CN111114829A - Jumping lunar mobile robot and motion mode thereof - Google Patents
Jumping lunar mobile robot and motion mode thereof Download PDFInfo
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- CN111114829A CN111114829A CN201911062972.2A CN201911062972A CN111114829A CN 111114829 A CN111114829 A CN 111114829A CN 201911062972 A CN201911062972 A CN 201911062972A CN 111114829 A CN111114829 A CN 111114829A
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- B64G1/16—Extraterrestrial cars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
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Abstract
The invention discloses a jumping lunar surface mobile robot, wherein deformation wheel type traveling mechanisms are symmetrically arranged on two sides of a main structure, a take-off angle adjusting mechanism is fixed in a pneumatic jumping mechanism, the pneumatic jumping mechanism is connected to the main structure, two groups of gear transmission systems are respectively controlled by two motors on the main structure to drive wheels to travel and deform, and short obstacles can be crossed. The steering function is realized by utilizing the positive and negative rotation of the two motors, and only one pair of hubs can be steered in situ. When a large obstacle is encountered, the take-off angle adjusting mechanism controls the crank connecting rod through the angle adjusting motor, so that the air cylinder rotates to a proper angle, and the jumping direction is changed. Then the air storage bottle in the pneumatic jumping mechanism inflates the air cylinder, the air in the air cylinder expands to push the air cylinder rod out to collide with the moon surface, and the moon surface generates reaction force on the air cylinder rod to enable the robot to jump and cross the obstacle. The invention has the functions of high-speed movement, climbing and jumping, can flexibly and self-adapt to lunar terrain change, and provides technical reference for implementation of lunar exploration.
Description
Technical Field
The invention belongs to the technical field of lunar robot design, and particularly relates to a lunar mobile robot capable of jumping and a motion mode thereof.
Background
The moon has many resources required by human beings and undecided secrets, which become important places for developing deep space exploration activities, and deep space exploration needs to be performed by a lunar robot. However, due to the fact that the lunar surface terrain is complex, a large number of meteorite pits and massive lunar rocks are distributed, a traditional lunar surface robot (such as a conventional wheeled robot, the conventional wheeled robot is simple in structure, high in movement rate, only suitable for flat terrain and low in obstacle crossing capability, and a leap-type robot has good traffic capability in an environment with complex terrain, low bearing capacity and poor moving capability) is prone to encounter obstacles which are difficult to cross during operation, is poor in mobility, brings great challenges to detection tasks, and accordingly higher requirements are brought to the obstacle crossing capability of the lunar surface robot.
The advantages and the disadvantages of the existing obstacle crossing systems are comprehensively analyzed, the lunar robot designed by combining the deformation wheel and the jumping system has two functions of moving and jumping, the defects of wheel type and jumping type robots are overcome, and the obstacle crossing capability is greatly improved. When the robot moves on regular terrains such as flat ground and the like, the movement mode is consistent with that of the wheeled robot, and the movement efficiency is high; when irregular terrain exists, the wheel deformation works in the form of a special-shaped wheel, and shorter obstacles can be spanned; when a large obstacle is encountered, the takeoff angle is changed by using the takeoff angle adjusting mechanism, and then the obstacle is crossed by the jumping mechanism. Because whole adoption low gravity center design, the stability when jumping and falling to the ground is better, and the elastic vehicle circle plays buffering shock attenuation effect when falling to the ground, and the rigidity that the side landed and arouses when the elastic buffer frame can avoid the robot jump to fall to the ground strikes, makes the robot after empting adjust to the horizontality, has very big development potential in lunar robot field.
Disclosure of Invention
The invention provides a jumping lunar surface mobile robot, which solves the problems of single obstacle crossing mode and insufficient obstacle crossing capability in the prior art, has three different motion modes of conventional wheel mode advancing, special-shaped wheel mode obstacle crossing and jumping mode obstacle crossing, and has the characteristics of simple structure, small volume, light weight, good stability, strong obstacle crossing capability and the like.
