disclosure, wherein momentum wheels are shown;

fig. 7 is an enlarged view of a portion B in fig. 6.

Description of the reference numerals

1 expansion link 11 main rod

12 auxiliary rod 13 limit spigot

14 position-limiting flange 2 elastic spoke

3 output shaft of motor 31

4 gear 5 spoke fixer

51 Assembly hole 6 momentum wheel

61 base 62 swivel wheel

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the description of the present disclosure, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present disclosure and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, and a specific orientation configuration and operation, and thus, should not be construed as limiting the present disclosure.

As shown in fig. 1 to 7, the present disclosure provides a robot jumping movement mechanism, which includes a telescopic rod 1, a driving device, and a plurality of elastic spokes 2, wherein the plurality of elastic spokes 2 are uniformly arranged around the telescopic rod 1, two ends of each elastic spoke 2 are respectively connected to two ends of the telescopic rod 1, so that the jumping movement mechanism is formed into a cage-shaped spherical structure, and the driving device is used for driving the telescopic rod 1 to stretch and contract, so that the plurality of elastic spokes 2 deform.

Through the technical scheme, under the action of the driving device, the telescopic rod 1 is compressed, so that the elastic spokes 2 connected to two ends of the telescopic rod 1 are compressed, and energy storage is realized; when the driving device releases the action on the telescopic rod 1, the compressed elastic spokes 2 quickly extend to release energy. The elastic spokes (2) exert an elastic force on the ground by the jumping and moving mechanism during the stretching process, and meanwhile, the ground can exert a reaction force on the elastic spokes. Thus, the jumping movement mechanism can realize the jumping movement under the action of the reaction force.

In addition, the cage-shaped spherical structure enables the deformation quantity and the deformation direction of each elastic spoke 2 to be consistent on one hand, and is beneficial to improving the jumping stability of the jumping moving mechanism; on the other hand, the cage-shaped spherical structure is convenient for the jumping movement mechanism to realize rolling movement.

In the present disclosure, the telescopic rod 1 may have any suitable structure and shape. In one embodiment, as shown in fig. 2, the telescopic rod 1 comprises a primary rod 11 and a secondary rod 12 sleeved with each other, the primary rod 11 may be formed in a hollow structure, and the secondary rod 12 can slide in the primary rod 11. Two ends of the elastic spokes 2 are respectively connected with the upper end of the main rod 11 and the lower end of the auxiliary rod 12. In this way, the driving device can drive the auxiliary rod 12 to retract into the main rod 11, so that the elastic spokes 2 are compressed to realize energy storage; when the elastic spokes 2 are extended, the auxiliary rods 12 can be driven to extend out of the main rod 11, and energy is released to realize the jumping movement of the jumping movement mechanism. The telescopic rod 1 is simple in structure and high in feasibility.

In the present disclosure, the driving device may have any suitable structure. In one embodiment, as shown in fig. 2, the driving means includes a motor 3 and a gear 4 mounted on an output shaft 31 of the motor 3, the motor 3 is fixed to the primary lever 11, and the secondary lever 12 may be formed in a rack structure engaged with the gear 4. Thus, when the motor 3 is powered on, the motor 3 rotates forward to drive the gear 4 to rotate, so as to drive the auxiliary rod 12 to move axially relative to the main rod 11, so that the auxiliary rod 12 retracts into the main rod 11, and the elastic spokes 2 are compressed; when the motor 3 is powered off, the elastic spokes 2 extend under the action of self elasticity to drive the auxiliary rod 12 to extend out of the main rod 11, and the motor 3 rotates reversely under the drive of the drive gear 4. Because the rack structure is directly formed on the auxiliary rod 12, the driving device is simplified, and the increase of the weight of the jumping movement mechanism due to the arrangement of other transmission structures is avoided, thereby being beneficial to improving the jumping capability of the jumping movement mechanism.

In the present disclosure, the motor 3 may be controlled to be turned on and off by a control system of the jump movement mechanism. For example, when the jumping mechanism jumps to the highest point in the air, the control system can give an opening signal to the motor 3, the motor 3 rotates to drive the telescopic rod 1 to contract, so that the elastic spokes 2 are compressed to start energy storage; when the motor 3 stops working, the control system can give a closing signal to the motor 3, and at the moment, the elastic spokes 2 extend to provide jumping energy for the jumping movement mechanism to realize jumping movement.

