CN114939877A - Movable operation spherical robot for construction of lunar base - Google Patents
Movable operation spherical robot for construction of lunar base Download PDFInfo
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- CN114939877A CN114939877A CN202210547443.7A CN202210547443A CN114939877A CN 114939877 A CN114939877 A CN 114939877A CN 202210547443 A CN202210547443 A CN 202210547443A CN 114939877 A CN114939877 A CN 114939877A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention discloses a movable operation spherical robot for construction of a lunar base. The invention relates to a movable operation spherical robot, which comprises: the flexible cable driven extensible spherical shell (1), a rigid-flexible coupling super-redundancy operation arm base (2), a flexible tail end buffer joint (3), a rigid-flexible coupling telescopic joint (4), an in-sphere antenna (5), an in-sphere solar sail (6), an automatic release and locking mechanism (7), a smart arm (8) and a smart arm tail end (9). The configuration change of the rigid-flexible coupling super-redundant operation arm is used as a mass center change mechanism in a spherical moving state, so that the spherical robot can roll flexibly and stably, after the spherical robot reaches a designated position, the double smart arms can assist the spherical shell to be opened completely, the two large super-redundant operation arms and the smart arms cooperatively operate and complete external operation, the robot has the characteristic of multi-arm in a sphere, which can be operated externally, combined cooperation and obstacle surmounting of multiple robots can be realized in the moving state, and environment adaptation and multi-robot cooperation are realized.
Description
Technical Field
The invention relates to a movable operation spherical robot for construction of a lunar base, in particular to a spherical robot with a super-redundant operation arm, which can realize omnidirectional movement, spherical shell opening and closing, external operation and the like of the spherical robot through the action of a mechanical arm in a sphere, can realize environment adaptation and multi-machine cooperation through mutual communication with other robots, and belongs to the field of robots.
Background
The lunar transportation and operation facility is used as a core component of an international lunar research station and provides object transportation and operation for a lunar long-term work support system and a lunar research facility system, and the development achievement of aerospace technology in China already provides mature conditions for going to and going to foreign planet, so that the development of research on building robots on the basis of foreign planet becomes a key point of attention and an inevitable development trend at home and abroad. The moon environment is extremely severe: rugged pavement, vacuum, large day-night temperature differences, lunar dust pollution, long-term nights, low gravity, etc., present significant challenges to the design of robots. The spherical robot has the advantages of omnidirectional movement, sealing, overturning prevention and less driving, and has the capability of quick and flexible movement and the self-protection capability in extreme environments. Aiming at extreme environments on the surface of a moon and complex task constraints of base construction, a penman provides a movable operation spherical robot for construction of a moon base through innovative fusion of the spherical robot and a mechanical arm, and technical reference is provided for construction of the moon base in China.
Application number 202110540392.0 discloses a spherical robot, is provided with roll drive arrangement and jump drive arrangement in this robot spherical shell, and roll drive arrangement includes supporting mechanism, bears mechanism, servo motor group one and servo motor group two, and jump drive arrangement includes jump mechanism, locking mechanism and counter weight platform, provides a compact structure high self-service spring self-rescue spherical robot of space utilization. The invention has good trafficability, but it does not have the ability to operate externally.
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 ball body can only realize outward operation when the spherical shell is opened.
Application number 201621174315.9 discloses a spherical transfer robot, which is characterized in that two mechanical arms are arranged on two sides of the spherical robot in a non-opening and non-closing mode to clamp or place objects, but the spherical robot is limited by a sphere, has small operable space and low operability, and abandons the protection effect of a closed spherical shell on the mechanical arms in the moving process.
The invention integrates the research ideas of the existing spherical robot and the large space manipulator and the task requirements of the complex and extreme surface of the alien planet, integrates the design ideas of the spherical robot and the ultra-redundant large space manipulator, and provides a movable operation spherical robot for construction of a lunar base, which comprises the following steps: the spherical robot endows the mechanical arm with rapid and flexible motion capability and self-protection capability in an extremely complex external planet environment, and simultaneously, the mechanical arm endows the spherical robot with strong external operation capability and cooperation capability among multiple robot units, so that the robot can realize efficient and reliable movement and external operation in a base construction task in an extreme environment of the lunar surface, and has great potential advantages and profound research value.
Disclosure of Invention
The invention provides a movable operation spherical robot for construction of a lunar base. The robot is used as a mass center change mechanism in a spherical moving state through the configuration change of a rigid-flexible coupling super-redundancy operation arm, so that the spherical robot can roll flexibly and stably; after the ball shell reaches the designated position, the double smart arms can assist the ball shell to be completely opened; the two large-scale super-redundant operation arms and the flexible arm (8) are operated cooperatively to complete the construction operation. The robot has the characteristics of multi-arm in the ball and can be operated outwards, the combined cooperation of multiple robots can be realized in a moving state to cross obstacles, and meanwhile, the smart arm can extend out of the ball shell to be operated in motion. Under the external operation state, the mutual cooperation of a plurality of super-redundant operation arms and the flexible arms can be realized, and the complex operation task is completed.
