CN114889718B - Variable-configuration spherical arm integrated spherical robot - Google Patents
Variable-configuration spherical arm integrated spherical robot Download PDFInfo
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- CN114889718B CN114889718B CN202210412485.XA CN202210412485A CN114889718B CN 114889718 B CN114889718 B CN 114889718B CN 202210412485 A CN202210412485 A CN 202210412485A CN 114889718 B CN114889718 B CN 114889718B
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- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims description 29
- 230000009194 climbing Effects 0.000 claims description 10
- 239000012528 membrane Substances 0.000 claims description 7
- 238000003032 molecular docking Methods 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 230000005021 gait Effects 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 3
- 239000011664 nicotinic acid Substances 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 2
- 238000010276 construction Methods 0.000 claims 1
- 230000006641 stabilisation Effects 0.000 claims 1
- 238000011105 stabilization Methods 0.000 claims 1
- 230000009466 transformation Effects 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 4
- 230000006870 function Effects 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 description 12
- 230000005484 gravity Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
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- 230000008901 benefit Effects 0.000 description 5
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- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
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Classifications
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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
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a variable-configuration spherical arm integrated spherical robot. The spherical robot can change the robot configuration into the spherical, double-wheel, four-foot and multi-foot arm cooperation mode through the functions of the core arm and the spherical shell connecting arm, and realize external operation and flexible movement through the change of different configurations.
Description
Technical Field
The invention relates to a variable-configuration spherical robot with an integrated spherical arm, in particular to a spherical robot with a mechanical arm, which can respectively perform external operation and movement in the form of spherical, double-wheel, four-foot and multi-machine cooperation in a structural deformation mode, and belongs to the field of robots.
Background
The spherical robot is a novel mobile robot which appears just before 20 years, is a beneficial supplement of the traditional mobile robot, has a special moving mode, realizes omnibearing movement by driving the spherical shell through the internal driving unit, and has a mechanical structure and electronic equipment arranged inside the spherical shell. The existing spherical robots mainly move in a whole ball rolling mode or a mechanism is added in the ball to improve the trafficability of the spherical robots, and most of the spherical robots do not consider to deform the ball for 2 times to increase the movement capacity of the robot. Most of the existing spherical robots capable of realizing external operation are provided with mechanical arms inside the sphere, and the deeper meaning of the added mechanical arms for the spherical robots is not further considered.
The application number 201720818138.1 discloses a spherical metamorphic robot, and this robot includes braced frame, flexible subassembly, upper limbs subassembly and low limbs subassembly, and wherein installs complicated subassemblies such as upper and lower guide rail board, main steering engine and gear drive on the braced frame, and this robot has realized spherical robot's metamorphic expansion through complicated structural design and transmission. The patent combines the rapid rolling capability of sphere morphology and the complex terrain adaptability of bionic multi-limb walking, but does not have external operation capability.
The application number 202110393069.5 discloses a spherical detection robot with an arm, the robot rolls under the action of steering engine driving force, a weight pendulum and the gravity of a mechanical arm, the spherical shell is adjusted to be unfolded or closed through a deformation assembly, and the external operation of the mechanical arm is realized under the condition that the spherical shell is unfolded. The mechanical arm additionally arranged in the ball body can only realize external operation when the ball shell is opened, and the action of the mechanical arm additionally arranged on the ball-shaped robot is not considered.
With the expansion of the human range of motion and the deep exploration stage, in some complex and changeable environments, the robot is required to have the capabilities of coordinated structure, flexible movement mode, external operation and the like, and a simple spherical mobile robot is not beneficial to practical application. Therefore, the patent provides a variable-configuration spherical arm integrated spherical robot, which can change the morphological structure according to different environments, and improves the adaptability of the robot to the environments.
Disclosure of Invention
The invention aims to provide a design scheme of a spherical robot, in particular to a method for adding a mechanical arm to realize the conversion of the spherical robot in a plurality of modes of single ball, double wheels, four feet and multi-ball combination, and realize the various tasks of robot movement, external detection and the like.
In order to achieve the above object, the present invention provides a solution that:
the robot comprises a core arm (1), an expandable spherical shell (2), a climbing mechanism (3), a spherical shell connecting arm (4), an end execution paw (5) and a cross scientific load control platform (6).
