CN115257996B - Eight-foot special robot capable of dynamically reconstructing body - Google Patents
Eight-foot special robot capable of dynamically reconstructing body Download PDFInfo
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- CN115257996B CN115257996B CN202210850746.6A CN202210850746A CN115257996B CN 115257996 B CN115257996 B CN 115257996B CN 202210850746 A CN202210850746 A CN 202210850746A CN 115257996 B CN115257996 B CN 115257996B
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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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- 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 an eight-foot special robot capable of dynamically reconstructing a body, which comprises a core module, a protection module and a motion module, wherein the core module is connected with the protection module; an electric connecting bolt and a lifting mechanism are designed in the core module, so that the cylindrical pair of the motion module is connected; the protection module is started when the robot is in danger, and a closed protection space with the self-locking inside is formed to protect the core module; the motion module consists of mechanical legs and an end effector and is used for completing the walking and grabbing functions of the robot; according to the invention, the repeated connection and unlocking of the mechanical feet are realized by using the electric connecting bolts, so that the position distribution of the eight feet can be adjusted at any time to cope with complex forest road conditions when the robot moves, the failed feet can be actively separated from the core module after at most any four mechanical feet are failed, and the positions of the remaining feet are adjusted to ensure that the mechanical feet are always in central symmetry or mirror symmetry relative to the body distribution, so that the survivability of the special robot in a forest environment is greatly improved.
Description
Technical Field
The invention belongs to the technical field of automatic forest fire prevention monitoring, and particularly relates to an eight-foot special robot capable of dynamically reconstructing a body, which is suitable for executing unmanned inspection tasks in forest areas.
Background
Forest fires are natural disasters which are strong in burst property, high in destructive power and have huge destructive power on forest ecosystems and human beings, and are the first three natural disasters for damaging forests. Because the topography of the forest region is complex and changeable, the ground is different from urban roads, and the topography environments such as bushes, ravines, slopes and the like can seriously influence the walking efficiency of the fire-fighting robot. Most forest fire prevention equipment has lower obstacle crossing capability in the advancing process, has the problem of difficult obstacle crossing, and is not suitable for advancing in the complex terrain of a forest region. Because of the lack of forest fire monitoring equipment, forest fires cannot be prevented reliably in time, and manual monitoring is not easy to achieve and has high cost. At present, the urban fire rescue operation equipment is more researched, the research on fire protection equipment in the forest fire field is little, and the development of automatic forest fire prevention monitoring equipment has great significance.
The multi-foot walking robot, particularly the eight-foot robot, has super-strong environment adaptability, small damage to the ground and high flexibility, and the redundant structure of the robot ensures stable walking under the condition that one or even more legs lose the motion capability. As the number of legs increases, the variety of gait increases significantly, and the configuration of gait determines the adaptability of the robot to terrain, the number of robot legs is a very important mechanical design parameter. The increase in the number of legs, while providing speed and functional advantages, comes at the cost of increased complexity in coordination and control of the legs. Because the topography environment of the forest is complex and changeable, the fire-fighting robot needs to have functions of penetrating through ravines, shrubs, climbing hillsides and the like in the operation process, has higher requirements on the trafficability, stability and maneuverability of a movement mechanism, and the legs of the robot move for a long time under the complex topography, are extremely easy to damage, further cause movement unbalance and even failure, so that the multi-legged special robot has various limitations in the aspect of forest movement.
For forest work tasks, the existing eight-foot special robot has weak adaptability to forest environments, and has the following problems:
1. the existing eight-foot robot has the advantages that the design scheme of symmetrical or mirror symmetrical distribution by taking the body as the center is adopted for the leg distribution, so that the control difficulty caused by the increase of the number of the legs is reduced, and once any leg fails or loses control, the inconsistent movement capacity at two sides of the robot body can be caused, and the movement unbalance and even the movement capacity loss can be caused. Such as CN108382485a, entitled "self-breaking inflatable soft foot crawling robot". Although the patent can reduce the disturbance of the fault foot to the movement and rely on other feet to continue to complete the task through the active foot breaking function, the patent is only applicable to the situation when one leg loses the driving force; when multiple legs fail, particularly if the failed legs are concentrated on the same side of the robot body, the ability of the robot to move in severely unequal amounts on both sides will cause the robot to tip over during movement.
