CN113733111B - Wheel leg and foot self-reconfigurable mobile robot - Google Patents
Wheel leg and foot self-reconfigurable mobile robotDownload PDFInfo
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Translated fromChinese技术领域technical field
本发明涉及一种轮腿足自重构移动机器人，属于深空探测、空间机器人领域。The invention relates to a self-reconfigurable mobile robot with wheels, legs and feet, belonging to the fields of deep space exploration and space robots.
背景技术Background technique
随着空间探测技术的发展，星表探测区域正在由传统的平坦区域向南极、北极、陨石坑、溶洞等科学价值更高但是探测难度大的区域转变。这些区域地形复杂，可能存在星表易塌陷、大坡度高低起伏不平坦、碎石多等特点，这对星表移动机器人的性能提出了高的要求，如越障能力强、不易塌陷、具有脱困能力等。已有典型的月球、火星移动机器人如玉兔1号、玉兔2号、勇气号、机遇号、好奇号等均采用六轮被动悬架方式实现移动，面向月球、火星的平坦区域进行探测，六个车轮被动适应星表地形，地形适应能力强。但是受限于车轮直径及轮式移动方案，上述移动机器人的越障能力、脱困能力、碎石堆中等的移动能力均较弱，且不具备对溶洞的探测能力。为了适应月球、火星等星表中地形复杂区域的移动探测需求，本专利提出了一种轮腿足复合且可自重构移动机器人，重点解决移动机器人在星表的越障、脱困、爬陡坡溶洞探测等难题。With the development of space detection technology, the star catalog detection area is changing from the traditional flat area to the Antarctic, North Pole, craters, caves and other areas with higher scientific value but difficult detection. The terrain in these areas is complex, and there may be characteristics such as easy collapse of the star surface, large slopes, uneven ups and downs, and many gravels. ability etc. Typical mobile robots on the moon and Mars, such as Yutu 1, Yutu 2, Spirit, Opportunity, Curiosity, etc., all use six-wheel passive suspension to move, facing the flat areas of the moon and Mars for exploration, six wheels Passively adapt to the terrain of the star surface, and has strong terrain adaptability. However, limited by the diameter of the wheel and the wheeled movement scheme, the above-mentioned mobile robot has relatively weak ability to overcome obstacles, get out of difficulties, and move among rubble piles, and does not have the ability to detect caves. In order to meet the needs of mobile detection in complex terrain areas on the moon, Mars, etc., this patent proposes a wheel-leg-foot composite and self-reconfigurable mobile robot, focusing on solving obstacles, getting out of trouble, and climbing steep slopes for mobile robots on star tables. Cave detection and other problems.
现已公开的玉兔1号、玉兔2号月球车以及勇气号、机遇号、好奇号火星车均采用六轮式被动悬架设计，采用车轮进行移动；专利CN201120087131.X提出了一种轮腿式曲柄滑块六轮月球车，车厢设有与动力系统连接的曲柄滑块机构，曲柄滑块机构分别设置于车厢的中部及前后两端。曲柄滑块机构包括曲轴、轮连杆、轮导杆，轮导轨，轮导杆与轮导轨滑动配合，车厢的前后端设置有路况探测装置，轮腿式曲柄滑块六轮月球车还设有视觉桅杆、太阳能板、机械采集臂，视觉桅杆升降采用齿轮齿条传动，太阳能板采用折叠方式展开与收回，机械采集臂采用五杆联动机构，机械采集臂前端安装有螺旋刀片和探针；专利CN200810030900.5提出了一种路面自适应菱形月球车移动系统，采用四轮三轴菱形底盘的结构，具有地形适应能力强、结构紧凑、轻量化程度高、越野性能好、车体姿态平稳、可靠性高的优点。The publicly available Yutu 1, Yutu 2 lunar rovers, Mars Spirit, Opportunity, and Curiosity all adopt a six-wheel passive suspension design and use wheels to move; patent CN201120087131.X proposes a wheel-leg type Crank-slider six-wheel lunar rover, the carriage is provided with a crank-slider mechanism connected to the power system, and the crank-slider mechanism is respectively arranged in the middle of the carriage and at the front and rear ends. The crank slider mechanism includes a crankshaft, a wheel connecting rod, a wheel guide rod, and a wheel guide rail. The wheel guide rod and the wheel guide rail are slidably matched. Mast, solar panel, mechanical collection arm, visual mast lifting adopts rack and pinion transmission, solar panel is unfolded and retracted by folding, mechanical collection arm adopts five-bar linkage mechanism, and the front end of mechanical collection arm is equipped with helical blade and probe; patent CN200810030900 .5 A road-adaptive diamond-shaped lunar rover mobile system is proposed, which adopts a four-wheel and three-axis diamond-shaped chassis structure, which has strong terrain adaptability, compact structure, high light weight, good off-road performance, stable body posture, and reliability high merit.