In order to achieve the purpose, the invention adopts the technical scheme that:
a lunar surface mobile robot capable of jumping comprises a main body structure, two groups of deformed wheel type traveling mechanisms, a take-off angle adjusting mechanism and a pneumatic jumping mechanism, wherein the deformed wheel type traveling mechanisms are symmetrically arranged on two sides of the main body structure;
the main structure comprises a main frame and driving devices distributed at two ends of the main frame, wherein each driving device comprises a gear transmission system A controlled by a motor A and a gear transmission system B controlled by a motor B;
the deformed wheel type traveling mechanism comprises an inner shaft, an outer shaft, an inner disc, a sun gear, a planetary wheel shaft, a planetary wheel bearing, a hub and an outer disc, wherein the inner shaft is sleeved in the outer shaft, the inner shaft and the outer shaft are axially fixed through an inner shaft bearing, the inner shaft and the outer shaft can relatively rotate, one end of the inner side of the outer shaft is connected with a gear transmission system A through a key, one end of the outer side of the outer shaft is connected with the inner disc, one end of the inner side of the inner shaft is connected with a gear transmission system B through a key, one end of the outer side of the inner shaft penetrates through the inner disc and is meshed with the three planetary gears through the central gear, the planetary gears are fixed on a planetary gear shaft through planetary gear bearings, the planetary gear shaft is connected with the inner disc and the outer disc which are arranged inside and outside, the outer edges of the three planetary gears are respectively connected with three hubs, and the three hubs are sequentially connected end to end and are arranged in an annular mode by taking the central gear as a shaft;
the pneumatic jumping mechanism comprises a main frame fixed on the main body frame, an air storage bottle fixed on the main frame and three air cylinders with air cylinder rods arranged at the bottom; the take-off angle adjusting mechanism comprises an angle adjusting motor and two crank connecting rods, wherein the angle adjusting motor is fixed on the main frame; wherein: one cylinder is fixed at the front part of the main frame, the other two cylinders are respectively connected with an angle adjusting motor through a crank connecting rod, and the angle adjusting motor drives the crank connecting rod to drive the cylinder to rotate to a corresponding angle. The pneumatic jumping mechanism is driven in a pneumatic mode, and the whole pneumatic jumping mechanism is designed with a low gravity center, so that the stability of the robot in the jumping process and after landing is guaranteed.
As a preferable scheme, the main body frame comprises two transverse beams arranged transversely and four inner shaft frames arranged between the two transverse beams in sequence, and the four inner shaft frames are connected with the two transverse beams through bolts.
Preferably, the motor a and the motor B are respectively fixed in a motor casing, and the motor casing is mounted on an inner shaft frame inside the main body frame.
Preferably, the deformed wheel type travelling mechanism further comprises a bearing, one end of the inner shaft is connected with the central gear, the other end of the inner shaft is fixed through the bearing and penetrates through the outermost inner shaft frame, and the penetrating end of the inner shaft is connected with the gear transmission system B through a key.
As a preferred scheme, the deformed wheel type travelling mechanism further comprises an outer shaft bearing, one end of the outer shaft is in key connection with the gear transmission system a, the other end of the outer shaft is fixed through the outer shaft bearing and penetrates through an inner shaft frame located on the outermost side, the penetrating end of the outer shaft is connected with the inner disc, and the outer shaft and the inner disc are integrated.
Preferably, the deformable wheel type traveling mechanism further comprises an elastic buffer frame mounted on the outer side of the outer disc through bolts, and the elastic buffer frame avoids rigid impact caused by the fact that the side face of the robot lands on the ground and enables the robot to automatically return to a horizontal state.
Preferably, the outer edge of the hub is provided with an elastic rim for buffering and damping, and the rim is provided with textures for increasing friction force.
As a preferred scheme, the pneumatic jumping mechanism further comprises a connecting beam, and the tops of the two cylinders driven by the angle adjusting motor are connected through the connecting beam.
As a preferred scheme, the motor a and the motor B are dc servo motors, the motor a drives the gear transmission system a to control the rotation of the outer shaft, so as to drive the inner disc to rotate, and the motor B drives the gear transmission system B to control the rotation of the inner shaft, so as to drive the three planetary gears engaged with the central gear to rotate, so as to rotate the three hubs by the same angle until the three hubs contact with the outer edge of the outer disc.
