CN114939877B - A mobile operating spherical robot for lunar base construction - Google Patents

Abstract

The invention discloses a movable operating spherical robot used for lunar base construction. The movable operating spherical robot described in the invention includes: a flexible cable-driven deployable spherical shell (1), a "rigid-soft" coupled super-redundant operating arm base (2), a soft end buffer joint (3), a "rigid-soft" coupling "Soft" coupling telescopic joint (4), in-sphere antenna (5), in-sphere solar sail (6), automatic release and locking mechanism (7), dexterous arm (8), dexterous arm end (9). Through the "rigid-flexible" coupling of the configuration change of the super-redundant operating arm as the center-of-mass changing mechanism of the spherical moving state, the spherical robot can roll flexibly and smoothly. After reaching the designated position, the double dexterous arms can assist the spherical shell to fully open. The large super-redundant operating arm and the dexterous arm cooperate to operate and complete external operations. The robot has the characteristics of multi-arms in the ball that can be operated externally. It can realize the combined cooperation of multiple robots to overcome obstacles in the mobile state, realizing environmental adaptation and multi-machine collaboration.

Description

A mobile operating spherical robot for lunar base construction

Technical field

The present invention relates to a movable operating spherical robot for the construction of a lunar base, specifically a spherical robot with a super-redundant operating arm, which can realize the omnidirectional movement of the spherical robot and the ball through the action of the mechanical arm inside the sphere. Shell opening and closing, external operations, etc., and at the same time, environmental adaptation and multi-machine collaboration can be achieved through mutual communication with other robots, which belongs to the field of robotics.

Background technique

As a core component of the international lunar scientific research station, lunar surface transportation and operation facilities provide item transportation and operation for the long-term lunar surface work support system and lunar surface scientific research facility system. my country's aerospace technology research and development achievements have provided mature solutions for traveling to and from extraterrestrial planets. Therefore, the research on robots for constructing extraterrestrial bases has become a focus of attention and an inevitable development trend at home and abroad. The lunar environment is extremely harsh: rugged roads, vacuum, large temperature difference between day and night, lunar dust pollution, long moonlit nights, low gravity, etc., which poses huge challenges to the design of robots. The spherical robot has the advantages of omnidirectional movement, airtightness, anti-overturning, and less driving, giving it the ability to move quickly and flexibly and to protect itself in extreme environments. In view of the extreme environment of the lunar surface and the complex task constraints of base construction, the author proposes a movable operating spherical robot for lunar base construction through the innovative integration of spherical robots and mechanical arms, providing technical reference for the construction of my country's lunar base.

The application number is 202110540392.0, which discloses a spherical robot. The robot spherical shell is provided with a rolling drive device and a jump drive device. The rolling drive device includes a support mechanism, a load-bearing mechanism, a servo motor group one and a servo motor group two. The jump drive device includes The jumping mechanism, locking mechanism and counterweight platform provide a self-help jumping and self-rescuing spherical robot with compact structure and high space utilization. This invention has good passability, but it does not have external operation capabilities.

The application number is 202110393069.5, which discloses a spherical detection robot with an arm. The robot rolls under the driving force of the steering gear, the weight of the pendulum and the mechanical arm, and adjusts the expansion or closing of the spherical shell through the deformation component. When the spherical shell is open, Realize the external operation of the robotic arm. The patented mechanical arm installed inside the sphere can only operate externally when the sphere shell is opened.

The application number is 201621174315.9, which discloses a spherical handling robot. The spherical robot in this invention places two mechanical arms on both sides of the spherical robot in a non-opening and closing form, and can clamp or place items, but it is limited by the sphere itself. , the operable space is not large, the operability is not high, and the protective effect of the closed spherical shell on the mechanical arm itself is abandoned during the movement.