2. At present, a motion control system of a multi-foot robot is mostly designed based on symmetrically distributed motion feet, so that an eight-foot robot can appear in the situation that a small number of motion feet fail, and the motion capability of the robot is lost due to the collision between a preset motion control system and hardware under the condition that the motion hardware function is still complete; the uncertainty of the occurrence position of the failure foot greatly increases the complexity and cost of designing a plurality of sets of motion control systems.
3. The existing eight-foot robot working environment mainly comprises areas such as space, volcanic, thunder areas, forests and the like which cannot be reached or work for a long time by people, and high-risk special working tasks are completed. When the robot breaks down, even if the robot is recovered later, the robot is exposed to a severe natural environment for a long time, the robot lacks protection to the robot, the core component is damaged, and the application cost of the multi-legged robot is too high.
Disclosure of Invention
In order to overcome the problems, the invention provides an eight-foot special robot capable of dynamically reconstructing a body, which solves the problems.
The technical scheme adopted for solving the technical problems is as follows: an eight-foot special robot capable of dynamically reconstructing a body comprises a core module, a protection module and eight groups of motion modules; the core module consists of a base, an inner rotating mechanism, an outer rotating mechanism and a main shaft; an electric connecting bolt and a lifting mechanism are arranged in the base, and the electric connecting bolt repeatedly connects and unlocks the motion module; the lifting mechanism enables the motion module to move up and down along the spindle shaft; the internal rotation mechanism is positioned above the base and is matched with the electric connecting bolt to drive the movement module to rotate around the main shaft at any angle; the outer rotating mechanism is arranged at the outer side of the inner rotating mechanism, and is matched with the inner rotating mechanism to synchronously rotate and adjust the position of the motion module and independently rotate around the main shaft to fix the motion module;
the protection module consists of a base, a lower lifting platform, a push rod, an upper lifting platform, a movable shell and a connecting rod; the base is arranged on the outer side of the base and used for protecting the base; the lower lifting platform is arranged above the outer rotating mechanism and fixedly connects the protection module with the core module; the upper lifting platform is connected with the movable shell through a connecting rod, and the movable shell is unfolded and folded through the vertical movement of the upper lifting platform; the push rod is used for connecting the upper lifting platform and the lower lifting platform and controlling the lifting movement of the upper lifting platform; the movable shell is arranged on the outer side of the upper lifting platform, and forms a closed protection space with the base when the movable shell is closed, so that the influence of the external environment on the inner parts of the core module is reduced;
the motion module consists of mechanical legs and an end effector, wherein the mechanical legs are five-degree-of-freedom mechanisms, and are provided with four revolute pairs and a movable pair, and are connected with a base through electric connecting bolts; the end effector is a four-claw mechanism, is connected with the mechanical legs through flanges and is matched with the mechanical legs to finish the walking, supporting and grabbing functions of the robot;
preferably, in the process of the robot executing the inspection task, when the motion module fails or cannot move due to the limitation of the terrain, an electric connecting bolt connected with the motion module on the base rotates and retreats, the connection between the base and the mechanical leg is actively released, and then the motion is performed by controlling other motion modules still connected with the core module, so that the failed foot is separated from the robot, and the motion of the robot is ensured not to be influenced by the failed foot.
Preferably, in the process of the robot executing the inspection task, after the failure foot is completely separated from the robot, the core module controls the electric connecting bolt and the lifting mechanism in the base, and simultaneously, the positions of the other motion modules on the base are readjusted by the upper rotating mechanism, so that all the motion modules connected with the base are always in central symmetry or mirror symmetry relative to the robot body, and the motion unbalance of the robot is avoided.
Preferably, when the robot executes the inspection task, the eight groups of motion modules are controlled by the core module to perform pose transformation of various forms aiming at the terrain change in the motion process, and different stepping structures are formed to adapt to complex road conditions in a forest environment.
Preferably, in the process of the robot executing the inspection task, when the robot finds that the fire source cannot be evacuated in time or the robot cannot continue to finish the task due to emergency, an explosion bolt is designed at the connecting rod of the mechanical legs and the base, and the explosion bolt is utilized to rapidly separate all the mechanical legs from the base and then start the protection module, so that the movable shell is folded to form a closed protection space to protect the core module.
Preferably, the protection module keeps a standby state when the robot works normally, namely the movable shell is in an unfolding state, so that information exchange between the sensor in the core module and the external environment is avoided.