The core arm (1) is a multi-degree-of-freedom mechanical arm which is composed of 7 spherical dockable joints (100) respectively, wherein the spherical joints comprise a docking mechanism (101), an encoder (102), a driving and controlling integrated device (103), a motor (104), a speed reducer (105), a moment sensor (106) and the like. The butt joint mechanism of each spherical joint can be connected with other spherical joints, a climbing mechanism (3), an end execution paw (5) and the like, and the first section joint of the core arm (1) is connected with the 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 main board of the spherical shell connecting arm (4) and other devices and control systems, is the core of the whole spherical robot, 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 made of carbon fibers, a solar membrane is attached to the inner surface of the petal-shaped spherical shell, a rotary turning and expanding mechanism (210) is arranged at the joint of the spherical shell and the spherical shell connecting arm (4), and the petal-shaped expansion of the spherical shell can be controlled.
The motion principle of the invention is as follows:
under the spherical configuration, the robot is in a closed state, the driving principle is that the gravity center position of the ball is changed through the gravity pendulum so as to realize the movement of the ball, specifically, the gravity center of the robot in the spherical state is changed through the rotation of the head joint of the core arm so as to realize the movement of the robot through the gravity pendulum of the core arm (1).
Through joint 2 (402) on spherical shell linking arm (4), the expansion of joint 3 (403) makes two spherical shells about relative opening, makes the robot get into the double round mode, and under the double round mode, whole robot state is similar to two round balance car, can realize removing according to double round autonomous balance and differential driving principle to joint 4 (402) on spherical shell linking arm (4) can be according to demand and topography constraint, decides spherical shell size and relative angle, makes the spherical shell form upright double round, in eight characters double round and out eight characters double round, gives full play to the robot motion advantage under the double round form.
On the basis of the vertical double-wheel mode, the climbing mechanism (3) or the tail end executing paw (5) additionally arranged at the tail ends of the two core arms (1) respectively support the ground, meanwhile, the core platform is lifted relative to the ground by the action of the joint 2 (402), the core platform enters a four-foot mode, the left spherical shell and the right spherical shell are lifted up and down through the joint 2 (402) on the spherical shell connecting arm under the four-foot mode, and the joint 3 (403) moves in the left and right directions through the joint 1 (401), so that the gait movement of the spherical shells is realized.
On the basis of the vertical double-wheel mode, a core arm at one end extends out to be connected with robots in other identical modes through a butt joint mechanism (101) on a butt joint (100) at the tail end, and after the connection, the core arm (1) at the other end is used as a support to be grounded, so that a multi-foot arm cooperation mode is completed, and multi-ball cooperation such as 3 balls or 4 balls can be performed according to the number of the existing spherical robots and task requirements. The external operation capability of the robot can be greatly improved in the multi-foot arm cooperation mode, and the climbing of the large-inclined-plane concave-convex terrain and the larger-range environmental perception are realized.
The trapezoid sealing strip (201) is attached around the petal-shaped spherical shell (200) of the expandable spherical shell (2) made of carbon fibers, the solar membrane is attached to the inner surface of the trapezoid sealing strip, the rotating 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 the driving gear (206) and the driven gear (207) through the driving motor (205) in the rotating and unfolding mechanism, so that the petal-shaped expansion of the spherical shell is realized.
The invention has the advantages and benefits that:
the variable-configuration spherical arm integrated spherical robot can deform the spherical robot into four modes of spherical, double-wheel, four-foot and multi-machine cooperation through structural deformation, has the advantages of flexible movement, good self-protection performance and the like of the spherical robot, overcomes the defect of poor external operability of the spherical robot, combines the advantages of high movement efficiency, strong obstacle crossing capability and the like of the wheeled robot into one robot, ensures that the robot has extremely strong environment adaptability, can be constructed by various extreme conditions through deformation and multi-machine cooperation modes, and has extremely strong deformation development potential. The expandable spherical shell is used for exploring the spherical shell of a common spherical robot for 2 times, and the solar membrane inside the spherical shell can always face sunlight by virtue of the action of the rotary folding and expanding mechanism and the spherical shell connecting arm, so that the problem of continuous voyage of the spherical robot in operation is solved.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described.
