CN1131134C - Pipe-type movable robot with wheel legs - Google Patents
Pipe-type movable robot with wheel legs Download PDFInfo
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- CN1131134C CN1131134C CN 01113094 CN01113094A CN1131134C CN 1131134 C CN1131134 C CN 1131134C CN 01113094 CN01113094 CN 01113094 CN 01113094 A CN01113094 A CN 01113094A CN 1131134 C CN1131134 C CN 1131134C
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- robot
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- pipe
- type movable
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Abstract
The present invention relates to a pipeline type movable robot with wheel legs, which is composed of two robot units, wherein a hollow detection ball and two sets of telescopic legs are fixed on a robot body connected by pipelines in each robot unit. Each set has three telescopic legs which are mutually in 120 DEG and are distributed in the same plane in a star shape. The ends of the telescopic legs are connected with a spherical wheel; a solar battery board is arranged on the outer cylindrical surface of the robot body. The two robot units are connected by a connection shaft positioned on a y-axis line of the robot body and are capable of mutually rotating along the connection shaft. The present invention has two modes: compression and expansion, and has active rolling and strong system reconfiguration capability. The volume of the movable robot can be extended; the movable robot is suitable for the requirement of detecting celestial bodies.
Description
The present invention relates to a kind of movable robot with wheel legs, relate in particular to a kind of pipe-type movable robot with wheel legs that is applicable to celestial body detecting, belong to the mobile robot technology field.
The development of modern science is more and more higher to the requirement of robot, especially for the celestial body detecting robot, requires to possess following performance: (1) can cross over the trench and the step that is higher than the wheel radius greater than wheel diameter; When (2) robot is absorbed in the weak soil earth, can break away from weak soil earth district automatically, recover normal driveability; (3) sealability of complete machine and compressibility are good; (4) overcome the harmful effect of tumbling to the robot ride ability; (5) high-speed and high-efficiency that travels; (6) volume can expand be field moveable robot movement systems such as celestial body detecting the important performance that should possess.
Since the sixties in 20th century, developed both at home and abroad the mobile robot of wheeled, leg formula, wheel leg type, crawler type and other special shape.These robots mostly only adapt to a certain particular surroundings, and versatility is not strong.Wherein wheeled mobile robot has the performance of high-speed and high-efficiency, but stride across a trench, the ability of step is lower.Leg type mobile robot landform adaptive capacity is strong, can cross big trench and step, and its shortcoming is that speed and efficient are all lower.Caterpillar mobile robot landform adaptive capacity is very strong, and dynamic loading is little, and is compact to design, and its shortcoming is that weight is big, and energy consumption is big.Movable robot with wheel legs has merged the landform adaptive capacity of leg formula travel mechanism and the high-speed and high-efficiency performance of wheeled travel mechanism, its shortcoming be the structure relative complex some.(the Sreenivasan S.V. of Go-For robot of JPL (U.S. jet propulsion laboratory), Wilcox B.H., Stability and Traction Control of an Actively Actuated Micro-rover, Journal ofRobotic Systems, 11 (6), 1994:487～502.) be a kind of typical movable robot with wheel legs.0.4 meter of Go-For robot head, high 0.4 meter, weigh 3.5 kilograms.There are 4 wheel legs in the Go-For robot, and wheel is contained in the end of leg.But its leg is not to do rectilinear motion, but does gyration around the pivot that is connected on the body.By the angle of leg before and after the rotation, the Go-For robot can change the distribution of quality, when overturning, can oneself stand up.But it can not cross over trench and the step that is higher than the wheel radius greater than wheel diameter; Do not possess the ability of rolling, when robot is absorbed in the weak soil earth, can not break away from weak soil earth district automatically, recover normal driveability; Volume does not have expandability.
The objective of the invention is to above-mentioned deficiency at prior art, design provides a kind of novel pipe-type movable robot with wheel legs, make it to have the ability of initiatively rolling and higher obstacle climbing ability, strengthen travel reliability and combination property, be more suitable for the requirement of celestial body detecting.
In order to realize such purpose, the present invention is in technical scheme, the pipe-type movable robot with wheel legs of design is made up of two robot cells, among each robot cell, fix a hollow detection ball and two groups of Retractive legs on the body that is formed by connecting by plurality of conduits, 3 Retractive legs of every group are mutually 120 °, are star and are distributed in the same plane, the end of every Retractive leg connects a global wheel, arranges cylindrical solar panel on the external cylindrical surface of pipeline body.Two robot cells link to each other by the connecting axle that is positioned on the pipeline body longitudinal axis, and two robot cells can rotate mutually around connecting axle, can adjust the position flexibly by flexible the rotation.
Configurable some instrument and equipments in the pipeline body and in the hollow detection ball.The telescoping mechanism of Retractive leg mainly is made up of steel wire rope, common helical spring and motor.
For understanding technical scheme of the present invention better, describe in further detail below in conjunction with accompanying drawing.
Fig. 1 is a structural representation of the present invention.
