CN1317397A - Turning-over movable robot with wheel legs - Google Patents
Turning-over movable robot with wheel legs Download PDFInfo
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- CN1317397A CN1317397A CN 01113090 CN01113090A CN1317397A CN 1317397 A CN1317397 A CN 1317397A CN 01113090 CN01113090 CN 01113090 CN 01113090 A CN01113090 A CN 01113090A CN 1317397 A CN1317397 A CN 1317397A
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Abstract
A turn-over type moving robot with wheel legs is composed of two robot units. The main body formed by linked tubes for each unit has hollow sensing ball and two groups of three telescopic legs arranged in same plane by 120 deg of included angle. A ball wheel is linked to the end of each leg. A cylindrical solar battery board is arranged on a cylindrical surface. Both robot units are linked together via linking axle and three parallel telescopic parts. Its advantages include both compression and development modes, active turn-over function, strong reconstruction power, and extensible volume.
Description
The present invention relates to a kind of movable robot with wheel legs, relate in particular to a kind of turning-over 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 turning-over 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 turning-over movable robot with wheel legs of design is made up of two robot cells, but the expanding pulley leg of the body that each robot cell is formed by connecting by pipeline, cylindrical solar panel, 6 self-movements and 1 hollow detection ball are formed.6 Retractive legs of robot are divided into two groups, and each group has 3 Retractive legs, is distributed in the same plane, are star and distribute, and 3 Retractive legs are mutually 120 °.
The annexation of each component of each robot cell is as follows: global wheel is connected the end of Retractive leg, and the Retractive leg utilization removably connects and is fixed on the body.Body is formed by connecting by the plurality of sections pipeline.The utilization of detection ball removably connects and is fixed on the body.If utilize the source of solar panel, then solar panel is arranged on the external cylindrical surface of body as the robot energy.Two robot cells link to each other with 3 extensible members that are parallel to each other by 1 connecting axle that is positioned on the body longitudinal axis.Each extensible member is made up of steel wire rope, common helical spring and motor.Configurable some instrument and equipments in body pipeline and the detection ball.Retractive leg is segmentation as automatic umbrella, can stretch.Its telescoping mechanism 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 turning-over 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 with 3 extensible members that are parallel to each other 6 by the connecting axle 7 that is positioned on body 4 longitudinal axis.
Each extensible member 6 is made up of steel wire rope, common helical spring and motor.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 turning-over movable robot with wheel legs under memory module.As shown in the figure, two robot cells link to each other with 3 extensible members that are parallel to each other 6 by the connecting axle 7 that is positioned on body 4 longitudinal axis.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 extensible member 6 between the Retractive leg 2 of robot and two robot cells all is in contraction state, and entire machine people places storage container 8.
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 8.
Turning-over movable robot with wheel legs of the present invention has following characteristics:
(1) has compression and launch two kinds of patterns, both be convenient to the transportation of robot, can guarantee that again there is clear height at the bottom of the bigger car in robot when travelling on the ground.Robot is that the elongation by its Retractive leg realizes from compact model to the expansion that launches pattern;
(2) structurally take all factors into consideration robot in pipeline and the requirement of moving on the ground, make robot integrated the obstacle detouring function and the locomotivity of the wheeled autonomous mobile robot of pipe robot and ground, possess in the pipe and the dual-use function of ground run;
(3) robot maximum characteristics structurally are to adopt wheel leg and pipeline configuration.Wheel is spherical in shape, and leg can stretch.Most of parts of robot adopt cylindrical structure, do not adopt rectangular structure, because cylindrical structure all is better than rectangular structure in many aspects, for example: by increasing pipeline, can carry out the expansion of volume and detecting function easily;
(4) have the ability of rolling, robot is after tumbling or when wheel was absorbed in the weak soil earth, robot can recover normal driveability automatically.
The wheel of turning-over movable robot with wheel legs is star and distributes.Even this space symmetrical structure makes the robot overturning on ground, also can keep driveability not reduce.This has improved the reliability of robot greatly.Yan Zhi celestial body detecting robot as the Go-For robot of JPL development, mostly makes robot regain driveability after overturning by the employing automatic reset mechanism before this.The shortcoming of automatic reset mechanism is that control is complicated, and energy consumption is big, needs certain automatically reseting the time.These shortcomings in limited energy, have in the celestial body detecting robot application of tangible communication delay phenomenon and do not wish to occur.
Turning-over movable robot with wheel legs utilizes vehicle-wheel speed sensor to detect vehicle wheel rotational speed, if vehicle wheel rotational speed continues to reach the no-load speed of wheel in the time period of setting, then can conclude this wheel built on stilts, can cancel the driving to it, to save energy.Have three with the set of wheels of robot longitudinal axis coplane, every group has 4 wheels.Whether all left ground according to 4 wheels in a certain group and can judge whether robot rollover and still rollover to the right of rollover have left taken place.
Robot also has the ability of initiatively rolling.When the wheel of robot was absorbed in the weak soil earth, robot can recover normal driveability automatically by the active tumbling motion.