FIG. 1 is an internal schematic view of the overall structure of the spherical robot;
FIG. 2 is a schematic view of the robot in a spherical configuration;
FIG. 3 is a schematic view of 3 morphologies of the spherical robot in a two-wheel mode;
FIG. 4 is a schematic diagram of the morphology of the spherical robot in the four-foot mode;
FIG. 5 is a configuration in 3-ball cooperation and 4-ball cooperation in a multi-legged arm cooperation mode;
FIG. 6 is a view of the internal structure of a ball-type dockable joint;
FIG. 7 is a schematic view of the end effector jaw configuration;
FIG. 8 is a schematic view of a spherical shell deployment and rotational deployment mechanism;
the reference numerals in the figures are:
1-core arm 2-deployable spherical shell 3-climbing mechanism 4-spherical shell connecting arm
5-end execution paw 6-cross scientific load control platform 100-spherical dockable joint
101-docking mechanism 102-encoder 103-drive and control integrated device 104-motor
105-speed reducer 106-moment sensor 200-petal-shaped spherical shell 201-trapezoid sealing strip
202-annular antenna 203-solar membrane 204-rubber wheel thorn 205-driving motor
206-driven gear 207-driven gear 210-rotation spreading mechanism 301-flexible barb array
401-Joint 1 402-Joint 2 403-Joint 3 404-Joint 4
501-a driving motor 502-a driving gear 503-a driven gear 504-a two-finger paw
601-infrared sensor 602-lighting device 603-radar sensing
Detailed Description
For a better understanding of the technical solution of the present invention, the following detailed description of the embodiments of the present invention refers to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Fig. 1 is a general schematic diagram of a spherical robot with a variable-configuration spherical arm integrated, which is a schematic diagram for better showing the internal structure of the robot, and is a schematic diagram of a deformation process, and attention should be paid to the fact that the robot is in an unstable state in this state.
As shown in fig. 2, the robot is in a closed state in the spherical configuration, the spherical shell connecting arm (4) and the joint 4 (404) are tightened by the driving motor to enable the petal-shaped spherical shell (200) to be in a tightened state, the trapezoid sealing strips (201) at the edge of the spherical shell ensure that the interior of the robot is isolated from the outside in the state, when the robot needs to move in the state, the head joints of the two core arms (1) rotate in the same direction to change the gravity center position in the spherical state, so that the sphere moves, when the robot needs to stop, the reverse rotation of the head joints enables the reverse deviation of the gravity center of the sphere to finish the deceleration to stop, and the rubber wheel thorns (204) on the outer surface of the spherical shell can provide good ground grabbing force for the sphere.
As shown in fig. 3, the spherical robot in the two-wheel mode is 3 forms, the deformation mode is that on the basis of the spherical configuration, the spherical shell is matched and unfolded through the joint 2 (402) and the joint 3 (403) on the spherical shell connecting arm (4) under the condition that the spherical shell is ensured to be stable, the two core arms are controlled by the scientific load control platform in the unfolding process, the gravity center of the sphere is regulated, the robot is always in a balanced state, after the robot enters the two-wheel mode, the spherical shell is relatively opened and closed or biased by a proper angle through the regulation of the joint (1) and the joint (3) according to the constraint of the operation topography, and the movement of the robot in the state is stable
As shown in fig. 3, under the double-wheel mode, the spherical shell can be opened left and right relatively and the pose is changed, the 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 the task requirement and the terrain constraint.
As shown in fig. 4, which is a schematic diagram of a four-foot mode of a robot, after a spherical shell is opened by a spherical shell connecting arm, the tail ends of two core arms (1) are respectively grounded and supported by a climbing mechanism (3) or a tail end executing paw (5), meanwhile, a core platform is lifted relative to the ground by a joint 2 (402), the action of the joint 3 (403), namely, the four-foot mode is adopted, in the four-foot mode, the left spherical shell and the right spherical shell are lifted up and down by the joint 2 (402) on the spherical shell connecting arm (4), and the joint 3 (403) is moved in the left and right directions by the joint 1 (401), so that gait movement under the cooperation of the spherical shell and the core arm is realized.
When the robot needs to cross a platform with a certain height difference as shown in fig. 4, the robot can enter a quadruped mode, one core arm (1) of the robot is close to the platform through gait adjustment, the core arm passes over the platform through joint cooperation on the core arm close to the end, then the core arm at the other end is used as a support, two spherical shells are lifted by the spherical shell connecting arm (4) to pass over the platform, and finally the core arm at the rear end is retracted to pass over the platform.