专利CN201120087131.X的轮腿曲柄滑块六轮月球车通过曲柄滑块运动实现步态，足部运动轨迹单一，越障能力弱，无足部移动能力，且配置的机械臂采用连杆形式实现，工作空间小，针对洞穴等无探测能力。专利CN200810030900.5提出的路面自适应菱形月球车移动系统，仅具有移动能力，缺乏星表采样、勘察等探测能力。上述两专利与本文提出的轮腿足自重构机器人在组成、功能等方面存在极大区别。Patent CN201120087131.X's six-wheeled lunar rover with crank sliders achieves gait through the movement of crank sliders, the foot movement track is single, the ability to overcome obstacles is weak, and there is no foot movement ability, and the configured mechanical arms are realized in the form of connecting rods. The working space is small, and it has no detection ability for caves, etc. Patent CN200810030900.5 proposes a road-adaptive diamond-shaped lunar rover mobile system, which only has the ability to move, and lacks the detection capabilities of star catalog sampling and reconnaissance. There are great differences between the above two patents and the wheel-legged-foot self-reconfigurable robot proposed in this paper in terms of composition and function.
发明内容Contents of the invention
本发明解决的技术问题是：针对目前现有技术中，传统移动机器人的越障能力、脱困能力、碎石堆中等的移动能力均较弱，不具备溶洞等特殊地形探测能力的问题，提出了一种轮腿足自重构移动机器人。The technical problem solved by the present invention is: in view of the current existing technology, traditional mobile robots have relatively weak ability to overcome obstacles, get out of difficulties, and move in the middle of rubble piles, and do not have the ability to detect special terrain such as karst caves. A wheel-legged self-reconfigurable mobile robot.
本发明解决上述技术问题是通过如下技术方案予以实现的：The present invention solves the problems of the technologies described above and is achieved through the following technical solutions:
一种轮腿足自重构移动机器人，包括车体、轮腿足移动组件、多功能末端释放及回收模块、软体机械臂、多功能末端，其中：A self-reconfigurable mobile robot with wheels, legs, and feet, including a car body, a wheel, legs, and feet movement assembly, a multifunctional end release and recovery module, a soft robotic arm, and a multifunctional end, wherein:
所述车体为轮腿足移动组件、多功能末端释放及回收模块、软体机械臂、多功能末端的载体，所述多功能末端释放及回收模块安装于车体顶部，软体机械臂以多功能末端释放及回收模块为底座，并安装于多功能末端释放及回收模块上，用于释放或回收多功能末端的多功能末端释放及回收模块与软体机械臂间通过连接电缆连通，软体机械臂末端安装有多功能末端。The car body is a wheel-leg-foot moving component, a multi-functional end release and recovery module, a soft robotic arm, and a carrier for the multi-functional end. The multi-functional end release and recovery module is installed on the top of the car body. The terminal release and recovery module is the base and is installed on the multi-functional terminal release and recovery module. The multi-functional terminal release and recovery module used to release or recover the multi-functional terminal is connected with the soft manipulator through a connecting cable. Installed with a multifunctional end.