Describe in detail below under the identical situation of the action of two the similar position of robot cell wheel legs, robot finishes the process of tumbling motion.After wheel was absorbed in the weak soil earth, one of 2 in the right side/left side of robot cell wheel leg shrank that (at this moment, a robot cell also has 3 wheel legs to land, and can guarantee that robot can stably stand on the ground.This also be a robot cell adopt 4 take turns the structural reason that lands), next another of the same side wheel leg shrinks, this moment, robot was in to the right/the left bank state, 2 wheels in a left side/right side leg repeats the action of the right side/left side 2 wheels leg then, next 2 wheels in the right side/left side leg elongation simultaneously suddenly, make robot left/Right deviation turns over, originally be suspended in aerial wheel and landed this moment, 2 the wheel legs in right then (being left side wheel before tumbling)/left side (being right side wheels before tumbling) extend simultaneously, make robot forward upright posture to, this moment, the tumbling motion of robot finished.
Robot finishes tumbling motion on hard ground action great majority are identical with above-mentioned action, difference is: in the time of on hard ground, robot shrinks conversion fully to each ground engaging stabiliser wheel leg from original state implementation procedure all shrinks simultaneously by all ground engaging stabiliser wheel legs and realizes, rather than above-mentioned left and right sides wheel leg shrinks realization successively.
(5) two splits make robot can cross width less than the step of growing less than 1/3 leg apart from the trench and the height of minimum of a value between the adjacent vehicle wheels together with the version of wheel leg;
(6) carry out in various degree flexible by controlling each bar wheel leg, robot can keep body to be in level during climbing;
(7) adopt the Redundancy Design technology, the robot ride 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, or the like.
Claims (3)
1, a kind of turning-over 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 cylindrical solar panel (5) on the external cylindrical surface of body (4), two robot cells link to each other with 3 extensible members that are parallel to each other (6) by the connecting axle (7) that is positioned on body (4) longitudinal axis.
2,, it is characterized in that the telescoping mechanism of every Retractive leg (2) and each extensible member (6) form by steel wire rope, common helical spring and motor as the said turning-over movable robot with wheel legs of claim 1.
3,, it is characterized in that in the pipeline of body (4) and the middle configure instrument equipment of hollow detection ball (1) as the said turning-over movable robot with wheel legs of claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01113090 CN1123429C (en) | 2001-06-07 | 2001-06-07 | Turning-over movable robot with wheel legs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01113090 CN1123429C (en) | 2001-06-07 | 2001-06-07 | Turning-over movable robot with wheel legs |
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| CN1317397A true CN1317397A (en) | 2001-10-17 |
| CN1123429C CN1123429C (en) | 2003-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 01113090 Expired - Fee Related CN1123429C (en) | 2001-06-07 | 2001-06-07 | Turning-over movable robot with wheel legs |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100347043C (en) * | 2005-06-20 | 2007-11-07 | 北京航空航天大学 | Nine freedom six feet all direction walking detection car |
| CN102642572A (en) * | 2012-04-19 | 2012-08-22 | 哈尔滨工程大学 | Duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism |
| CN103010326A (en) * | 2012-12-19 | 2013-04-03 | 北京信息科技大学 | Electromagnetic eight-direction-independently-extendable/retractable wheel type mechanism for snake-shaped robot |
| CN105422498A (en) * | 2016-02-15 | 2016-03-23 | 无锡市南方防爆电机有限公司 | Shock absorption anti-falling type explosion-proof fan rack |
| CN105437238A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Portal crane maintaining robot |
| CN105966481A (en) * | 2016-05-20 | 2016-09-28 | 上海交通大学 | Universal wheel type spherical carrying device and application method thereof |
| CN107243883A (en) * | 2017-06-23 | 2017-10-13 | 桂林电子科技大学 | Spherical Wire walking robot and its traveling method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100368156C (en) * | 2006-04-27 | 2008-02-13 | 上海交通大学 | Microsize robot based on wheel leg type composite mechanism |
| CN112870572B (en) * | 2021-01-25 | 2022-01-14 | 郑州科技学院 | Special fire escape device for buildings |
-
2001
- 2001-06-07 CN CN 01113090 patent/CN1123429C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100347043C (en) * | 2005-06-20 | 2007-11-07 | 北京航空航天大学 | Nine freedom six feet all direction walking detection car |
| CN102642572A (en) * | 2012-04-19 | 2012-08-22 | 哈尔滨工程大学 | Duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism |
| CN102642572B (en) * | 2012-04-19 | 2014-03-26 | 哈尔滨工程大学 | Duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism |
| CN103010326A (en) * | 2012-12-19 | 2013-04-03 | 北京信息科技大学 | Electromagnetic eight-direction-independently-extendable/retractable wheel type mechanism for snake-shaped robot |
| CN105437238A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Portal crane maintaining robot |
| CN105422498A (en) * | 2016-02-15 | 2016-03-23 | 无锡市南方防爆电机有限公司 | Shock absorption anti-falling type explosion-proof fan rack |
| CN105966481A (en) * | 2016-05-20 | 2016-09-28 | 上海交通大学 | Universal wheel type spherical carrying device and application method thereof |
| CN107243883A (en) * | 2017-06-23 | 2017-10-13 | 桂林电子科技大学 | Spherical Wire walking robot and its traveling method |
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| Publication number | Publication date |
|---|---|
| CN1123429C (en) | 2003-10-08 |
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