As shown in fig. 5, which is a schematic diagram of a multi-foot arm cooperation mode of a robot, after a spherical shell is opened by a spherical shell connecting arm, a core arm (1) at one end is used as a supporting ground, a core arm at the other end is used as a connecting arm, and the core arms are connected with each other through a butt joint mechanism (101) on a butt joint (100) at the tail end of the core arm (1) to form a stable structure, namely, enter the multi-foot arm cooperation mode, and are respectively in a 3-ball form and a 4-ball form as shown in fig. 4.
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, the supporting core arm (1) of each robot in the cooperation mode is used as a motion foot to complete integral synchronous movement, for example, in the 4-ball cooperation mode, the motion can be realized through a bionic movement mode of simultaneously moving the diagonal feet, and the external operation capability of the robot can be greatly improved in the multi-legged arm cooperation mode, so that the climbing of the concave-convex terrain with a large inclined plane and the larger environmental perception are realized.
As shown in fig. 6, which is a cross-sectional view of a spherical dockable joint (100), 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 moment sensor (106) and the like, the joint unit has high integration and modularization, each spherical joint is provided with 6 automatic docking mechanisms (101) with different orientations and mechanical connection, communication and power transmission functions, and the spherical dockable joint can be used for multidimensional automatic connection of a climbing mechanism, an end execution paw (5) and other joints.
As shown in fig. 8, the unit structure of the robot expandable spherical shell (2), the petal-shaped spherical shell (200) is made of carbon fiber, a trapezoid sealing strip (201) is attached around the periphery, a solar membrane (203) is attached to the inner surface, a ring antenna (202) is arranged around the solar membrane, a rubber wheel thorn (204) is attached to the outer surface, a rotating 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 rotating unfolding mechanism, so that the petal-shaped expansion of the spherical shell is realized.
Claims (3)
1. The utility model provides a become configuration ball arm integration 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), an end execution paw (5) and a cross scientific load control platform (6); the expandable spherical shell (2) comprises a left hemisphere and a right hemisphere, each half is composed of 6 petal-shaped spherical shells (200), the spherical shells are connected with a cross scientific load control platform (6) through spherical shell connecting arms (4), a driving gear (206) and a driven gear (207) can be driven by a driving motor (205) in an expanding mechanism to realize petal-shaped expansion of the spherical shells, and the inner surfaces of the spherical shells are provided with solar membranes (203) which can provide energy support for the operation of whole spheres; the spherical shell connecting arm (4) is a 4-degree-of-freedom mechanical arm, a head joint of the spherical shell connecting arm is connected with the core arm (1) and is used for controlling the opening and closing of the spherical shell and the position and the gesture of the spherical shell relative to the cross scientific load control platform (6), the core arm (1) is two multi-degree-of-freedom mechanical arms respectively composed of 7 spherical dockable joints (100), and the spherical dockable joints (100) comprise a docking mechanism (101), an encoder (102), a driving and controlling integrated device (103), a motor (104), a speed reducer (105) and a moment sensor (106); the spherical shell of the robot is in a closed state under the spherical configuration, the robot mass center deviation is realized by adjusting the pose of the cross scientific load control platform (6) and the core arm (1), so that the spherical body moves, the spherical shell (2) can be unfolded in a double-wheel mode to be opened left and right relatively, 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 constraint.
2. A variable configuration ball arm integrated spherical robot as claimed in claim 1, wherein: the spherical shell pose is controlled by the spherical shell connecting arm (4), the left spherical shell, the right spherical shell and the two core arms (1) form 4 feet in a four-foot mode, the gait of the four-foot robot is simulated by a foot-arm mixing coordination mechanism, and the movement and obstacle surmounting are realized by the coordination lifting and supporting of the foot arms.
3. A variable configuration ball arm integrated spherical robot as claimed in claim 1, wherein: the four-foot structure is used as a basic unit, a multi-machine connection construction multi-foot arm cooperation mode is realized through a docking mechanism (101) on a core arm (1) according to the triangle stabilization principle and a bionic climbing mechanism, and the climbing of large-inclined-plane concave-convex terrain and the larger-range environmental perception are realized.
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| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
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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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| CN114889718A CN114889718A (en) | 2022-08-12 |
| CN114889718B true CN114889718B (en) | 2024-02-09 |
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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 |
-
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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