In order to achieve the above purpose, the solution provided by the invention is as follows:
the spherical robot comprises a flexible cable driven deployable spherical shell (1), a rigid-flexible coupling super-redundant operating arm base (2), a flexible tail end buffer joint (3), a rigid-flexible coupling telescopic joint (4), an internal spherical antenna (5), an internal spherical solar sail (6), an automatic release and locking mechanism (7), a flexible arm (8) and a flexible arm tail end (9).
The 'rigid-flexible' coupling super-redundant operating arm base (2) is connected with a flexible rope driving deployable spherical shell (1) through an automatic release and locking mechanism (7) in a spherical cruising mode, a solar sail (6) in a sphere is attached to the inner surface of the spherical shell, and the 'rigid-flexible' coupling super-redundant operating arm base (2), a soft tail end buffer joint (3) and a 'rigid-flexible' coupling telescopic joint (4) form a unit for forming a 'rigid-flexible' coupling super-redundant operating arm in the spherical robot. The 'rigid-flexible' coupling super-redundancy operating arm is connected with the flexible cable drive expandable spherical shell (1) through the base (2), the tail end of the operating arm is connected with the operating arm through the buffer joint (3), and the 'rigid-flexible' coupling telescopic joint (4) replaces a rigid connecting rod, so that the whole operating arm forms the super-redundancy operating arm with 10 degrees of freedom. The soft tail end buffer joint (3) is a tail joint of the operation arm and comprises an external operation hand grab. The first section of the smart arm (8) is connected with the super-redundancy operation arm base (2), and the tail end (9) of the smart arm can be unfolded as a supporting single end.
The motion principle of the invention is as follows:
under the spherical cruise mode, the deployable spherical shell (1) is driven by the flexible cable of the robot to be in a closed state, the spherical robot is used as a mass center change mechanism in a spherical moving state through a super-redundant operating arm, and mass center deviation is generated through rotation of a rigid-flexible coupling telescopic joint (4) based on the principle of gravity moment generated by mass center deviation, so that the robot can roll flexibly and stably.
The smart arms (8) on the spherical robot can extend the tail ends (9) of the smart arms at the left end and the right end of the spherical shell respectively to serve as supports in a spherical cruising mode, so that the whole spherical shell is lifted, the operation mode of the smart arms of the robot has a ball-leg characteristic, the obstacle crossing height of the robot is further improved, short-distance gait walking is realized, and the obstacle crossing trafficability of the robot is improved; for the obstacle with the vertical height exceeding the radius of the spherical robot and the maximum height supported by the flexible arms, the combination of a plurality of robots is realized to form an open-chain series topology structure through the butt joint function between the flexible arms, and the multi-robot cooperation obstacle crossing is realized.
The robot can be unfolded through the spherical shell to enter a double-operation-arm operation mode, the inner side of the spherical shell is unfolded at the moment, the solar sail (6) in the sphere starts to work to provide energy for the robot, the double operation arms are supported by the ultra-redundant operation arm base (2) and the tail end (9) of the smart arm, and the left and right ultra-redundant operation arms can operate in a large range in space.
The robot can realize the intercommunication with environment and other robots, can learn the position of other robots through antenna (5) in the ball single spherical robot, through the task demand of inputing in advance, move respectively to the task fixed point in advance, do the spherical shell and expand and get into two operating arm operation modes, and the multirobot is mutually supported, realizes the cooperative operation, accomplishes the complicated task of base construction under the extreme environment of moon jointly.
The invention has the advantages and benefits that:
the utility model provides a portable operation spherical robot for lunar base is built, replace the external operating ability of function promotion spherical robot of heavy pendulum with the arm, satisfy internal mechanism functional requirement through the cooperation between the inside redundant arm of spherical shell, combine the spherical shell that possesses big deformation expansion ability, can make spherical robot when performance self advantage, all can obtain promoting by a wide margin in the aspect of obstacle-crossing ability and the external operating ability, can realize the mutual cooperation of a plurality of super redundant operation arms under external operating condition, make the robot possess powerful self-protection, obstacle-crossing ability and external operating ability, can effectively deal with maintenance to the lunar surface, complicated tasks such as inspection. Has great potential advantages and profound research value.
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 the spherical robot in a spherical cruise mode;
FIG. 3 is a schematic view of the spherical robot in a smart boom mode of operation;
FIG. 4 is a schematic view of the spherical robot in a dual manipulator arm mode of operation;
the reference numbers in the figures are:
1- -flexible cable drive deployable spherical shell 2- - "just-soft" coupling super redundant operation arm base
3-soft end buffer joint 4-rigid-flexible coupling telescopic joint
5- -internal ball antenna 6- -internal ball solar sail
7- -automatic Release and locking mechanism 8- -Flexible arm
9- -Flexible arm end
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.
As shown in fig. 1, the internal schematic view of the overall structure of the robot is shown in order to better show the internal structural schematic view of the robot, and the deformation process schematic view is to be noted that the robot is in an unstable state in this state.