Shown in the figure is pipe-type movable robot with wheel legs under the expansion pattern.As shown in the figure, the present invention is made up of two robot cells, among each robot cell, fix a hollow detection ball 1 and two groups of Retractive legs 2 on the body 4 that is formed by connecting by pipeline, 3 Retractive legs 2 of every group are mutually 120 °, be star and be distributed in the same plane, the end of every Retractive leg 2 connects global wheel 3, arranges cylindrical solar panel 5 on the external cylindrical surface of body 4.Two robot cells link to each other by the connecting axle 6 that is positioned on body 4 longitudinal axis, and two robot cells can rotate mutually around connecting axle.
Configurable some instrument and equipments in pipeline the body 4 interior and hollow detection balls 1.Retractive leg 2 is segmenteds, and its telescoping mechanism mainly is made up of steel wire rope, common helical spring and motor.Steel wire rope one end is fixed on the Retractive leg, and the other end passes spring and is fixed on by on the motor-driven rotating shaft of elevator.Rotating shaft is installed on the robot body.Spring one end is fixed on the Retractive leg, and the other end is fixed on the robot body.
Fig. 2 is the structural representation of the present invention under memory module.
Shown in the figure is pipe-type movable robot with wheel legs under memory module.As shown in the figure, two robot cells link to each other by the connecting axle 6 that is positioned on body 4 longitudinal axis, and two robot cells can rotate mutually around connecting axle.Among each robot cell, fix a hollow detection ball 1 and two groups of 6 Retractive legs 2 on the body 4 that is formed by connecting by pipeline, the end of every Retractive leg 2 connects global wheel 3, arranges cylindrical solar panel 5 on the external cylindrical surface of body 4.Among the figure, the Retractive leg 2 of robot is in contraction state, and entire machine people places storage container 7.
Fig. 3 is the left view of the present invention's structure under memory module.
Among the figure as seen, fixation hollow is surveyed ball 1 and two groups of Retractive legs 2 on the body 4, and 3 Retractive legs 2 of every group are mutually 120 °, are star and are distributed in the same plane, the end of every Retractive leg 2 connects global wheel 3, arranges cylindrical solar panel 5 on the external cylindrical surface of body 4.Entire machine people places storage container 7.
Pipe-type movable robot with wheel legs of the present invention has outstanding feature, and unique Retractive leg structure makes robot have compression and launches two kinds of patterns, both has been convenient to the robot transportation, can guarantee that again there is clear height at the bottom of the bigger car in robot when travelling on the ground.Take turns leg and be the space symmetrical structure that star distributes, can after tumbling or when wheel is absorbed in the weak soil earth, have the ability of initiatively rolling by flexible combination flexibly, recovery is normally travelled automatically, can keep body to be in level in the time of can also making the robot climbing.The pipeline configuration of robot body can carry out the expansion of volume and detecting function easily by increasing pipeline.Two robot cells of the present invention link to each other by connecting axle, and structure is simpler, further reduces cost.
Robot ride of the present invention system has very strong system reconfiguration ability.Robot still can return near the starting point, for example after some driver part is out of order: if any 1 wheel is out of order in the chassis, remaining 7 driving wheels can guarantee that robot can walk on; If two driving wheels in robot front frame front are out of order, remaining 6 driving wheels can guarantee that still robot can walk on; When the ground wheel on left side or right side all lost efficacy, robot can be unsettled with the wheel of the side that lost efficacy by tumbling motion, and original unsettled wheel contacted to earth, and reformulate one 8 and take turns the chassis, but robot proper motion again.
Claims (3)
1, a kind of pipe-type movable robot with wheel legs, it is characterized in that forming by two robot cells, among each robot cell, fix a hollow detection ball (1) and two groups of Retractive legs (2) on the body (4) that is formed by connecting by pipeline, 3 Retractive legs (2) of every group are mutually 120 °, being star is distributed in the same plane, the end of every Retractive leg (2) connects global wheel (3), arrange solar panel (5) on the external cylindrical surface of body (4), two robot cells link to each other by the connecting axle (6) that is positioned on body (4) longitudinal axis, and can rotate mutually around connecting axle (6).
2,, it is characterized in that the telescoping mechanism of every Retractive leg (2) is formed by steel wire rope, common helical spring and motor as the said pipe-type movable robot with wheel legs of claim 1.
3, as the said pipe-type movable robot with wheel legs of claim 1, it is characterized in that the interior and middle configure instrument equipment of hollow detection ball (1) of pipeline of body (4), body (4) can carry out expanded in volume by increasing pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01113094 CN1131134C (en) | 2001-06-07 | 2001-06-07 | Pipe-type movable robot with wheel legs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01113094 CN1131134C (en) | 2001-06-07 | 2001-06-07 | Pipe-type movable robot with wheel legs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1317398A CN1317398A (en) | 2001-10-17 |
| CN1131134C true CN1131134C (en) | 2003-12-17 |
Family
ID=4659837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01113094 Expired - Fee Related CN1131134C (en) | 2001-06-07 | 2001-06-07 | Pipe-type movable robot with wheel legs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1131134C (en) |
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2001
- 2001-06-07 CN CN 01113094 patent/CN1131134C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1317398A (en) | 2001-10-17 |
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