The beneficial effects of the invention are as follows:
1. aiming at the 1 st point proposed by the background technology, the invention solves the problem by utilizing the electric connecting bolt to realize the repeated connection and unlocking function of the mechanical leg and the base. The lifting mechanism arranged on the base is matched with the upper rotating mechanism, the electric connecting bolt is used for controlling the mechanical leg to be dynamically connected with the base and the upper rotating mechanism, and the position of the mechanical leg relative to the base is adjusted at any time. In the moving process of the robot, no matter whether a moving module in any direction on a base breaks down, after the core module actively breaks off the connection with the failed foot, the positions of the other moving modules are readjusted to be symmetrical or mirror symmetrical relative to the center of the base, so that the robot can stably move with balanced moving capability; meanwhile, under the extreme condition that any four groups of eight groups of motion modules fail, the invention reconstructs the remaining four groups of motion modules into the four-foot robot by matching with the core module, thereby greatly improving the survivability of the eight-foot robot in the forest environment.
2. Aiming at the 2 nd point of the background technology, the invention solves the problem by adopting a mode of actively adjusting the relative position of the mechanical leg. Only eight-foot, six-foot and four-foot three-set gait control systems are preset for the robot, and after part of mechanical legs fail, the positions of the other mechanical legs are dynamically adjusted to adapt to a preset motion control scheme. The coordination of software and hardware of the motion system in the operation process of the robot is ensured, and meanwhile, the design of the motion control system is greatly simplified.
3. Aiming at the 3 rd point of the background technology, the invention designs a protection module taking a movable shell as a core to solve the problem. When the robot fails and loses the mobility completely or encounters fire in the operation process, all the motion modules are abandoned actively, the protection module is started to form a closed protection space with the core module area as the center, important parts in the core module are prevented from being further damaged, subsequent recovery and cyclic utilization are facilitated, and the application cost of the special robot is reduced.
Note that: the above designs are not sequential, each of which provides a distinct and significant advance over the prior art.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an exploded view of the core module of the present invention;
FIG. 3 is an exploded view of the protective module of the present invention;
FIG. 4 is a schematic diagram of a motion module according to the present invention;
FIG. 5 is a schematic view of a motion module of the present invention in semi-section with a base connection;
FIG. 6 is a schematic diagram of a kinematic module of the present invention in semi-cutaway with an internal rotation mechanism;
FIG. 7 is a schematic diagram of the protective module of the present invention in full section;
FIG. 8 is a schematic diagram of the enclosed protection space formed after the protection module of the present invention is started;
FIG. 9 is a schematic view of a partial pose configuration of an implementation of the present invention;
in the drawings, reference numerals are as follows:
1. the device comprises a core module 2, a protection module 3, a motion module 4, an outer rotating mechanism 5, an inner rotating mechanism 6, a main shaft 7, a base 8, a lifting groove 9, an electric connecting bolt 10, a lifting mechanism 11, a movable shell 12, a connecting rod 13, an upper lifting platform 14, a push rod 15, a lower lifting platform 16, a base 17, a mechanical leg 18, an end effector 19, an explosion bolt 20, a threaded hole 21, a flange 22 and a sealing groove, wherein the inner rotating mechanism is a lifting mechanism
Detailed Description
As shown in fig. 1 to 4: an eight-foot special robot capable of dynamically reconstructing a body, which is shown in fig. 1 and consists of a core module 1, a protection module 2 and eight groups of motion modules 3; the structure of the core module 1 is shown in fig. 2, and is composed of a base 7, an inner rotation mechanism 5 and an outer rotation mechanism 4 and is connected with the outer rotation mechanism through a main shaft 6, a lifting groove 8 is designed on the outer rotation mechanism 4 and is used for being connected with the protection module 2, electric connecting bolts 9 are designed on the inner rotation mechanism 5 and the base 7 and are used for repeatedly connecting with the unlocking movement module 3, and a lifting mechanism 10 is further arranged on the base 7 to drive the movement module 3 to move up and down along the axial direction of the main shaft 6; the protection module 2 is shown in fig. 3 and consists of a movable shell 11, a connecting rod 12, an upper lifting platform 13, a push rod 14, a lower lifting platform 15 and a base 16, wherein the movable shell 11 is fixedly connected with the upper lifting platform 13 through the connecting rod 12, the upper lifting platform 13 is connected with the lower lifting platform 15 through the push rod 14, the upper lifting platform 13 is lifted under the action of the push rod 14 so as to control the fan blades of the movable shell 11 to be unfolded and folded, and the base 16 is wrapped outside the base 7 to protect the fan blades and is matched with the movable shell 11 to form a closed space protection core module 1 when the movable shell 11 is in a folded state; the movement module is composed of a mechanical leg 17 and an end effector 18 as shown in fig. 4, a threaded hole 20 is designed at a connecting rod part connected with the core module 1 of the mechanical leg 17 and is used for being connected with an electric connecting bolt 9 on the base 7, meanwhile, an explosion bolt 19 is also designed at the front end of the connecting rod, the movement module 3 is rapidly separated from the core module 1 in an emergency, the end effector 18 is connected with the mechanical leg 17 through a flange 21, and the walking, supporting and grabbing functions of the eight-foot robot are completed by matching with the mechanical leg 17.
