CN114889718A - Variable-configuration spherical arm integrated spherical robot - Google Patents
Variable-configuration spherical arm integrated spherical robot Download PDFInfo
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- CN114889718A CN114889718A CN202210412485.XA CN202210412485A CN114889718A CN 114889718 A CN114889718 A CN 114889718A CN 202210412485 A CN202210412485 A CN 202210412485A CN 114889718 A CN114889718 A CN 114889718A
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- 239000003638 chemical reducing agent Substances 0.000 claims description 4
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- 230000008447 perception Effects 0.000 claims description 2
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- 238000010586 diagram Methods 0.000 description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a variable-configuration ball arm integrated sphericizing robot. The spherical robot can change the configuration of the robot into the form of cooperation of a ball type, a double wheel type, a four-foot type and a multi-foot arm through the action of the core arm and the spherical shell connecting arm, and realize external operation and flexible movement through the change among different configurations.
Description
Technical Field
The invention relates to a variable-configuration spherical arm integrated spherical robot, in particular to a spherical robot with a mechanical arm, which can be operated and moved externally in a spherical, double-wheel, four-foot and multi-machine cooperative mode respectively in a structural deformation mode, and belongs to the field of robots.
Background
The spherical robot is a novel mobile robot which appears before nearly 20 years, is beneficial supplement of the traditional mobile robot, has a special moving mode, realizes all-around movement by driving the spherical shell by an internal driving unit, and is arranged inside the spherical shell by a mechanical structure and electronic equipment. The existing spherical robot mainly moves in a mode of rolling a whole sphere or a mechanism is added in the sphere to improve the trafficability of the spherical robot, and the movement capability of the robot is increased by performing 2 times of deformation on the sphere in most cases. Most of existing spherical robots capable of achieving external operation are provided with mechanical arms inside spheres, and further deep meanings of the added mechanical arms on the spherical robots are not considered.
Application number is 201720818138.1 discloses a ball shape metamorphic robot, this robot includes braced frame, flexible subassembly, upper limbs subassembly and low limbs subassembly, wherein complex subassembly such as guide rail board, main steering wheel and gear drive mechanism about installing on the braced frame, and this robot has realized the metamorphic expansion of ball shape robot through complicated structural design and transmission. The rapid rolling capacity of the sphere shape and the complex terrain adaptability of the bionic multi-limb walking are integrated, but the rapid rolling capacity does not have the external operation capacity.
Application number 202110393069.5 discloses a spherical detection robot of band arm, and this robot rolls under the action of gravity through steering wheel drive power and pendulum and arm, adjusts spherical shell through the subassembly that warp and expandes or close, realizes the external operation of arm under the spherical shell opens the condition. The mechanical arm additionally arranged in the sphere can only realize the outward operation when the spherical shell is opened, and the action of the additional mechanical arm on the spherical robot is not considered.
With the expansion of the range of human activities and the deepening of exploration stages, in some complex and changeable environments, the robot is required to have the capabilities of structure coordination, flexible motion mode, external operation and the like, and the simple spherical mobile robot is not favorable for practical application. Therefore, the patent provides a configuration-variable spherical arm integrated spherical robot, which can change the morphological structure according to different environments, and improves the adaptability of the robot to the environment.
Disclosure of Invention
The invention aims to provide a spherical robot design scheme, and particularly relates to a spherical robot design scheme which is characterized in that conversion of the spherical robot under various modes of single-ball, double-wheel, four-foot and multi-ball combination is realized in a mode of additionally arranging a mechanical arm, and various tasks such as robot movement and outward detection are realized.
In order to achieve the above purpose, the solution provided by the invention is as follows:
the robot comprises a core arm (1), an expandable spherical shell (2), a climbing mechanism (3), a spherical shell connecting arm (4), a tail end execution paw (5) and a cross scientific load control platform (6).
