Lunar landing out-of-cabin ground search flexible robot

Abstract

The invention discloses a lunar landing out-of-cabin ground search flexible robot which comprises a robot body, and the robot body comprises a trunk, mechanical arms, mechanical legs and a robot head. A photovoltaic panel assembly is arranged on the rear side of the trunk; the robot head is rotationally connected with the trunk, and the robot head is provided with two groups of symmetrically distributed search eyes; the first mechanical arm comprises a first large arm, a first small arm and a clamping mechanism. The clamping mechanism comprises a driving air cylinder and a clamping plate. The second mechanical arm comprises a second large arm, a second small arm and a mechanical arm mechanism. The mechanical arm mechanism comprises a mechanical arm air cylinder and a mechanical arm. Each mechanical leg comprises a thigh, a shank and a foot plate, and a crawler belt is arranged at the bottom of each foot plate; in the searching process, the robot body is driven by the crawler belt to move and scan, the searching eye can rotate by 360 degrees in the searching process, the wide-angle scanning camera carries out all-dimensional shooting and scanning, and the robot has the advantages of being wide in scanning range and high in scanning definition.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a lunar landing and ground search flexible robot. Background Art

[0002] The moon is the most massive satellite known on Earth. With its unique spatial position, broad prospects for scientific exploration and rich environmental material resources, it has become the first choice for humans to explore and discover celestial bodies in outer space. Therefore, the exploration of the moon has increasingly become people's goal.

[0003] However, because the surface of the moon is covered with craters formed by the impact of small celestial bodies, the surface of the moon is uneven, with exposed rocks and the silhouettes of craters everywhere. At the same time, the entire surface of the moon is covered with a layer of gravel and loose soil. The lunar exploration robot will be restricted by the surface environment when walking and exploring on the moon, which is not conducive to search. Summary of the invention

[0004] The purpose of the present invention is to provide a flexible robot for lunar landing and ground search to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a lunar landing and ground search flexible robot, comprising a robot body, the robot body comprising a trunk, a mechanical arm, a mechanical leg and a robot head, the mechanical arm comprising a mechanical arm 1 and a mechanical arm 2, the mechanical arm 1 and the mechanical arm 2 are symmetrically arranged on both sides of the trunk, the robot head is arranged at the top of the trunk and is rotatably connected thereto, and the mechanical leg is arranged at the bottom of the trunk to support the trunk;

[0006] A photovoltaic panel assembly is provided at the rear side of the trunk, the photovoltaic panel assembly comprises a photovoltaic panel, a mounting seat and an angle adjustment member, the photovoltaic panel is fixedly connected to the angle adjustment member, the mounting seat is fixedly connected to the trunk, and the angle adjustment member is rotatably connected to the mounting seat;

[0007] The robot head is rotatably connected to the trunk, and the robot head is provided with two groups of symmetrically distributed search eyes, and detectors are provided in the search eyes, and the detectors include wide-angle scanning cameras;

[0008] The mechanical arm 1 includes a large arm 1, a small arm 1 and a clamping mechanism, a first rotating shaft hinge is provided at the connection between the large arm 1 and the small arm 1, a second rotating shaft hinge is provided at the connection between the small arm 1 and the clamping mechanism, the clamping mechanism includes a driving cylinder and a clamping plate, and a driving shaft is provided on the driving cylinder and is drivingly connected to the clamping plate;

[0009] The second robot arm includes a second upper arm, a second lower arm and a robot mechanism, a third connecting shaft hinge is provided at the connection between the second upper arm and the second lower arm, a fourth connecting shaft hinge is provided at the connection between the second lower arm and the robot mechanism, the robot mechanism includes a robot cylinder and a robot, a linkage drive member is provided on the robot cylinder, the linkage drive member is connected to the robot, and a robot assembly mounting plate is provided on the robot;

[0010] The mechanical leg comprises a thigh, a calf and a foot, and the foot is provided with a track.

[0011] Preferably, a robot chip and a power supply component are provided inside the torso.