As shown in fig. 5, when the robot is in normal walking and the mechanical leg 17 is connected to the core module 1, the electric connecting bolt 9 on the base 7 is rotated into the threaded hole 20 in the mechanical leg 17, and the mechanical leg 17 is screwed and connected to the base 7. When the mechanical leg 17 in fig. 5 breaks down or falls into the terrain to cause the robot to be unable to move, the two electric connecting bolts 9 on the base 7 rotate and retreat to actively release the connection between the base 7 and the mechanical leg 17, and then the other movement modules 3 still kept connected with the core module 1 are controlled to move so as to separate the failed foot from the robot, thereby ensuring that the movement of the robot is not influenced by the failed foot.
When the position of the motion module 3 needs to be adjusted, as shown in fig. 6, firstly, the electric connecting bolt 9 on the base 7 is retracted into the base 7 to disconnect the motion module 3; then, the lifting mechanism 10 drives the movement module 3 to axially lift to the threaded hole 20 at the tail end of the mechanical leg 17 along the main shaft 6, and after the movement module is stopped after being aligned with the electric connecting bolt 9 on the inner rotation mechanism 5, the electric connecting bolt 9 on the inner rotation mechanism 5 rotates to enter the threaded hole 20 at the tail end of the mechanical leg 17, so that the inner rotation mechanism 5 is connected with the mechanical leg 17; then, the electric connecting bolt 9 on the lifting mechanism 10 is retracted into the groove, the connection between the mechanical leg 17 and the lifting mechanism 10 is disconnected, and at the moment, the connection between the motion module 3 and the base 7 is completely disconnected and only fixedly connected with the internal rotation mechanism 5; finally, the inner rotating mechanism 5 and the outer rotating mechanism 4 synchronously move to drive the movement module 3 to rotate around the main shaft 6, when the mechanical leg 17 moves to the upper part of the target position, the lifting mechanism 10 positioned below the lifting mechanism is lifted, after the electric connecting bolt 9 on the lifting mechanism 10 is connected with the mechanical leg 17, the electric connecting bolt 9 on the inner rotating mechanism 5 is retracted into the groove, the connection between the mechanical leg 17 and the inner rotating mechanism 5 is disconnected, and meanwhile, the lifting mechanism 10 drives the movement module 3 to descend until the threaded hole 20 at the tail end of the mechanical leg 17 is aligned with the electric connecting bolt 9 on the base 7, and the electric connecting bolt 9 on the base 7 enters the threaded hole 20 at the tail end of the mechanical leg 17 to fix the movement module 3 on the base 7 again as shown in fig. 5.
When the robot encounters a special situation and needs to carry out emergency avoidance, firstly, all the explosion bolts 19 on all the mechanical legs 17 are activated to separate all the motion modules 3 from the robot, and at the moment, the main body of the robot is a core module 1 and a protection module 2, as shown in fig. 7; then, the push rod 14 pushes the upper lifting platform 13 to move upwards along the arrow direction in fig. 7 so as to control the fan blades of the movable shell 11 to be folded; finally, after the blades of the movable housing 11 are completely folded, the lower lifting platform 15 positioned above the lifting groove 8 in the outer rotating mechanism 4 drives the whole protection module 2 to move downwards to the bottom of the lifting groove 8, the blades of the movable housing 11 are inserted into the sealing groove 22 on the base 16, and finally, a closed space which is self-locked inside as shown in fig. 8 is formed, so that the core module 1 is prevented from being damaged when exposed to the external environment.