The core arm (1) is a multi-degree-of-freedom mechanical arm consisting of two 7 spherical butt joints (100), and the spherical joints comprise a butt joint mechanism (101), an encoder (102), a drive and control integrated device (103), a motor (104), a speed reducer (105), a torque sensor (106) and the like. The butt joint mechanism of each spherical joint can be connected with other spherical joints, a climbing mechanism (3), a tail end execution paw (5) and the like, and the joint at the first section of the core arm (1) is connected with a cross scientific load control platform (6) through the butt joint mechanism (101).
The cross scientific load control platform (6) is provided with a battery, an infrared sensor, a lighting device, a radar sensor and other elements, a core arm (1), a control mainboard of the spherical shell connecting arm (4) and other devices and control systems, the core of the whole spherical robot is provided, and the other end of the control platform is connected with the spherical shell connecting arm (4) for controlling the opening and closing of the spherical shell.
The expandable spherical shell (2) comprises a petal-shaped spherical shell which is made of carbon fiber and is attached with a solar membrane on the inner surface, and a rotary unfolding mechanism (210) is arranged at the joint of the spherical shell and the spherical shell connecting arm (4) and can control the petal-shaped unfolding of the spherical shell.
The motion principle of the invention is as follows:
in a spherical structure state, the robot is in a closed state, the driving principle is that the gravity center position of the sphere is changed through the heavy pendulum so as to realize the movement of the sphere, specifically, the core arm (1) is used as the heavy pendulum of the robot, and the head joint of the core arm rotates to change the gravity center of the robot in a spherical state so as to realize the movement of the robot.
The left spherical shell and the right spherical shell are opened relatively through the expansion of the joints 2(402) and the joints 3(403) on the spherical shell connecting arm (4), so that the robot enters a double-wheel mode, the whole robot state is similar to that of a two-wheel balance car in the double-wheel mode, the robot can move according to the principle of double-wheel autonomous balance and differential driving, the joints 4(402) on the spherical shell connecting arm (4) can determine the opening and closing size and the relative angle of the spherical shells according to requirements and terrain constraints, so that the spherical shells form upright double wheels, inner splayed double wheels and outer splayed double wheels, and the motion advantages of the robot in the double-wheel mode are fully exerted.
On the basis of an upright double-wheel mode, climbing mechanisms (3) additionally arranged at the tail ends of two core arms (1) or tail end execution claws (5) are respectively used for supporting the ground, meanwhile, joints 2(402) and joints 3(403) are used for lifting a core platform relative to the ground to enter a four-foot mode, a left spherical shell and a right spherical shell are lifted up and down through the joints 2(402) on a spherical shell connecting arm in the four-foot mode, and the joints 3(403) move in the left-right direction through the joints 1(401), so that the gait motion of the spherical shells is realized.
On the basis of the vertical double-wheel mode, the core arm at one end extends out, the core arm and the robot in the same mode are connected with each other through a docking mechanism (101) on a docking joint (100) at the tail end, and the core arm (1) at the other end is grounded as a support after connection, namely, the multi-legged arm cooperation mode is completed, and multi-ball cooperation of 3 balls or 4 balls and the like can be performed according to the number and task requirements of the existing spherical robots. The external operation capability of the robot can be greatly improved in a multi-legged arm cooperation mode, and climbing of large-slope concave-convex terrain and wider-range environment perception are achieved.
A petal-shaped spherical shell (200) of the expandable spherical shell (2) is made of carbon fiber, trapezoidal sealing strips (201) are attached to the periphery of the petal-shaped spherical shell, solar diaphragms are attached to the inner surface of the petal-shaped spherical shell, a rotary folding and unfolding mechanism (210) is arranged at the joint of the spherical shell and a spherical shell connecting arm, and the spherical shell can drive a driving gear (206) and a driven gear (207) through a driving motor (205) in the rotary folding and unfolding mechanism to realize petal-shaped expansion of the spherical shell.
The invention has the advantages and benefits that:
the variable configuration spherical arm integrated spherical robot can deform through structural deformation to be in four modes of a spherical mode, a double-wheel mode, a four-foot mode and a multi-machine cooperation mode, not only has the advantages of flexibility in movement, good self-protection performance and the like of the spherical robot, but also overcomes the defect of poor external operability of the spherical robot, and simultaneously integrates the advantages of high movement efficiency of the wheel type robot, strong obstacle crossing capability of the leg type robot and the like into one robot. The deployable spherical shell is 2 times of exploration on the spherical shell of the common spherical robot, and the solar film inside the spherical shell can face the sunlight all the time by means of the rotating folding and unfolding mechanism and the spherical shell connecting arm, so that the problem of cruising of the spherical robot is solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below.