[0012] Preferably, the robotic arm 1 and the robotic arm 2 are movably connected to the torso, and the connection between the robotic arm 1 and the robotic arm 2 and the torso is provided with a robotic arm movable joint, and a driving component drivenly connected to the robotic arm movable joint is provided inside the torso.

[0013] Preferably, a head rotating motor and a robot head rotating driving assembly are provided inside the torso, and the robot head is rotated by the head rotating motor and the robot head rotating driving assembly.

[0014] Preferably, a fill light circle is provided in the search eye, and the wide-angle scanning camera is arranged in the fill light circle.

[0015] Preferably, a trunk pivot hinge connected to the trunk is provided at the upper end of the thigh, a leg joint is provided at the lower end of the thigh, the thigh is connected to the calf via the leg joint, and the lower end of the calf is connected to the foot.

[0016] Preferably, a track connector for connecting the track is provided on the inner side of the foot plate.

[0017] Preferably, a rotary adjustment screw is provided at the connection between the angle adjustment member and the mounting seat.

[0018] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0019] 1. The robot head is connected to the torso in a 360-degree rotatable manner. The robot head drives the search eye to rotate during the rotation process, and performs all-round shooting and scanning through the wide-angle scanning camera. At the same time, a fill light ring is set at the outer circle of the wide-angle scanning camera to play a role of fill light and reduce the scanning blind area.

[0020] Second, the robot arm 1 and the robot arm 2 are connected to the trunk by a swinging motion through the robot arm movable joint, which improves the flexibility of the robot arm. When a backlight area or a shadow area appears in the scanning and shooting area during the mobile search process, the robot can select a clamping mechanism or a manipulator mechanism to grab the scanning object according to the shape of the scanning object, and then scan and shoot again, which improves the shooting accuracy;

[0021] 3. Through the setting of tracks, the robot body moves on the surface of the moon through the tracks, solving the problem of driving the robot to move and search on the surface of the moon. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is one of the schematic diagrams of the overall structure of the robot body in the present invention;

[0023] Figure 2 for Figure 1 Enlarged view of part A in the middle;

[0024] Figure 3 This is the second schematic diagram of the overall structure of the robot body in the present invention;

[0025] Figure 4 for Figure 3 Enlarged view of middle part B;

[0026] Figure 5 It is a side view of the robot body in the present invention.

[0027] Among them: 1. Robot head; 2. Search eye; 3. Photovoltaic panel; 4. Torso; 5. Robot arm movable joint; 6. Upper arm 1; 7. Lower arm 1; 8. Thigh; 9. Lower leg; 10. Foot; 11. Track; 12. Track connector; 13. Mounting seat; 14. Rotary adjustment screw; 15. Angle adjustment piece; 16. Robot arm 1; 17. Robot arm 2; 18. Robot arm cylinder; 19. Fourth connecting axis hinge; 20. First rotating axis hinge; 21. Robot arm; 22. Second rotating axis hinge; 23. Driving cylinder; 24. Driving shaft; 25. Clamping plate; 26. Robot leg; 27. Upper arm 2; 28. Lower arm 2; 29. ​​Trunk rotating axis hinge; 30. Leg joint. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1-Figure 5 :