软体机械臂与多功能末端连接时，多功能末端为执行机构，于软体机械臂操控下进行样品采集、相机监视；软体机械臂与多功能末端脱开时，多功能末端通过连接电缆与多功能末端释放及回收模块连接，对环境信息进行采集并进入特定地形进行区域开展探测，探测完成后通过连接电缆拖拽回收。When the soft manipulator is connected to the multi-function end, the multi-function end is the actuator, which is used for sample collection and camera monitoring under the control of the software manipulator; when the soft manipulator is disconnected from the multi-function end, the multi-function end is connected to the multi-function The end release and recovery module is connected to collect environmental information and enter a specific terrain area for detection. After the detection is completed, it is dragged and recovered through the connecting cable.
所述轮腿足移动组件包括腿基座、腿转向关节、腿俯仰关节、上连杆、下连杆、车轮俯仰关节、力传感器、车轮转向关节、转向臂杆、车轮驱动关节、车轮、足部，所述车轮由车轮驱动关节驱动，轮腿足移动组件通过车轮转向关节调整车轮行进方向，腿俯仰关节根据力传感器发送的力反馈信号，对上连杆、下连杆进行协调控制，控制车轮与星表接触以实现主动缓冲；The wheel leg foot moving assembly includes a leg base, a leg steering joint, a leg pitch joint, an upper link, a lower link, a wheel pitch joint, a force sensor, a wheel steering joint, a steering arm, a wheel drive joint, a wheel, a foot The wheel is driven by the wheel drive joint, the wheel, leg and foot moving assembly adjusts the direction of travel of the wheel through the wheel steering joint, and the leg pitch joint coordinates and controls the upper link and the lower link according to the force feedback signal sent by the force sensor. The wheels are in contact with the star chart for active cushioning;
腿俯仰关节控制轮腿足移动组件高度展收，当轮腿足移动组件进行足式运动时，足部通过车轮俯仰关节调节与星表接触，各腿足移动组件中的腿俯仰关节协调运动以实现足部于星表移动，移动过程中，腿俯仰关节根据力传感器的力反馈信号，对上连杆、下连杆协调控制以实现足部与星表的柔顺接触。The leg pitch joints control the height of the wheel, leg, and foot moving components. When the wheel, leg, and foot moving components perform foot movement, the feet are adjusted to contact the star surface through the wheel pitch joints. The leg pitch joints in each leg and foot moving components move in coordination with Realize the movement of the foot on the star surface. During the movement, the leg pitch joint coordinates and controls the upper link and the lower link according to the force feedback signal of the force sensor to realize the soft contact between the foot and the star surface.
所述轮腿足移动组件于松软星表可采用车轮作为足部进行行走。The wheel-leg-foot moving component can use wheels as feet for walking on a soft surface.
所述多功能末端包括对接接口、基座、监视相机、抓取机构，当多功能末端与软体机械臂脱开时，多功能末端通过对接接口于连接电缆接通，通过抓取机构进行移动，移动过程中采用监视相机5-3对周围环境信息进行采集，监视相机、对接接口均设置于基座上。The multi-functional terminal includes a docking interface, a base, a monitoring camera, and a grasping mechanism. When the multi-functional terminal is disengaged from the soft robotic arm, the multi-functional terminal is connected to the connecting cable through the docking interface, and moves through the grasping mechanism. During the movement, the monitoring camera 5-3 is used to collect the surrounding environment information, and the monitoring camera and the docking interface are all arranged on the base.
所述多功能末端移动过程中通过监视相机同时对轮腿足复合式移动机器人自身状态进行视觉监视。During the moving process of the multi-functional terminal, the state of the wheel-leg-foot compound mobile robot is visually monitored simultaneously through the monitoring camera.