As shown in fig. 2, which is a schematic diagram of the robot in the spherical cruise mode, the robot is in a closed state at this time, so that the inside of the robot is isolated from the outside in this state, when the robot needs to be stationary in this state, a gyroscope and an acceleration sensor in the robot can drive a motor of the rigid-flexible coupling telescopic joint (4), so that the robot keeps dynamic balance, and when the robot needs to move in this state, the spherical robot is used as a centroid changing mechanism in the spherical moving state through the super-redundant operating arm, and flexible and stable rolling of the robot is realized through the homodromous rotation of the rigid-flexible coupling telescopic joint (4).
As shown in fig. 3, a schematic diagram of the operation mode of the smart arm of the spherical robot is shown, the smart arm (8) on the spherical robot can extend the smart arm ends (9) at the left end and the right end of the spherical shell as supports respectively in the spherical cruise mode to lift the whole sphere, so that the whole robot can be regarded as a two-leg robot, a gyroscope and an acceleration sensor in the robot can drive a motor of a rigid-flexible coupling telescopic joint (4), so that the robot keeps dynamic balance, and short-distance gait walking is realized through the smart arm (8), so as to realize step obstacle crossing of the robot.
As shown in fig. 4, a schematic diagram of the operation mode of the spherical robot in the dual-operation arm mode is shown, the change process of the schematic diagram is that the robot in the spherical cruise mode reaches a designated position after determining an operation base point according to the positions of other spherical robots based on a pre-input task, the tail ends (9) of the smart arms (8) at two ends extend out and are supported on the ground, then the spherical shell is unfolded through an automatic releasing and locking mechanism (7) to enable the solar sail (6) in the sphere to start working, at the moment, the two super-redundant operation arms can be supported by the super-redundant operation arm base (2) and the tail ends (9) of the smart arms, and the left and right super-redundant operation arms can realize large-scale operation to the outside in space.
Claims (5)
1. A mobile operational spherical robot for construction of a lunar base, characterized in that: the flexible-cable-driven extensible robot comprises a flexible-cable-driven extensible spherical shell (1), a rigid-flexible coupling super-redundancy operation arm base (2), a flexible tail end buffer joint (3), a rigid-flexible coupling telescopic joint (4), an internal spherical antenna (5), an internal spherical solar sail (6), an automatic release and locking mechanism (7), a flexible arm (8) and a flexible arm tail end (9).
But flexible cable drive expansion spherical shell (1) adopts armadillo bionic structure, is complete spheroid structure when the spherical shell is rolled up, acts as the sun sail when expanding. The 'rigid-flexible' coupling super-redundancy operation arm base (2), the soft tail end buffering joint (3) and the 'rigid-flexible' coupling telescopic joint (4) are units formed by 'rigid-flexible' coupling super-redundancy operation arms in the spherical robot. The 'rigid-flexible' coupling super-redundancy operating arm is connected with the flexible cable drive expandable spherical shell (1) through the base (2), the tail end of the operating arm is connected with the operating arm through the buffer joint (3), and the 'rigid-flexible' coupling telescopic joint (4) replaces a rigid connecting rod, so that the whole operating arm forms the super-redundancy operating arm with 10 degrees of freedom. The tail end (9) of the flexible arm is an expansion supporting mechanism and is connected with the spherical shell through the flexible arm (8).
2. A mobile operational spherical robot for construction of lunar bases, as claimed in claim 1, characterized in that: the robot has three operation modes: a spherical cruise mode, a smart arm operating mode and a double arm operating mode. Under the spherical cruise mode, the spherical shell of the robot is in a closed state, and the robot realizes the rolling of the spherical robot through a first section rigid-flexible coupling telescopic joint (4) on a super-redundant operation arm based on the principle of gravity moment generated by mass center offset.
3. A mobile operational spherical robot for construction of lunar bases, as claimed in claim 1, characterized in that: in the smart arm operation mode, the robot arm has ball-leg characteristics so as to improve the obstacle crossing height, and for obstacles with small vertical height, the obstacle crossing can be completed through rolling in a spherical cruise mode or cooperation of the smart arm in the smart arm operation mode; for the obstacle with the vertical height exceeding the radius of the spherical robot and the maximum height supported by the smart arms, the combination of a plurality of robots is realized through the butt joint function among the smart arms to form an open-chain series topology structure, and the multi-robot cooperation obstacle crossing is realized.
4. A mobile operational spherical robot for construction of lunar bases, as claimed in claim 1, characterized in that: in the double-operation-arm operation mode, the spherical shell of the robot is unfolded, so that the solar sail (6) in the sphere starts to work to provide energy for the robot. The double-operating arm is supported by a super-redundant operating arm base (2) and a tail end (9) of the flexible arm, so that the left and right super-redundant operating arms can realize large-range operation in space.
5. A mobile operational spherical robot for construction of lunar bases, as claimed in claim 4, characterized in that: the robot can realize the intercommunication with other robots, and in the mode of double-operating-arm operation, multiple robots can be mutually matched to realize cooperative operation, and jointly complete complex tasks of base construction under the lunar extreme environment.
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| CN202210547443.7A CN114939877B (en) | 2022-05-18 | 2022-05-18 | A portable operation spherical robot for moon base is built |
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| CN202210547443.7A CN114939877B (en) | 2022-05-18 | 2022-05-18 | A portable operation spherical robot for moon base is built |
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