Based on the existing research ideas of spherical robots and large-scale space manipulators and the complex and extreme mission requirements on the surface of alien planets, the present invention integrates the design concepts of spherical robots and super-redundant large-scale space manipulators, and proposes a lunar base The movable operating spherical robot built: The spherical robot gives the mechanical arm the ability to move quickly and flexibly and the ability to protect itself in extremely complex alien planet environments. At the same time, the mechanical arm gives the spherical robot powerful external operation capabilities and the ability to collaborate between multiple robot units, making it possible to The robot can achieve efficient and reliable movement and external operations in base construction tasks in the extreme environment of the lunar surface, which has great potential advantages and far-reaching research value.

Contents of the invention

The invention proposes a movable operating spherical robot for lunar base construction. The robot in the invention realizes the flexible and smooth rolling of the spherical robot through the configuration change of the "rigid-flexible" coupled super-redundant operating arm as a center-of-mass changing mechanism in the spherical moving state; after reaching the designated position, the double dexterous arms can assist the spherical shell to complete the movement. Open; two large super-redundant operating arms and smart arms (8) operate in cooperation to complete the construction operation. The robot has the characteristics of multi-arms in the ball that can be operated externally. It can realize the combined cooperation of multiple robots to overcome obstacles in the moving state. At the same time, the dexterous arms can be extended outside the ball shell for operation in motion. In the external operation state, multiple super-redundant operating arms and smart arms can cooperate with each other to complete complex operating tasks.

In order to achieve the above objectives, the solution provided by the present invention is:

The spherical robot includes a flexible cable-driven deployable spherical shell (1), a "rigid-soft" coupled super-redundant operating arm base (2), a soft end buffer joint (3), and a "rigid-soft" coupled telescopic joint. (4), In-sphere antenna (5), In-sphere solar sail (6), Automatic release and locking mechanism (7), Smart arm (8), Smart arm end (9).

The "rigid-flexible" coupling super-redundant operating arm base (2) is connected to the flexible cable-driven expandable spherical shell (1) through the automatic release and locking mechanism (7) in the spherical cruise mode, and the sun inside the ball The sail (6) is attached to the inner surface of the spherical shell. The "rigid-soft" coupling super-redundant operating arm base (2), the soft end buffer joint (3), and the "rigid-soft" coupling telescopic joint (4) are spherical. The robot's internal "rigid-flexible" coupling super-redundant operating arm constitutes a unit. "rigid-soft" coupling super-redundant operating arm is connected to the flexible cable-driven expandable spherical shell (1) through the base (2), and the end of the operating arm is connected to the operating arm through a buffer joint (3), "rigid-soft" coupling The telescopic joint (4) replaces the rigid link, allowing the entire operating arm to form a super-redundant operating arm with 10 degrees of freedom. The soft end buffer joint (3) is the end joint of the operating arm, including the external operating hand grip. The first section of the smart arm (8) is connected to the super-redundant operating arm base (2), and the end of the smart arm (9) can be deployed as a single-end support.

The movement principle of the present invention is:

In the spherical cruise mode, the robot's flexible cable-driven deployable spherical shell (1) is in a closed state. The spherical robot uses a super-redundant operating arm as a center-of-mass changing mechanism in the spherical moving state. Based on the principle of the gravity moment generated by the offset of the center of mass, The rotation of the "rigid-soft" coupled telescopic joint (4) produces a mass center offset, enabling the robot to roll flexibly and smoothly.

The smart arm (8) on the spherical robot can, in the spherical cruise mode, extend the smart arm ends (9) at the left and right ends of the spherical shell respectively as supports to lift the entire spherical shell, so that the robot's smart arm operation mode has the characteristics of a ball. -The characteristics of the legs further increase its obstacle surmounting height, enabling short-distance walking and improving its obstacle surmounting ability; for obstacles whose vertical height exceeds the radius of the spherical robot and the maximum height that the dexterous arm can support, multiple functions can be achieved through the docking function between dexterous arms. The combination of two robots forms an open-chain series topology, enabling multi-machine collaboration to overcome obstacles.