所述轮腿足移动组件中，腿俯仰关节、上连杆、下连杆数量均为2个。In the wheel leg foot moving assembly, there are two leg pitch joints, upper links and lower links.
所述轮腿足移动组件数量为4个。The number of the wheel-leg-foot moving components is four.
所述多功能末端中，抓取机构数量为4个。In the multi-functional terminal, there are four grasping mechanisms.
所述轮腿足移动组件通过腿转向关节实现回转运动，通过腿俯仰关节协调控制两个上连杆和两个下连杆组成的四边形连杆进行位姿变化，所述抓取机构间独立控制，各抓取机构协调控制进行不同步态移动，并可实现抓握操作对采集目标进行目标位姿、特征识别。The wheel, leg and foot moving assembly realizes the rotary motion through the leg steering joint, coordinates and controls the quadrilateral connecting rod composed of two upper connecting rods and two lower connecting rods through the leg pitching joint to change the pose, and the grasping mechanism is independently controlled , the grasping mechanisms are coordinated and controlled to move in different stances, and the grasping operation can be realized to identify the target pose and feature of the acquisition target.
本发明与现有技术相比的优点在于：The advantage of the present invention compared with prior art is:
(1)本发明提供的一种轮腿足自重构移动机器人，将轮行、腿行、蟹行、车体姿态调节、操作及移动自重构、洞穴探测等多种功能融为一体，极大提高了星表移动探测机器人的移动、越障、脱困、样品采集等方面的能力，同时丰富了星表移动机器人种类，提出的兼顾操作与移动功能的自重构末端方案，该末端与机械臂配合时可充当末端执行工具，可进行样品采集等；该末端与机械臂脱离时，具有移动功能，可对洞穴、深坑等恶劣环境进行探测；(1) A self-reconfiguring mobile robot with wheels, legs and feet provided by the present invention integrates multiple functions such as wheel walking, leg walking, crab walking, body posture adjustment, operation, mobile self-reconfiguration, and cave detection. It has greatly improved the ability of the star catalog mobile detection robot to move, overcome obstacles, get out of trouble, sample collection, etc., and at the same time enrich the types of star catalog mobile robots. When the robot arm cooperates, it can be used as an end-executing tool for sample collection, etc.; when the end is separated from the robot arm, it has a moving function and can detect harsh environments such as caves and deep pits;
(2)本发明采用一种轮腿足移动组件设计方案，单个轮腿足移动组件通过驱动四边形连杆实现车轮或足部产生不同位姿。四个轮腿足移动组件之间通过步态协调可实现机器人的腿式行走。当机器人采用轮式行走时，通过四个轮腿足移动组件之间高度及位姿的实时控制，使得机器人在移动过程中具有主动缓冲阻尼，确保机器人平稳快速移动。(2) The present invention adopts a design scheme of a wheel, leg, and foot moving assembly. A single wheel, leg, and foot moving assembly can realize different postures of the wheel or foot by driving a quadrilateral connecting rod. The legged walking of the robot can be realized through the gait coordination between the four wheel-leg-foot moving components. When the robot walks on wheels, the real-time control of the height and pose between the four wheel, leg, and foot moving components enables the robot to have active buffering and damping during the movement process to ensure smooth and fast movement of the robot.