A motion pattern of a leapable lunar mobile robot, comprising:
the method I comprises the following steps of walking by a conventional wheel: the motor A drives an outer shaft to rotate through a gear transmission system A, the outer shaft drives an integrated inner disc to rotate, and then the conventional wheels are controlled to move to realize a walking function;
mode two, special-shaped wheel walking: when a small obstacle is encountered or the wheel falls into a small meteorite pit, the motor B drives the inner shaft to rotate through the gear transmission system B, so that a central gear at the front end of the inner shaft is driven to rotate, the central gear drives a planetary gear meshed with the central gear to rotate, the three hubs are further rotated by the same angle until the hubs are contacted with the outer edge of the outer disc, the motor B continuously provides torque at the moment, the hubs are kept in a deformation state, the deformation function of the conventional wheel is realized, after the wheel is deformed, the motor A drives the outer shaft to rotate through the gear transmission system A, the outer shaft rotates to drive the inner disc integrated with the outer shaft to rotate, and the function of walking after the conventional wheel is deformed is realized;
mode three, pneumatic jumping: when a large obstacle is encountered or the vehicle wheel falls into a large meteorite pit, the vehicle wheel is in a state of a conventional wheel and the obstacle is crossed in a pneumatic jumping mode, the jumping process is divided into three parts, firstly, an angle adjusting motor drives a crank connecting rod to drive a cylinder to rotate by a corresponding angle, an air storage bottle inflates the cylinder, air in the cylinder expands to push out a cylinder rod, the cylinder rod collides with the moon surface, and the moon surface generates a reaction force to the robot so that the moon surface robot jumps; after the takeoff is finished, the motor drives the crank connecting rod again to reset the cylinder, and meanwhile, an exhaust port of the cylinder is opened, because the surface of the moon has no air, the air in the cylinder can be automatically exhausted due to the fact that the air pressure is higher than the outside, and the cylinder rod is retracted into the cylinder, so that the cylinder rod is prevented from being damaged by contact with the ground when falling to the ground; and finally, when the robot lands, the two deformation wheel type traveling mechanisms contact the ground, the elastic rims of the deformation wheel type traveling mechanisms play a role in buffering and damping, and the elastic buffer frame avoids rigid impact caused by the fact that the side face of the robot lands, so that the robot automatically restores to a horizontal state.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has simple and compact structural design and mainly comprises a main body structure, a deformation wheel type walking mechanism, a take-off angle adjusting mechanism and a pneumatic jumping mechanism. The whole volume is less, and the quality is lighter, can carry the carrier rocket to lift off to can take advantage of the probe and land in the lunar surface, the energy consumption is less.
2. The invention adopts the design of combining the deformation wheel with the jumping system, so that the invention has three different motion modes of conventional wheel type walking, special-shaped wheel type walking and obstacle crossing of the jumping system, the obstacle crossing mode can be selected according to the size of the obstacle, and the energy utilization rate is favorably improved. The robot integrates the advantages of a conventional wheeled robot and a jumping robot, can climb over an obstacle with inclination slightly larger than 31 degrees and height of 300 mm, and is suitable for a lunar surface environment with complex terrain.
3. The steering function is realized by utilizing the positive and negative rotation of the two motors, and the steering can be realized in situ due to the fact that only one pair of hubs is provided, so that the action is more flexible.
4. The take-off angle adjusting mechanism can realize the adjustment range of 0-60 degrees of take-off angles, and an appropriate take-off angle is selected according to the distance between the take-off angle adjusting mechanism and the obstacle and the size of the obstacle.
5. The jumping system has a simple structure, adopts a pneumatic driving mode, has the maximum jumping height of 0.96m, has the advantages of high reaction speed, low energy loss and high working efficiency, and has overall performance superior to other jumping driving modes.