The robot can be deployed through the spherical shell and enter the dual operating arm operating mode. At this time, the inside of the spherical shell is expanded, allowing the solar sail (6) in the ball to start working to provide energy for the robot. The dual operating arms are supported by a super-redundant operating arm base (2) and the end of the smart arm (9) as a support, so that the two left and right super-redundant operating arms can achieve large-scale external operations in the space.

The robot can communicate with the environment and other robots. A single spherical robot can learn the position of other robots through the in-ball antenna (5). Through the pre-input task requirements, it can move to the pre-task fixed point and expand the spherical shell to enter. In the dual-operating arm operation mode, multiple robots cooperate with each other to achieve collaborative operations and jointly complete the complex tasks of base construction in the extreme environment of the moon.

Advantages and benefits of the invention:

This patent proposes a movable operating spherical robot for the construction of lunar bases. The mechanical arm is used to replace the pendulum function to improve the external operation capability of the spherical robot. The internal mechanism functions are satisfied through the cooperation between redundant mechanical arms inside the spherical shell. demand, combined with the spherical shell with large deformation and expansion capabilities, the spherical robot can not only give full play to its own advantages, but also be greatly improved in terms of obstacle surmounting capabilities and external operation capabilities. It can achieve multiple super-redundant operations in the external operation state. The mutual cooperation of the remaining operating arms gives the robot strong self-protection, obstacle surmounting capabilities and external operation capabilities, and can effectively handle complex tasks such as maintenance and inspection on the lunar surface. It has great potential advantages and far-reaching research value.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the drawings required to be used in the embodiments will be briefly introduced below.

Figure 1 is an internal schematic diagram of the overall structure of the spherical robot;

Figure 2 is a schematic diagram of the spherical robot in spherical cruise mode;

Figure 3 is a schematic diagram of the spherical robot in the smart arm operation mode;

Figure 4 is a schematic diagram of the spherical robot in dual operating arm operating mode;

The reference numbers in the figure are:

1--Flexible cable-driven expandable spherical shell 2--"rigid-flexible" coupling super-redundant operating arm base

3--Soft end buffer joint 4-"rigid-soft" coupling telescopic joint

5--Inner-sphere antenna 6--Inner-sphere solar sail

7--Automatic release and locking mechanism 8--Smart arm

9--End of dexterous arm

Detailed ways

In order to better understand the technical solution of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

As shown in Figure 1, it is an internal schematic diagram of the overall structure of the robot. This diagram is to better display the schematic diagram of the internal structure of the robot and is a schematic diagram of the deformation process. It should be noted that the robot is in an unstable state in this state.

As shown in Figure 2, it is a schematic diagram of the robot in the spherical cruise mode. The robot is in a closed state at this time to ensure that the inside of the robot is isolated from the outside world. When the robot needs to be stationary in this state, it can be closed through the The gyroscope and acceleration sensor drive the motor of the "rigid-flexible" coupling telescopic joint (4) to maintain the robot's dynamic balance. When the robot needs to move in this state, the spherical robot uses a super-redundant operating arm as a spherical moving state The center-of-mass changing mechanism realizes flexible and smooth rolling of the robot through the co-directional rotation of the "rigid-soft" coupling telescopic joint (4).

As shown in Figure 3, it is a schematic diagram of the spherical robot in the smart arm operating mode. The smart arm (8) on the spherical robot can move the smart arm ends (9) at the left and right ends of the spherical shell in the spherical cruise mode, respectively. Stretch out as a support to lift the entire sphere, so that the entire robot can be regarded as a two-legged robot. The gyroscope and acceleration sensor inside the robot can drive the motor of the "rigid-soft" coupling telescopic joint (4) to keep the robot Dynamic balance, short-distance gait walking is realized through the smart arm (8), and the robot can climb obstacles in steps.