附图说明Description of drawings
图1为发明提供的轮腿足自重构移动机器人组成示意图；Figure 1 is a schematic diagram of the composition of the wheel-leg-foot self-reconfiguring mobile robot provided by the invention;
图2为发明提供的多功能末端脱离柔性机械臂开展工作示意图；Figure 2 is a schematic diagram of the work of the multi-functional terminal detached from the flexible robotic arm provided by the invention;
图3为发明提供的轮腿足移动组件示意图；Fig. 3 is a schematic diagram of the wheel leg foot moving assembly provided by the invention;
图4为发明提供的多功能末端示意图Figure 4 is a schematic diagram of the multifunctional end provided by the invention
具体实施方式Detailed ways
一种轮腿足自重构移动机器人，具有轮行、腿行，以及洞穴探测功能的移动机器人平台，四边形连杆腿与足部配合实现腿行功能，与车轮配合实现轮行功能，软体机械臂上设计有多功能末端，软体机械臂与多功能末端结合实现样品抓取、机器人监视等功能，多功能末端与软体机械臂分开后移动进入洞穴内部等进行探测，探测完成后返回软体机械臂与软体机械臂重构。该机器人具有地形适应能力强，洞穴等复杂地形探测能力强的优点。A self-reconfiguring mobile robot with wheels, legs and feet, a mobile robot platform with functions of wheel walking, leg walking, and cave exploration. The quadrilateral connecting rod legs cooperate with the feet to realize the leg walking function, and cooperate with the wheels to realize the wheel walking function. Software machinery The arm is designed with a multifunctional end. The soft robotic arm is combined with the multifunctional end to realize functions such as sample grabbing and robot monitoring. The multifunctional end is separated from the soft robotic arm and then moves into the cave for detection. After the detection is completed, it returns to the soft robotic arm. Refactored with soft robotic arm. The robot has the advantages of strong terrain adaptability and strong detection ability of complex terrain such as caves.
轮腿足自重构移动机器人具体包括车体、轮腿足移动组件、多功能末端释放及回收模块、软体机械臂、多功能末端，车体为轮腿足移动组件、多功能末端释放及回收模块、软体机械臂、多功能末端的载体，所述多功能末端释放及回收模块安装于车体顶部，软体机械臂以多功能末端释放及回收模块为底座，并安装于多功能末端释放及回收模块上，用于释放或回收多功能末端的多功能末端释放及回收模块与软体机械臂间通过连接电缆连通，软体机械臂末端安装有多功能末端；The wheel-leg-foot self-reconfiguration mobile robot specifically includes a car body, a wheel-leg-foot moving component, a multi-functional end release and recovery module, a soft robotic arm, and a multi-function end. The car body is a wheel-leg foot moving component, a multi-function end release and recovery Module, soft manipulator, and multi-functional terminal carrier, the multi-functional terminal release and recovery module is installed on the top of the car body, the soft manipulator uses the multi-functional terminal release and recovery module as the base, and is installed on the multi-functional terminal release and recovery module On the module, the multi-functional end release and recovery module for releasing or recovering the multi-functional end is connected with the soft manipulator through a connecting cable, and the end of the soft manipulator is equipped with a multi-functional end;
软体机械臂与多功能末端连接时，多功能末端为执行机构，于软体机械臂操控下进行样品采集、相机监视；软体机械臂与多功能末端脱开时，多功能末端通过连接电缆与多功能末端释放及回收模块连接，对环境信息进行采集并进入特定地形进行区域开展探测，探测完成后通过连接电缆拖拽回收；When the soft manipulator is connected to the multi-function end, the multi-function end is the actuator, which is used for sample collection and camera monitoring under the control of the software manipulator; when the soft manipulator is disconnected from the multi-function end, the multi-function end is connected to the multi-function The end release and recovery module is connected to collect environmental information and enter a specific terrain area for detection. After the detection is completed, it is dragged and recovered through the connecting cable;