FIG. 1 is a schematic view of the interior of the overall structure of the spherical robot;
FIG. 2 is a schematic view of a robot in a spherical configuration;
FIG. 3 is a schematic diagram of 3 aspects of the spherical robot in the two-wheel mode;
FIG. 4 is a schematic diagram of the spherical robot in the quadruped mode;
FIG. 5 is a configuration of a 3-ball cooperation and a 4-ball cooperation in a multi-legged arm cooperation mode;
FIG. 6 is a view of the internal structure of a spherical buttable joint;
FIG. 7 is a schematic view of a distal execution gripper;
FIG. 8 is a schematic view of the spherical shell deployment and the rotary folding mechanism;
the reference symbols in the figures are:
1-core arm 2-expandable spherical shell 3-climbing mechanism 4-spherical shell connecting arm
5-end execution paw 6-cross scientific load control platform 100-spherical butt joint
101-docking mechanism 102-encoder 103-driving and controlling integrated device 104-motor
105-speed reducer 106-torque sensor 200-petal spherical shell 201-trapezoidal sealing strip
202-loop antenna 203-solar membrane 204-rubber wheel thorn 205-driving motor
206-driven gear 207-driven gear 210-rotary folding mechanism 301-flexible barb array
401-joint 1402-joint 2403-joint 3404-joint 4
501-driving motor 502-driving gear 503-driven gear 504-fingered paw
601-infrared sensor 602-lighting device 603-radar sensing
Detailed Description
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 is a general schematic diagram of a variable configuration spherical arm integrated spherical robot, which is a schematic diagram for better showing the internal structure of the robot, and is a schematic diagram of a deformation process, it should be noted that the robot is in an unstable state in this state.
As shown in fig. 2, which is a schematic view of the spherical configuration of the present invention, the robot is in a closed state at this time, the spherical shell connecting arm (4) and the joint (4), (404) are tightened by the driving motor to make the petal-shaped spherical shell (200) in a tightened state, the trapezoidal sealing strip (201) at the edge of the spherical shell ensures that the inside of the robot is isolated from the outside in this state, when the robot needs to move in this state, the first joints of the two core arms (1) rotate in the same direction to change the position of the center of gravity in the spherical state, so that the sphere moves, when the robot needs to stop, the center of gravity of the sphere reversely deviates by the reverse rotation of the first joints to complete deceleration to stop, and the rubber wheel pricks (204) on the outer surface of the spherical shell can provide good grip for the sphere.
As shown in figure 3, the spherical robot in the two-wheel mode has 3 forms, the deformation mode is that on the basis of the spherical form, the spherical shell is matched and unfolded under the condition of ensuring the stability of the spherical shell through the joints 2(402) and 3(403) on the spherical shell connecting arm (4), the gravity center of the spherical body is adjusted through the control of the scientific load control platform in the unfolding process, so that the robot is always in a balanced state, after the two-wheel mode is entered, the spherical shell is relatively opened and closed or is offset by a proper angle through the adjustment of the joints (1) and (3) according to the restriction of the running terrain, so that the motion stability of the robot in the state is realized
As shown in FIG. 3, the spherical shell can be opened and pose can be changed left and right in a relative mode in a double-wheel mode, movement is achieved according to the principle of double-wheel autonomous balance and differential driving, and the opening and closing size and the relative pose of the spherical shell are determined according to task requirements and terrain constraints.