6. The invention has scientific and reasonable structural design. The whole body adopts a low gravity center design, and has better stability in the jumping process and the landing process. The deformation wheel is provided with an elastic rim, so that a certain buffering and damping effect is achieved when the robot jumps to the ground. The texture on the deformation wheel increases the friction between the deformation wheel and the obstacle, and the obstacle crossing capability can be improved. The elastic buffer frames arranged on the two sides of the deformation wheel can avoid rigid impact caused by the fact that the side surface of the robot lands after jumping and enable the toppled robot to be adjusted to be in a horizontal state.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a deformed wheel type traveling mechanism according to the present invention before deformation of wheels;
FIG. 3 is a schematic diagram of a deformed wheel type traveling mechanism according to the present invention after the wheels are deformed;
FIG. 4 is a schematic structural diagram of a deformed wheel type traveling mechanism according to the present invention after the wheels are deformed;
FIG. 5 is a schematic diagram of the structure of the pneumatic jumping mechanism of the present invention;
fig. 6 is a schematic diagram of the inventive jump process.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1-6, a hopping lunar mobile robot comprises a main body structure 1, two sets of deformed wheel type traveling mechanisms 2, a take-off angle adjusting mechanism 3 and a pneumatic hopping mechanism 4, wherein the deformed wheel type traveling mechanisms 2 are symmetrically arranged on two sides of the main body structure 1, the take-off angle adjusting mechanism 3 is fixed inside the pneumatic hopping mechanism 4, and the pneumatic hopping mechanism 4 is connected to the main body structure 1; the main body structure 1 comprises a main body frame and driving devices distributed at two ends of the main body frame, wherein each driving device comprises a group of gear transmission systems A1-5 controlled by a motor A1-4 and a group of gear transmission systems B1-7 controlled by a motor B1-6; the deformed wheel type traveling mechanism 2 comprises an inner shaft 2-1, an outer shaft 2-4, an inner disc 2-6, a sun gear 2-7, a planetary gear 2-8, a planetary wheel shaft 2-9, a planetary wheel bearing 2-10, a hub 2-11 and an outer disc 2-12, wherein the inner shaft 2-1 is sleeved in the outer shaft 2-4, the inner shaft 2-1 and the outer shaft 2-4 are axially fixed through the inner shaft bearing 2-2, the inner shaft 2-1 and the outer shaft 2-4 can rotate relatively, one end of the inner side of the outer shaft 2-4 is connected with a gear transmission system A1-5 through a key, one end of the outer side of the outer shaft 2-4 is connected with the inner disc 2-6, one end of the inner side of the inner shaft 2-1 is connected with a gear transmission system B1-7 through a key, one end of the outer side of the inner shaft 2-1 penetrates through the inner The three-wheel hub is meshed with three planetary gears 2-8, the planetary gears 2-8 are all fixed on a planetary wheel shaft 2-9 through planetary wheel bearings 2-10, the planetary wheel shaft 2-9 is connected with an inner disc 2-6 and an outer disc 2-12 which are arranged inside and outside, the outer edges of the three planetary gears 2-8 are respectively connected with three wheel hubs 2-11, and the three wheel hubs 2-11 are sequentially connected end to end and are arranged in an annular mode by taking a central gear 2-7 as a shaft; the pneumatic jumping mechanism 4 comprises a main frame 4-1 fixed on the main body frame, an air storage bottle 4-2 fixed on the main frame 4-1 and three air cylinders 4-3 with air cylinder rods 4-4 arranged at the bottom; the take-off angle adjusting mechanism 3 comprises an angle adjusting motor 3-1 and two crank connecting rods 3-2, wherein the angle adjusting motor 3-1 is fixed on a main frame 4-1; wherein: one air cylinder 4-3 is fixed at the front part of the main frame 4-1, the other two air cylinders 4-3 are respectively connected with an angle adjusting motor 3-1 through a crank connecting rod 3-2, the angle adjusting motor 3-1 drives the crank connecting rod 3-2 to drive the air cylinder 4-3 to rotate to a corresponding angle, the pneumatic jumping mechanism 4 further comprises a connecting beam 4-5, the tops of the two air cylinders 4-3 driven by the angle adjusting motor 3-1 are connected by the connecting beam 4-5, the pneumatic jumping mechanism 4 is driven in a pneumatic mode and integrally adopts a low gravity center design, and the stability of the robot in the jumping process and after landing is ensured.