轮腿足移动组件包括腿基座、腿转向关节、腿俯仰关节、上连杆、下连杆、车轮俯仰关节、力传感器、车轮转向关节、转向臂杆、车轮驱动关节、车轮、足部，所述车轮由车轮驱动关节驱动，轮腿足移动组件通过车轮转向关节调整车轮行进方向，腿俯仰关节根据力传感器发送的力反馈信号，对上连杆、下连杆进行协调控制，控制车轮与星表接触以实现主动缓冲；The wheel leg foot mobile assembly includes leg base, leg steering joint, leg pitch joint, upper link, lower link, wheel pitch joint, force sensor, wheel steering joint, steering arm, wheel drive joint, wheel, foot, The wheels are driven by the wheel drive joints, the wheel, leg and foot moving components adjust the direction of travel of the wheels through the wheel steering joints, and the leg pitch joints coordinately control the upper link and the lower link according to the force feedback signal sent by the force sensor, and control the wheel and the lower link. Stellar contact for active buffering;
腿俯仰关节控制轮腿足移动组件高度展收，当轮腿足移动组件进行足式运动时，足部通过车轮俯仰关节调节与星表接触，各腿足移动组件中的腿俯仰关节协调运动以实现足部于星表移动，移动过程中，腿俯仰关节根据力传感器的力反馈信号，对上连杆、下连杆协调控制以实现足部与星表的柔顺接触。The leg pitch joints control the height of the wheel, leg, and foot moving components. When the wheel, leg, and foot moving components perform foot movement, the feet are adjusted to contact the star surface through the wheel pitch joints. The leg pitch joints in each leg and foot moving components move in coordination with Realize the movement of the foot on the star surface. During the movement, the leg pitch joint coordinates and controls the upper link and the lower link according to the force feedback signal of the force sensor to realize the soft contact between the foot and the star surface.
轮腿足移动组件于松软星表可采用车轮作为足部进行行走。The wheel-leg-foot mobile component can use wheels as feet for walking on the soft surface.
多功能末端包括对接接口、基座、监视相机、抓取机构，当多功能末端与软体机械臂脱开时，多功能末端通过对接接口于连接电缆接通，通过抓取机构进行移动，移动过程中采用监视相机5-3对周围环境信息进行采集，监视相机、对接接口均设置于基座上；The multi-functional end includes a docking interface, a base, a surveillance camera, and a grasping mechanism. When the multi-functional end is disengaged from the soft robotic arm, the multi-functional end is connected to the connecting cable through the docking interface, and moves through the grasping mechanism. The monitoring camera 5-3 is used to collect the surrounding environment information, and the monitoring camera and the docking interface are all arranged on the base;
多功能末端移动过程中通过监视相机同时对轮腿足复合式移动机器人自身状态进行视觉监视；During the movement of the multi-functional end, the monitoring camera is used to visually monitor the state of the wheel-leg-foot compound mobile robot at the same time;
轮腿足移动组件中，腿俯仰关节、上连杆、下连杆数量均为2个；轮腿足移动组件数量为4个；多功能末端中，抓取机构数量为4个。In the wheel leg foot moving component, the number of leg pitch joints, upper link and lower link is 2; the number of wheel leg foot moving component is 4; in the multi-functional end, the number of grasping mechanism is 4.
轮腿足移动组件通过腿转向关节实现回转运动，通过腿俯仰关节协调控制两个上连杆和两个下连杆组成的四边形连杆进行位姿变化，所述抓取机构间独立控制，各抓取机构协调控制进行不同步态移动，并可实现抓握操作对采集目标进行目标位姿、特征识别。The wheel, leg and foot moving assembly realizes the rotary motion through the leg steering joint, coordinates and controls the quadrilateral link composed of two upper links and two lower links through the leg pitch joint to change the pose, and the grasping mechanism is independently controlled, each The grasping mechanism is coordinated and controlled to move in different stances, and can realize the grasping operation to identify the target pose and feature of the acquisition target.