In order to prevent the secondary rod 12 from slipping out of the primary rod 11 under the driving of the elastic spokes 2, a limit structure may be provided on the telescopic rod 1 in the present disclosure. In the present disclosure, the spacing structure may have any suitable structure and shape. In one embodiment, as shown in fig. 4, the lower end of the primary rod 11 may be formed with a limit stop 13, the upper end of the secondary rod 12 may be formed with a limit flange 14, and the limit stop 13 cooperates with the limit flange 14 to limit the secondary rod 12 from being removed from the primary rod 11. The limit structure is simple and can effectively prevent the auxiliary rod 12 from slipping off the main rod 11.

In the present disclosure, in order to facilitate the fixing of the elastic spokes 2 on the telescopic bar 1, as shown in fig. 1 to 2, spoke holders 5 are provided at both ends of the telescopic bar 1, respectively, for fixing the elastic spokes 2 to the upper end of the main bar 11 and the lower end of the sub-bar 12. The spoke fixing device 5 and the telescopic rod 1 can be connected in various ways, such as threaded fit connection, screw fixed connection and the like. In one embodiment, as shown in fig. 2, the spoke fixing device 5 can be directly sleeved on the upper end of the primary rod 11 and the lower end of the secondary rod 12 by an interference fit, and the connection is simple and reliable.

In the present disclosure, the spoke fixing devices 5 can have any suitable structure and shape. In one embodiment, as shown in FIG. 1, both of the spoke holders 5 can be formed as a cylinder, the cylindrical structure facilitating mounting of the resilient spokes 2 with mounting holes 51 equally spaced around the circumference thereof.

As shown in FIG. 6, the side wall of the spoke fixing part 5 is provided with a plurality of assembly holes 51, and the assembly holes 51 are evenly distributed along the circumferential direction of the spoke fixing part 5. In the present disclosure, the elastic spokes 2 and the spoke fixing parts 5 can be connected in various ways, for example, the ends of the elastic spokes 2 can be inserted into the assembly holes 51, and then the assembly holes 51 can be filled with a sealant to glue the ends of the elastic spokes 2 and the spoke fixing parts 5 together. For another example, the ends of the resilient spokes 2 may be interference fit with the fitting holes 51 to fix the ends of the resilient spokes 2 and the spoke holder 5 together.

In the present disclosure, as shown in fig. 1 to 3, the jump movement mechanism further includes a momentum wheel 6 at the center of the jump movement mechanism to realize the rolling movement of the jump movement mechanism. Here, the momentum wheel 6 may be any suitable type of central momentum wheel, which the present disclosure is not limited to. The structure and operation of the central momentum wheel are well known to those skilled in the art and will not be described further herein. Specifically, in one embodiment, as shown in fig. 6 and 7, the momentum wheel 6 may be formed in a momentum wheel structure commonly used in the art, and the momentum wheel 6 includes a base 61 and three rotation wheels 62.

Wherein, a rectangular cavity is formed on the base 61, and three rotating wheels 62 can be rotatably assembled on three side walls of the rectangular cavity through bearing assemblies and supporting shafts. The rotation axes of the three rotation wheels 62 are perpendicular to each other and each rotation wheel 62 is connected with a driving motor (not shown in the figure) which can drive the rotation wheel 62 to rotate relative to the base 61. The base 61 may be fixedly mounted to the jump movement mechanism by a fastener.

Thus, the base 61, the telescopic rod 1, the elastic spokes 2 and other components form a stator assembly, and when the driving motor drives the rotating wheel 62 to rotate and reach a certain rotating speed, the stator assembly can be driven to rotate reversely. In other words, when the rotator wheel 62 rotates, the jump movement mechanism will rotate in the opposite direction to the rotation direction of the rotator wheel 62. In the present embodiment, the jump mechanism can be rotated in any direction by engaging the three rotation wheels 62 whose rotation axes are perpendicular to each other. Further, since the jumping movement mechanism is formed in a cage structure having an approximately spherical shape in the present disclosure, the jumping movement mechanism can be rolled in any direction.

In the present disclosure, as shown in fig. 1 to 3, the momentum wheel 6 may be fixed on the main lever 11 and may be located at the center of the jumping movement mechanism. Thus, since the main lever 11 is always in a relatively fixed state, mounting the momentum wheel 6 on the main lever 11 is advantageous for improving the stability of the momentum wheel 6 and the jumping movement mechanism during movement.