During normal walking of the robot, the relative position of the motion module 3 on the base 7 is dynamically adjusted according to the terrain by utilizing the functions to realize various pose forms as shown in fig. 9 so as to adapt to different gait control strategies, thereby realizing stable and rapid movement of the eight-foot robot under complex terrain.
The foregoing detailed description is directed to embodiments of the invention which are not intended to limit the scope of the invention, but rather to cover all modifications and variations within the scope of the invention.
Claims (6)
1. An eight-foot special robot capable of dynamically reconstructing a body is characterized in that: the eight-foot special robot consists of a core module, a protection module and eight groups of motion modules;
the core module consists of a base, an inner rotating mechanism, an outer rotating mechanism and a main shaft; an electric connecting bolt and a lifting mechanism are arranged in the base, and the electric connecting bolt repeatedly connects and unlocks the motion module; the lifting mechanism enables the motion module to move up and down along the spindle shaft; the internal rotation mechanism is positioned above the base and is matched with the electric connecting bolt to drive the movement module to rotate around the main shaft at any angle; the outer rotating mechanism is arranged at the outer side of the inner rotating mechanism, and is matched with the inner rotating mechanism to synchronously rotate and adjust the position of the motion module and independently rotate around the main shaft to fix the motion module;
the protection module consists of a base, a lower lifting platform, a push rod, an upper lifting platform, a movable shell and a connecting rod; the base is arranged on the outer side of the base and used for protecting the base; the lower lifting platform is arranged above the outer rotating mechanism and fixedly connects the protection module with the core module; the upper lifting platform is connected with the movable shell through a connecting rod, and the movable shell is unfolded and folded through the vertical movement of the upper lifting platform; the push rod is used for connecting the upper lifting platform and the lower lifting platform and controlling the lifting movement of the upper lifting platform; the movable shell is arranged on the outer side of the upper lifting platform, and forms a closed protection space with the base when the movable shell is closed, so that the influence of the external environment on the inner parts of the core module is reduced;
the motion module consists of mechanical legs and an end effector, wherein the mechanical legs are five-degree-of-freedom mechanisms, and are provided with four revolute pairs and a movable pair, and are connected with a base through electric connecting bolts; the end effector is a four-claw mechanism, is connected with the mechanical legs through flanges, and is matched with the mechanical legs to finish the walking, supporting and grabbing functions of the robot.
2. An eight-foot special robot capable of dynamically reconstructing a body according to claim 1, wherein: in the process of the robot executing the inspection task, when the motion module fails or cannot move due to the limitation of the terrain, an electric connecting bolt connected with the motion module on the base rotates to retreat, the connection between the base and the mechanical leg is actively released, and then the motion is carried out by controlling other motion modules still connected with the core module, so that the failed foot is separated from the robot, and the motion of the robot is ensured not to be influenced by the failed foot.
3. An eight-foot special robot capable of dynamically reconstructing a body according to claim 1, wherein: in the process of the robot executing the inspection task, after the failure foot is completely separated from the robot, the core module controls the electric connecting bolt and the lifting mechanism in the base, and simultaneously, the positions of the other motion modules on the base are readjusted by the upper rotating mechanism, so that all the motion modules connected with the base are always in central symmetry or mirror symmetry relative to the robot body, and the motion unbalance of the robot is avoided.
4. An eight-foot special robot capable of dynamically reconstructing a body according to claim 1, wherein: when the robot executes the inspection task, the eight groups of movement modules can perform pose transformation of various forms according to the terrain change in the movement process under the control of the core module, and different stepping structures are formed to adapt to complex road conditions in a forest environment.
5. An eight-foot special robot capable of dynamically reconstructing a body according to claim 1, wherein: in the process of the robot executing the inspection task, when the robot finds out that the fire source cannot be evacuated in time or the robot encounters an emergency situation and cannot continue to finish the task, an explosion bolt is designed at the connecting rod of the mechanical legs and the base, and the explosion bolt is utilized to rapidly separate all the mechanical legs from the base and then start the protection module, so that the movable shell is folded to form a closed protection space to protect the core module.
6. An eight-foot special robot capable of dynamically reconstructing a body according to claim 1, wherein: the protection module keeps a standby state when the robot works normally, namely the movable shell is always in an unfolding state, so that information exchange between the sensor in the core module and the external environment is avoided.
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