As shown in fig. 4, a schematic diagram of a quadruped mode of a robot is shown, a deformation process is that after a spherical shell is opened by a spherical shell connecting arm, a climbing mechanism (3) additionally arranged at the tail ends of two core arms (1) or a tail end execution paw (5) is respectively supported in a grounding mode, and meanwhile, a joint 2(402) and a joint 3(403) are used for lifting a core platform relative to the ground, namely, the quadruped mode is entered, in the quadruped mode, left and right spherical shells are lifted up and down through the joint 2(402) on the spherical shell connecting arm (4), and the joint 3(403) is moved in the left and right direction through the joint 1(401), so that gait motion under the matching of the spherical shells and the core arms is realized.
As shown in figure 4, when the robot needs to cross a platform with a certain height difference, the robot can selectively enter a four-foot mode, one core arm (1) of the robot is close to the platform through gait adjustment, the core arm crosses the platform through the joint fit on the core arm close to the near end, the core arm at the other end is used as a support, two spherical shells are lifted by a spherical shell connecting arm (4) to cross the platform, and finally the core arm at the rear end is retracted to cross the platform.
As shown in fig. 5, which is a schematic view of a robot multi-legged arm cooperation mode, a deformation process is that after a spherical shell is opened by a spherical shell connecting arm, a core arm (1) at one end is grounded as a support, and a core arm at the other end is a connecting arm, and the core arm are connected with each other through a docking mechanism (101) on a dockable joint (100) at the tail end of the core arm (1) to form a stable structure, namely, the robot multi-legged arm cooperation mode is entered, and fig. 4 shows 3-ball and 4-ball forms respectively.
As shown in fig. 5, the motion in the multi-legged arm cooperation mode is similar to the motion principle of the multi-legged robot, and the support core arms (1) of the robots in the cooperation mode are used as motion feet to complete integral synchronous movement, for example, in the 4-ball cooperation mode, the motion can be realized in a bionic movement mode in which the diagonal feet move simultaneously, the external operation capability of the robot can be greatly improved in the multi-legged arm cooperation mode, and the climbing of the large-slope uneven terrain and the sensing of the large-range environment can be realized.
As shown in fig. 6, a cross-sectional view of a spherical dockable joint (100) is provided, the spherical dockable joint comprises a docking mechanism (101), an encoder (102), a driving and controlling integrated device (103), a motor (104), a speed reducer (105), a torque sensor (106) and the like, joint units are highly integrated and modularized, each spherical joint is provided with 6 automatic docking mechanisms (101) with mechanical connection, communication and power transmission functions in different orientations, and the automatic docking mechanisms can be used for multi-dimensional automatic coupling of a climbing mechanism, a terminal execution paw (5) and other joints.
As shown in fig. 8, the unit structure of the expandable spherical shell (2) of the robot is shown, the petal-shaped spherical shell (200) is made of carbon fiber, a trapezoidal sealing strip (201) is attached to the periphery of the petal-shaped spherical shell, a solar membrane (203) is attached to the inner surface of the petal-shaped spherical shell, an annular antenna (202) is arranged around the solar membrane, a rubber wheel spine (204) is attached to the outer surface of the petal-shaped spherical shell, a rotary folding and unfolding mechanism (210) is arranged at the joint of the spherical shell and the spherical shell connecting arm, and the spherical shell can drive a driving gear (206) and a driven gear (207) through a driving motor (205) in the rotary folding and unfolding mechanism to realize petal-shaped unfolding of the spherical shell.
Claims (5)
1. The utility model provides a configuration-changing ball arm integrated spherical robot which characterized in that: the device comprises a core arm (1), an expandable spherical shell (2), a climbing mechanism (3), a spherical shell connecting arm (4), a tail end execution paw (5) and a cross scientific load control platform (6).
The deployable spherical shell (2) comprises a left hemisphere and a right hemisphere, each hemisphere is composed of 6 petal-shaped spherical shells (200), the spherical shells are connected with the cross scientific load control platform (6) through spherical shell connecting arms (4), and solar diaphragms (203) are additionally arranged inside the spherical shells and can provide energy support for the operation of the whole sphere.
The spherical shell connecting arm (4) is a mechanical arm with 4 degrees of freedom, and the head joint of the spherical shell connecting arm is connected with the core arm (1) and used for controlling the opening and closing of the spherical shell and the position and the posture of the spherical shell relative to the cross scientific load control platform (6).