具体的，腿转向关节可实现整个轮腿足移动组件的回转运动；两个上连杆和两个下连杆组成四边形连杆，两个腿俯仰关节协调控制实现四变形连杆位姿变化，进而实现车轮和足部位姿的变化；在车轮俯仰关节与车轮转向关节之间设计有力传感器，可对车轮或足部与星表之间的接触力进行实时测量，测量值可用于机器人移动控制；Specifically, the leg steering joint can realize the rotary motion of the entire wheel-leg-foot moving assembly; two upper links and two lower links form a quadrilateral link, and the coordinated control of the two leg pitch joints realizes the change of the pose of the four-deformation link. Then realize the change of the posture of the wheel and foot; design a force sensor between the wheel pitch joint and the wheel steering joint, which can measure the contact force between the wheel or foot and the star table in real time, and the measured value can be used for robot movement control;
末端主要由对接接口、基座、监视相机、四个抓取机构等组成。四个抓取机构之间独立控制，四个抓取机构之间协调运动可产生抓握操作；当末端置于星表时，通过四个抓取机构之间协调控制实现不同步态可进行移动。末端上设计有监视相机，抓握时相机可对目标位姿、特征等进行识别，行走时监视相机可对周围环境进行识别记录等；The end is mainly composed of a docking interface, a base, a surveillance camera, and four grabbing mechanisms. The four grasping mechanisms are independently controlled, and the coordinated movement between the four grasping mechanisms can generate grasping operations; when the end is placed on the star table, the four grasping mechanisms can be moved through coordinated control to achieve different stances . A monitoring camera is designed on the end, the camera can identify the target posture, characteristics, etc. when grasping, and the monitoring camera can identify and record the surrounding environment when walking;
多功能末端可脱离软体机械臂进入大型洞穴、深坑等进行探测，探测完成后，多功能末端在自身移动或电缆拖拽下返回母体机器人。多功能末端与软体机械臂之间通过电缆连接，该电缆既可交互信息、又可传递能源、还可承载拖拽力。The multi-functional end can break away from the soft robotic arm and enter large caves, deep pits, etc. for detection. After the detection is completed, the multi-functional end returns to the parent robot under its own movement or cable dragging. The multifunctional end and the soft robotic arm are connected by a cable, which can not only exchange information, but also transfer energy, and can also carry drag force.
下面结合具体实施例进行进一步说明：Further explanation is carried out below in conjunction with specific embodiment:
在当前实施例中，如图1至图4所示，轮腿足复合自重构移动机器人主要由一个车体1、四个轮腿足移动组件2、一个多功能末端释放及回收模块3、一个软体机械臂4、一个多功能末端5等组成。In the current embodiment, as shown in Figures 1 to 4, the wheel-leg-foot composite self-reconfigurable mobile robot mainly consists of a
轮腿足移动组件2由腿基座2-1、腿转向关节2-2、两个腿俯仰关节2-3、两个上连杆2-4、两个下连杆2-5、车轮俯仰关节2-6、力传感器2-7、车轮转向关节2-8、转向臂杆2-9、车轮驱动关节2-10、车轮2-11、足部2-12等组成。Wheel leg
多功能末端释放及回收模块3安装于车体1顶部，一方面为软体机械臂4的底座，另一方面用于释放或回收多功能末端5与软体机械臂之间的连接电缆3-1。The multifunctional end release and