As shown in Figure 4, it is a schematic diagram of the spherical robot operating in dual operating arm mode. The change process is that in the spherical cruise mode, the robot determines the operating base point and reaches the designated position based on the positions of other spherical robots based on the pre-input task. The smart arm ends (9) of the smart arms (8) at both ends stretch out and are supported on the ground. Then the automatic release and locking mechanism (7) completes the expansion of the spherical shell so that the solar sail (6) in the ball starts to work. At this time, the two Each super-redundant operating arm can rely on the super-redundant operating arm base (2) and the smart arm end (9) as a support, so that the left and right super-redundant operating arms can achieve large-scale external operations in the space.

Claims (5)

1. A movable operating spherical robot for lunar base construction, characterized by: including a flexible cable-driven deployable spherical shell (1), a "rigid-flexible" coupling super-redundant operating arm base (2), a soft Sexual end buffer joint (3), "rigid-flexible" coupling telescopic joint (4), in-ball antenna (5), in-ball solar sail (6), automatic release and locking mechanism (7), dexterous arm (8), The end of the dexterous arm (9); the flexible cable-driven deployable spherical shell (1) adopts an armadillo bionic structure. When the spherical shell is rolled up, it is a complete spherical structure. When unfolded, the inner surface of the spherical shell is covered with an inner solar sail ( 6) It can absorb solar energy; the automatic release and locking mechanism (7) is installed at the connection point of the flexible cable-driven expandable spherical shell (1), and is used for locking and releasing the expandable spherical shell; the "rigid -The "soft" coupling super-redundant operating arm base (2), the soft end buffer joint (3), and the "rigid-soft" coupling telescopic joint (4) are the "rigid-soft" coupling super-redundant operating arms inside the spherical robot Constituent unit; "rigid-flexible" coupling super-redundant operating arm is connected to both sides of the flexible cable-driven expandable spherical shell (1) through the base (2), and the end of the operating arm is connected to the operating arm through a buffer joint (3), " The rigid-flexible coupling telescopic joint (4) replaces the rigid link, making the entire operating arm a super-redundant operating arm with 10 degrees of freedom; the end of the smart arm (9) is a deployment support mechanism, through the smart arm (8) Connected to the spherical shell; the internal spherical antenna (5) is connected to the inside of the "rigid-flexible" coupling super-redundant operating arm base (2), and can be used to amplify communication signals when the base (2) is unfolded. 2. As claimed in claim 1, a movable operating spherical robot for lunar base construction, characterized in that: the robot has three operating modes: spherical cruise mode, smart arm operating mode and dual operating arm operating mode, in the spherical In cruise mode, the robot's spherical shell is in a sealed state. The robot uses the first "rigid-soft" coupling telescopic joint (4) on the super-redundant operating arm to realize the rolling of the spherical robot based on the principle of the gravity moment generated by the offset of the center of mass. . 3. As claimed in claim 1, a movable operating spherical robot for lunar base construction, characterized in that: in the smart arm operation mode, it has ball-leg characteristics to increase its obstacle-clearing height. For vertical Obstacles with smaller heights can be overcome by rolling in spherical cruise mode or by cooperation of smart arms in smart arm operation mode; for obstacles whose vertical height exceeds the radius of the spherical robot and the maximum height that the smart arms can support, the docking function between smart arms can be used Realize the combination of multiple robots to form an open-chain series topology, and realize multi-machine collaboration to overcome obstacles. 4. As claimed in claim 1, a movable operating spherical robot for lunar base construction, characterized in that: in the double operating arm operating mode, the robot spherical shell is unfolded to start working the solar sail (6) in the ball. To provide energy for the robot, the dual operating arms are supported by the super-redundant operating arm base (2) and the smart arm end (9), allowing the left and right super-redundant operating arms to operate in a wide range of external areas in the space. 5. As claimed in claim 4, a movable operating spherical robot for lunar base construction, characterized in that: the robot can realize mutual communication with other robots, and in the double operating arm operating mode, multiple robots can communicate with each other. Cooperate to achieve collaborative operations and jointly complete the complex tasks of base construction in the extreme environment of the moon.