In addition, the momentum wheel 6 is arranged at the center of the jumping mechanism, which is beneficial to adjusting the motion posture of the jumping mechanism, for example, when the jumping mechanism is in the air or is ready to jump, the momentum wheel 6 can adjust the air operation posture and the jumping posture in time to ensure that the jumping mechanism moves according to the set track.

In the present disclosure, the number of the elastic spokes 2 can be as large as possible, because the larger the number of the elastic spokes, the smaller the interval between each elastic spoke 2 is under the condition of uniform distribution along the circumference of the telescopic rod 1, and the cage-shaped spherical structure formed in this way is closer to the spherical surface, so that the rolling movement of the jumping movement mechanism can be smoother.

In addition, the elastic spokes 2 can provide a jumping capability and a rolling capability for the jumping movement mechanism, and simultaneously can provide a buffering protection function for the jumping movement mechanism, and particularly when the jumping movement mechanism jumps and lands, the elastic spokes 2 generate deformation to absorb impact energy, so that internal devices (such as the momentum wheel 6) of the jumping movement mechanism are effectively protected.

However, the number of elastic spokes 2 cannot be excessive for cost saving; in addition, the number of the elastic spokes 2 is too large, which increases the requirement for the driving force of the motor 3 for driving the contraction thereof and increases unnecessary energy consumption, so that the number of the elastic spokes 2 cannot be too large. In particular, the number of elastic spokes 2 may be greater than or equal to eight. In one embodiment, as shown in FIG. 3, eight resilient spokes 2 are provided.

According to another aspect of the present disclosure, there is provided a asteroid probe robot including the robot hopping movement mechanism described above. The hopping movement mode can generally make the moving body easily cross obstacles with the dimension being multiple of the self, especially on the asteroid with weak gravity. Therefore, the jumping movement mechanism is used, so that the capability of the mobile robot for crossing obstacles is effectively improved, and the detection action on the asteroid is facilitated.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. The utility model provides a robot jumping moving mechanism, its characterized in that includes telescopic link (1), drive arrangement, a plurality of elastic spoke (2) centers on telescopic link (1) evenly arranges, and the both ends of every elastic spoke (2) connect respectively in the both ends of telescopic link (1), so that jumping moving mechanism forms into cage spherical structure, drive arrangement is used for the drive telescopic link (1) is flexible, makes a plurality of elastic spoke (2) take place deformation.

2. The robot jumping movement mechanism of claim 1, wherein the telescopic rod (1) comprises a main rod (11) and an auxiliary rod (12) sleeved with each other, the main rod (11) is formed into a hollow structure, two ends of the elastic spokes (2) are respectively connected to the upper end of the main rod (11) and the lower end of the auxiliary rod (12), and the driving device is used for driving the auxiliary rod (12) to axially slide relative to the main rod (11).

3. The robot jump movement mechanism according to claim 2, characterized in that the driving means comprises a motor (3) and a gear (4) mounted on an output shaft (31) of the motor (3), the motor (3) being fixed to the main lever (11), the secondary lever (12) being formed in a rack structure meshing with the gear (4), the motor (3) driving the gear (4) in rotation to bring the secondary lever (12) in axial movement relative to the main lever (11).

4. The robot jumping movement mechanism of claim 2, wherein a stopper (13) is formed at a lower end of the main lever (11), and a stopper flange (14) is formed at an upper end of the sub lever (12), and the stopper (13) is engaged with the stopper flange (14) to restrict the sub lever (12) from being released from the main lever (11).

5. The robot jumping movement mechanism of claim 1, wherein both ends of the telescopic rod (1) are respectively provided with a spoke fixture (5).

6. The robot jumping movement mechanism of claim 5, wherein a plurality of fitting holes (51) for inserting the end of the elastic spoke (2) are provided on a sidewall of the spoke holder (5), and the plurality of fitting holes (51) are uniformly distributed along a circumferential direction of the spoke holder (5).

7. The robotic jump movement mechanism of claim 2, further comprising a momentum wheel (6) in the center of the jump movement mechanism.

8. The robot jump movement mechanism according to claim 7, characterized in that the momentum wheel (6) is fixed on the main bar (11).

9. The robot jump movement mechanism according to claim 1, characterized in that the number of resilient spokes (2) is greater than or equal to eight.

10. A planetary exploration robot comprising the robot hopping movement mechanism of any one of claims 1 to 9.