软体机械臂4安装于车体1顶部，末端安装有多功能末端5。所述多功能末端5主要由对接接口5-1、基座5-2、监视相机5-3、四个抓取机构5-4等组成。当软体机械臂与多功能末端连接在一起时，多功能末端充当执行机构，在软体机械臂操控下可进行样品采集，以及机器人多部位相机监视等；同时软体机械臂变形能力强，其可携带多功能末端进入地表浅层洞穴中进行样品采集；此外多功能末端可与软体机械臂脱开，脱开后多功能末端成为一个独立的小机器人，该小机器人与轮腿足自重构机器人之间通过连接电缆3-1进行能源与信息交互。多功能末端通过抓取机构5-4进行移动，移动过程中采用监视相机5-3对周围环境信息进行采集，其可进入洞穴、深坑、悬崖等轮腿足自重构机器人不能达到的区域开展探测，多功能末端可通过连接电缆3-1拖拽回收。The soft
具体实施方案一：轮腿足复合式移动机器人进行轮式移动时，四个轮腿足移动组件2的车轮2-11接触星表，车轮驱动关节2-10驱动车轮2-11进行移动。移动过程中，每个轮腿足移动组件2通过车轮转向关节2-8调整车轮2-11的行进方向，两个腿俯仰关节2-3根据力传感器2-7力反馈信号，对两个上连杆2-4、两个下连杆2-5协调控制，实现车轮2-11行进过程中与星表接触的主动控制，实现主动缓冲。同时腿俯仰关节2-3可实现轮腿足移动组件2在高度方向的展收；轮腿足复合式移动机器人进行足式移动时，经车轮俯仰关节2-6调节将足部2-12与星表接触，随后每个轮腿足移动组件2中的两个腿俯仰关节2-3协调运动，实现足部2-12在星表的移动。机器人移动过程中，两个腿俯仰关节2-3根据力传感器2-7力反馈信号，对两个上连杆2-4、两个下连杆2-5协调控制，也可实现足部2-12与星表的柔顺接触。在松软星表，为了防止塌陷，轮腿足复合式移动机器人也可采用2-11作为足部进行行走。Embodiment 1: When the wheel-leg-foot composite mobile robot moves in a wheeled manner, the wheels 2-11 of the four wheel-leg-
具体实施方案二：轮腿足复合式移动机器人可进行高低、侧倾、前后俯仰等姿态调整，四个轮腿足移动组件2的腿俯仰关节2-3带动上连杆2-4和下连杆2-5进行同步展收即可实现车体1高度调整时；当四个轮腿足移动组件2展收的高度不一致时，车体1即可出现不同的倾斜姿态。Specific implementation plan two: the wheel-leg-foot compound mobile robot can adjust attitudes such as height, roll, front and rear pitch, and the leg pitch joints 2-3 of the four wheel-leg-foot
具体实施方案三：轮腿足复合式移动机器人可进行全向移动，轮腿足移动组件2的转向由腿转向关节2-2；车轮2-11的转向由车轮转向关节2-8实现。Specific embodiment three: the wheel-leg-foot compound mobile robot can move in all directions, the steering of the wheel-leg-
具体实施方案四：轮腿足复合式移动机器人可利用软体机械臂4和多功能末端5进行采样、监视等操作。采样通过多功能末端5的四个抓取机构5-4进行夹持实现；监视通过软体机械臂4将多功能末端5移动到不同位置，利用多功能末端5上的监视相机5-3实现。监视相机5-3也可对轮腿足复合式移动机器人自身的状态进行视觉监视。Embodiment 4: The compound mobile robot with wheels, legs and feet can use the soft
具体实施方案五：轮腿足复合式移动机器人可将多功能末端5与软体机械臂4脱开，脱开后两者之间由电缆3-1连接。电缆3-1将机器人的控制信息传递到多功能末端5，四个抓取机构5-4与星表接触，四个抓取机构5-4通过步态协调实现在星表的移动。与软体机械臂脱开的多功能末端5可进入洞穴进行探测。洞穴等探测结束候，多功能末端释放及回收模块3回收电缆3-1，将多功能末端5拖回软体机械臂末端位置，两者之间经对接接口5-1形成机械连接。Embodiment 5: The wheel-leg-foot composite mobile robot can disengage the
本发明虽然已以较佳实施例公开如上，但其并不是用来限定本发明，任何本领域技术人员在不脱离本发明的精神和范围内，都可以利用上述揭示的方法和技术内容对本发明技术方案做出可能的变动和修改，因此，凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化及修饰，均属于本发明技术方案的保护范围。Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention, and any person skilled in the art can use the methods disclosed above and technical content to analyze the present invention without departing from the spirit and scope of the present invention. Possible changes and modifications are made in the technical solution. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention, which do not depart from the content of the technical solution of the present invention, all belong to the technical solution of the present invention. protected range.
本发明说明书中未作详细描述的内容属于本领域技术人员的公知技术。The contents not described in detail in the description of the present invention belong to the well-known technology of those skilled in the art.
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