The core arm (1) is a multi-degree-of-freedom mechanical arm consisting of 7 spherical butt joints (100), and the spherical butt joints (100) comprise a butt mechanism (101), an encoder (102), a driving and controlling integrated device (103), a motor (104), a speed reducer (105), a torque sensor (106) and the like. Each spherical joint butt joint mechanism can be connected with other spherical joints, a climbing mechanism (3), a tail end execution paw (5) and the like.
2. The deployable spherical shell of the variable configuration spherical arm integrated robot according to claim 1, wherein: the spherical shell can drive a driving gear (206) and a driven gear (207) through a driving motor (205) in the unfolding mechanism, and the spherical shell is unfolded in a petal shape.
3. The reconfigurable spherical-arm integrated spherical robot as claimed in claim 1, wherein: the spherical shell is in a closed state under a spherical structure state, and the mass center of the robot is shifted by adjusting the poses of the cross scientific load platform (6) and the core arm (1), so that the sphere moves. The expandable spherical shell (2) can be opened left and right relatively in a double-wheel mode, pose transformation is realized through the spherical shell connecting arm (4), movement is realized according to the double-wheel autonomous balance and differential driving principle, and the opening and closing size and the relative pose of the spherical shell are determined according to requirements and terrain constraints.
4. The reconfigurable spherical-arm integrated spherical robot of claim 1, wherein: the pose of the spherical shell is controlled by the spherical shell connecting arm (4), the left spherical shell, the right spherical shell and the two core arms (1) jointly form 4 feet in a four-foot state, the gait of the four-foot robot is simulated by a foot-arm hybrid coordination mechanism, and the movement and obstacle crossing are realized by the coordinated lifting and supporting of the feet and the arms.
5. The reconfigurable spherical-arm integrated spherical robot as claimed in claim 4, wherein: the multi-leg arm cooperative mode is constructed by connecting multiple machines through a docking mechanism (101) on a core arm (1) according to a triangular stability principle and a bionic climbing mechanism by taking a four-leg configuration as a basic unit, so that climbing of a large-slope concave-convex terrain and wider-range environment perception are realized.
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| CN202210412485.XA CN114889718B (en) | 2022-04-19 | 2022-04-19 | Variable-configuration spherical arm integrated spherical robot |
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| CN202210412485.XA CN114889718B (en) | 2022-04-19 | 2022-04-19 | Variable-configuration spherical arm integrated spherical robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070215394A1 (en) * | 2006-03-15 | 2007-09-20 | Sun Hanxu | Spherical walking robot |
| CN107284543A (en) * | 2017-06-28 | 2017-10-24 | 青岛港湾职业技术学院 | A kind of compound motion mechanical ball |
| CN107416063A (en) * | 2017-04-06 | 2017-12-01 | 西安电子科技大学 | A kind of achievable spherical Hexapod Robot for rolling, walking |
| CN113212579A (en) * | 2021-05-10 | 2021-08-06 | 北京邮电大学 | Ball wheel leg composite mobile robot capable of being operated outwards |
| CN113305843A (en) * | 2021-05-28 | 2021-08-27 | 深圳亿嘉和科技研发有限公司 | Zero-force control method for mechanical arm |
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2022
- 2022-04-19 CN CN202210412485.XA patent/CN114889718B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070215394A1 (en) * | 2006-03-15 | 2007-09-20 | Sun Hanxu | Spherical walking robot |
| CN107416063A (en) * | 2017-04-06 | 2017-12-01 | 西安电子科技大学 | A kind of achievable spherical Hexapod Robot for rolling, walking |
| CN107284543A (en) * | 2017-06-28 | 2017-10-24 | 青岛港湾职业技术学院 | A kind of compound motion mechanical ball |
| CN113212579A (en) * | 2021-05-10 | 2021-08-06 | 北京邮电大学 | Ball wheel leg composite mobile robot capable of being operated outwards |
| CN113305843A (en) * | 2021-05-28 | 2021-08-27 | 深圳亿嘉和科技研发有限公司 | Zero-force control method for mechanical arm |
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