As a preferred scheme, the main body frame comprises two transverse beams 1-3 which are transversely arranged and four inner shaft frames 1-1 which are sequentially arranged between the two transverse beams 1-3, wherein the four inner shaft frames 1-1 are connected with the two transverse beams 1-3 through bolts 1-2; the two inner shaft frames 1-1 positioned on the left side are fixed with a driving device of one group of deformed wheel type traveling mechanisms 2, the two inner shaft frames 1-1 positioned on the right side are fixed with a driving device of the other group of deformed wheel type traveling mechanisms 2, a motor A1-4 and a motor B1-6 are respectively fixed in motor shells 1-8, and the four motor shells 1-8 are respectively arranged on two adjacent inner shaft frames 1-1 in the main body frame; preferably, the motor A1-4 and the motor B1-6 are direct current servo motors, the motor A1-4 drives the gear transmission system A1-5 to control the outer shaft 2-4 to rotate so as to drive the inner disc 2-6 to rotate, the motor B1-6 drives the gear transmission system B1-7 to control the inner shaft 2-1 to rotate so as to drive the three planetary gears 2-8 meshed with the central gear 2-7 to rotate, and further the three hubs 2-11 rotate by the same angle until the three hubs 2-11 are contacted with the outer edge of the outer disc 2-12, after the hubs 2-11 are deformed, the diameter of the wheel is increased, the obstacle crossing capability is correspondingly improved, the deformed wheel type travelling mechanism 2 only has one pair of hubs 2-11, and the in-situ steering can be realized, so that the steering is more flexible.
Preferably, the deformed wheel type travelling mechanism 2 further comprises a bearing 2-3, one end of the inner shaft 2-1 is connected with the central gear 2-7, the other end of the inner shaft 2-1 is fixed through the bearing 2-3 and penetrates through the outermost inner shaft frame 1-1, and the penetrating end of the inner shaft 2-1 is connected with the gear transmission system B1-7 through a key; the deformed wheel type traveling mechanism 2 further comprises an outer shaft bearing 2-5, one end of the outer shaft 2-4 is connected with a gear transmission system A1-5 through a key, the other end of the outer shaft 2-4 is fixed through the outer shaft bearing 2-5 and penetrates through an inner shaft frame 1-1 located on the outermost side, the penetrating end of the outer shaft 2-4 is connected with an inner disc 2-6, and the outer shaft 2-4 and the inner disc 2-6 are integrated; the deformation wheel type travelling mechanism 2 further comprises elastic buffer frames 2-13 which are arranged on the outer sides of the outer discs 2-12 through bolts 2-14, and the elastic buffer frames 2-13 can avoid rigid impact caused by the fact that the side faces land when the robot jumps to the ground, so that the toppled robot is adjusted to be in a horizontal state; the elastic rim is arranged on the outer edge of the hub 2-11, plays a role in buffering and damping when jumping to the ground, avoids damage to the whole structure of the lunar robot, and is provided with textures to increase the friction force between the hub 2-11 and an obstacle, so that the obstacle crossing capability is further enhanced.
In view of the complexity and diversity of lunar terrain environments, a lunar robot needs to have a stronger obstacle-crossing capability to ensure that the lunar robot can smoothly complete lunar exploration. A jumping moon mobile robot has stronger traffic capacity than a traditional moon robot, and comprises the following motion modes:
the method I comprises the following steps of walking by a conventional wheel: the road surface is advanced on a regular road surface with flat terrain by a conventional wheel, the conventional wheel is a closed ring formed by three wheel hubs 2-11, a motor A1-4 drives an outer shaft 2-4 to rotate through a gear transmission system A1-5, the outer shaft 2-4 rotates to drive an inner disc 2-6 integrated with the outer shaft to rotate, and then the conventional wheel is controlled to move to realize the function of walking;
mode two, special-shaped wheel walking: when meeting a small obstacle or falling into a small meteor crater, the motor B1-6 drives the inner shaft 2-1 to rotate through the gear transmission system B1-7, thereby driving the central gear 2-7 at the front end of the inner shaft 2-1 to rotate, the central gear 2-7 driving the planetary gear 2-8 engaged with the central gear to rotate, then the three hubs 2-11 are rotated by the same angle until the hubs 2-11 are contacted with the outer edge of the outer disk 2-12, at the moment, the motor B1-6 continuously provides torque, the hubs 2-11 are kept in a deformed state, the deformation function of the conventional wheel is realized, when the wheel is deformed, the motor A1-4 drives the outer shaft 2-4 to rotate through the gear transmission system A1-5, the outer shaft 2-4 rotates to drive the inner disc 2-6 integrated with the outer shaft to rotate, and the function of walking after the conventional wheel is deformed is achieved;
mode three, pneumatic jumping: when a large obstacle is encountered or falls into a large meteorite pit, the wheel is in a state of a conventional wheel, the obstacle is crossed in a pneumatic jumping mode, the jumping process is divided into three parts, firstly, an angle adjusting motor 3-1 drives a crank connecting rod 3-2 to drive an air cylinder 4-3 to rotate by a corresponding angle, the air storage bottle 4-2 inflates the air cylinder 4-3, air in the air cylinder 4-3 expands to push an air cylinder rod 4-4 out, the air cylinder rod 4-4 collides against the moon, and the moon generates a reaction force on the robot to make the moon robot jump; after the take-off is finished, the motor 3-1 drives the crank connecting rod 3-2 again to reset the cylinder 4-3, meanwhile, an exhaust port of the cylinder 4-3 is opened, as the surface of the moon is not provided with air, the air in the cylinder 4-3 can be automatically exhausted due to the fact that the air pressure is higher than the outside, the cylinder rod 4-4 is retracted into the cylinder 4-3, and the cylinder rod 4-4 is prevented from being damaged by contact with the ground when falling to the ground; and finally, when the robot falls to the ground, the two deformation wheel type traveling mechanisms 2 are in contact with the ground, the elastic rims of the deformation wheel type traveling mechanisms 2 play a role in buffering and damping, and the elastic buffer frames 2-13 avoid rigid impact caused by the fact that the side faces of the robot land, so that the robot automatically restores to a horizontal state.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. A lunar mobile robot capable of jumping, characterized in that: the jumping device comprises a main body structure, two groups of deformed wheel type traveling mechanisms, a take-off angle adjusting mechanism and a pneumatic jumping mechanism, wherein the deformed wheel type traveling mechanisms are symmetrically arranged on two sides of the main body structure;
the main structure comprises a main frame and driving devices distributed at two ends of the main frame, wherein each driving device comprises a gear transmission system A controlled by a motor A and a gear transmission system B controlled by a motor B;
the deformed wheel type traveling mechanism comprises an inner shaft, an outer shaft, an inner disc, a sun gear, a planetary wheel shaft, a planetary wheel bearing, a hub and an outer disc, wherein the inner shaft is sleeved in the outer shaft, the inner shaft and the outer shaft are axially fixed through an inner shaft bearing, the inner shaft and the outer shaft can relatively rotate, one end of the inner side of the outer shaft is connected with a gear transmission system A through a key, one end of the outer side of the outer shaft is connected with the inner disc, one end of the inner side of the inner shaft is connected with a gear transmission system B through a key, one end of the outer side of the inner shaft penetrates through the inner disc and is meshed with the three planetary gears through the central gear, the planetary gears are fixed on a planetary gear shaft through planetary gear bearings, the planetary gear shaft is connected with the inner disc and the outer disc which are arranged inside and outside, the outer edges of the three planetary gears are respectively connected with three hubs, and the three hubs are sequentially connected end to end and are arranged in an annular mode by taking the central gear as a shaft;
the pneumatic jumping mechanism comprises a main frame fixed on the main body frame, an air storage bottle fixed on the main frame and three air cylinders with air cylinder rods arranged at the bottom; the take-off angle adjusting mechanism comprises an angle adjusting motor and two crank connecting rods, wherein the angle adjusting motor is fixed on the main frame; wherein: one cylinder is fixed at the front part of the main frame, the other two cylinders are respectively connected with an angle adjusting motor through a crank connecting rod, and the angle adjusting motor drives the crank connecting rod to drive the cylinder to rotate to a corresponding angle.
2. The hopping lunar mobile robot as claimed in claim 1, wherein: the main body frame comprises two transverse beams which are transversely arranged and four inner shaft frames which are sequentially arranged between the two transverse beams, and the four inner shaft frames are connected with the two transverse beams through bolts.
3. The hopping lunar mobile robot as claimed in claim 1, wherein: the motor A and the motor B are respectively fixed in a motor shell, and the motor shell is arranged on an inner shaft frame in the main body frame.
4. The hopping lunar mobile robot as claimed in claim 2, wherein: the deformed wheel type travelling mechanism further comprises a bearing, one end of the inner shaft is connected with the central gear, the other end of the inner shaft is fixed through the bearing and penetrates through the inner shaft frame on the outermost side, and the penetrating end of the inner shaft is connected with the gear transmission system B through a key.
5. The hopping lunar mobile robot as claimed in claim 2, wherein: the wheel type walking mechanism further comprises an outer shaft bearing, one end of the outer shaft is in key connection with the gear transmission system A, the other end of the outer shaft is fixed through the outer shaft bearing and penetrates through an inner shaft frame located on the outermost side, the penetrating end of the outer shaft is connected with the inner disc, and the outer shaft and the inner disc are integrated.
6. The hopping lunar mobile robot as claimed in claim 1, wherein: the deformation wheel type walking mechanism further comprises an elastic buffer frame which is arranged on the outer side of the outer disc through bolts.
7. The hopping lunar mobile robot as claimed in claim 1, wherein: and an elastic rim is arranged on the outer edge of the hub.
8. The hopping lunar mobile robot as claimed in claim 1, wherein: the pneumatic jumping mechanism is characterized by further comprising a connecting beam, and the tops of the two cylinders driven by the angle adjusting motor are connected through the connecting beam.
9. The hopping lunar mobile robot as claimed in claim 1, wherein: the motor A and the motor B are direct-current servo motors, the motor A drives the gear transmission system A to control the outer shaft to rotate so as to drive the inner disc to rotate, and the motor B drives the gear transmission system B to control the inner shaft to rotate so as to drive the three planetary gears meshed with the central gear to rotate, so that the three hubs rotate by the same angle until the three hubs contact with the outer edge of the outer disc.
10. The method of motion of a leapable lunar mobile robot according to any one of claims 1-9, comprising:
the method I comprises the following steps of walking by a conventional wheel: the motor A drives an outer shaft to rotate through a gear transmission system A, the outer shaft drives an integrated inner disc to rotate, and then the conventional wheels are controlled to move to realize a walking function;
mode two, special-shaped wheel walking: when a small obstacle is encountered or the wheel falls into a small meteorite pit, the motor B drives the inner shaft to rotate through the gear transmission system B, so that a central gear at the front end of the inner shaft is driven to rotate, the central gear drives a planetary gear meshed with the central gear to rotate, the three hubs are further rotated by the same angle until the hubs are contacted with the outer edge of the outer disc, the motor B continuously provides torque at the moment, the hubs are kept in a deformation state, the deformation function of the conventional wheel is realized, after the wheel is deformed, the motor A drives the outer shaft to rotate through the gear transmission system A, the outer shaft rotates to drive the inner disc integrated with the outer shaft to rotate, and the function of walking after the conventional wheel is deformed is realized;
mode three, pneumatic jumping: when a large obstacle is encountered or the vehicle wheel falls into a large meteorite pit, the vehicle wheel is in a state of a conventional wheel and the obstacle is crossed in a pneumatic jumping mode, the jumping process is divided into three parts, firstly, an angle adjusting motor drives a crank connecting rod to drive a cylinder to rotate by a corresponding angle, an air storage bottle inflates the cylinder, air in the cylinder expands to push out a cylinder rod, the cylinder rod collides with the moon surface, and the moon surface generates a reaction force to the robot so that the moon surface robot jumps; after the takeoff is finished, the motor drives the crank connecting rod again to reset the cylinder, and meanwhile, an exhaust port of the cylinder is opened, because the surface of the moon has no air, the air in the cylinder can be automatically exhausted due to the fact that the air pressure is higher than the outside, and the cylinder rod is retracted into the cylinder, so that the cylinder rod is prevented from being damaged by contact with the ground when falling to the ground; and finally, when the robot falls to the ground, the two deformation wheel type traveling mechanisms contact the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911062972.2A CN111114829A (en) | 2019-10-31 | 2019-10-31 | Jumping lunar mobile robot and motion mode thereof |
Applications Claiming Priority (1)
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Application publication date: 20200508 |