[0030] A flexible robot for lunar landing and ground search comprises a robot body, the robot body comprises a trunk 4, a mechanical arm, a mechanical leg 26 and a robot head 1, a robot chip and a power supply component are arranged inside the trunk 4, the robot chip is used to control the normal operation of the robot body to realize ground search, and the power supply component is arranged to provide power supply for each component of the robot body to meet the power demand of the robot body during operation, the mechanical arm comprises a mechanical arm 16 and a mechanical arm 2 17, the mechanical arm 16 and the mechanical arm 2 17 are symmetrically arranged on both sides of the trunk 4, and the The robot arm 16 and the robot arm 2 17 are connected to the trunk 4 in a swinging manner through the robot arm movable joint 5. The robot head 1 is arranged at the top of the trunk 4 and is rotatably connected thereto. The robot head 1 can rotate 360 ​​degrees. The robot leg 26 is arranged at the bottom of the trunk 4 to support the trunk 4 and realize mobile walking at the same time. A photovoltaic panel assembly is arranged on the rear side of the trunk 4. The photovoltaic panel assembly includes a photovoltaic panel 3, a mounting seat 13 and an angle adjustment member 15. The photovoltaic panel 3 is fixedly connected to the angle adjustment member 15, the mounting seat 13 is fixedly connected to the trunk 4, and the angle adjustment member 15 is fixedly connected to the trunk 4. The mounting seat 13 is rotatably connected, and the photovoltaic panel 3 is set to realize the conversion of light energy and electrical energy. At the same time, a backup battery is provided inside the robot body to effectively prevent the robot body from being limited by power supply and affecting its performance. A rotation adjustment screw 14 is provided at the connection between the angle adjustment member 15 and the mounting seat 13. The angle adjustment member 15 and the mounting seat 13 are rotatably connected through the rotation adjustment screw 14 to meet the demand for adjusting the tilt angle of the photovoltaic panel 3; the robot head 1 is rotatably connected to the torso 4, and the robot head 1 is provided with two sets of symmetrically distributed search eyes 2, and the search eyes 2 A detector is provided inside, and the detector includes a wide-angle scanning camera, through which scanning and searching are performed; the mechanical arm 16 includes a large arm 6, a small arm 7 and a clamping mechanism, a first rotating shaft hinge 20 is provided at the connection between the large arm 6 and the small arm 7, a second rotating shaft hinge 22 is provided at the connection between the small arm 7 and the clamping mechanism, and the clamping mechanism includes a driving cylinder 23 and a clamping plate 25, and a driving shaft 24 is provided on the driving cylinder 23 and is connected to the clamping plate 25, and the driving shaft 24 is driven by the driving cylinder 23, and the driving shaft 24 drives the clamping plate 25 to clamp and place;The robot arm 2 17 includes a big arm 2 27, a small arm 2 28 and a robot mechanism. A third connecting shaft hinge 29 is provided at the connection between the big arm 27 and the small arm 28. A fourth connecting shaft hinge 19 is provided at the connection between the small arm 28 and the robot mechanism. The robot mechanism includes a robot cylinder 18 and a robot 21. The robot cylinder 18 is provided with a linkage drive member, which is drivingly connected to the robot 21. The robot 21 is provided with a robot assembly mounting plate 20. The robot cylinder 18 drives the robot 21 to grasp. The robot leg 26 includes a thigh 8, a calf 9 and a foot 10. The bottom of the foot 10 is provided with a crawler 11. The walking movement of the robot body is realized by the setting of the crawler 11. ;

[0031] Furthermore, the robotic arm 1 16 and the robotic arm 2 17 are movably connected to the trunk 4, and robotic arm movable joints 5 are provided at the connections between the robotic arm 1 16 and the robotic arm 2 17 and the trunk 4. A driving component driven by the robotic arm movable joints 5 is provided inside the trunk 4. Through the setting of the robotic arm movable joints 5, the swinging movement of the robotic arm 1 16 and the robotic arm 2 17 is realized.

[0032] Furthermore, a head rotating motor and a robot head rotating drive assembly are provided inside the torso 4, and the robot head 1 is rotated by the head rotating motor and the robot head rotating drive assembly to meet the multi-angle and all-round scanning and searching requirements. The robot head 1 drives the search eye 2 to rotate during the rotation process, and the wide-angle scanning camera performs multi-directional scanning and searching during the rotation process, thereby expanding the scanning and searching range, improving the searching efficiency, and reducing the probability of the occurrence of the searching blind spots.

[0033] Furthermore, a fill light ring is provided in the search eye 2, and the wide-angle scanning camera is arranged in the fill light ring. The setting of the fill light ring plays a role of fill light and avoids being affected by light.

[0034] Furthermore, a trunk pivot hinge 29 connected to the trunk 4 is provided at the upper end of the thigh 8, and a leg joint 30 is provided at the lower end of the thigh 8. The thigh 8 is connected to the calf 9 via the leg joint 30, and the lower end of the calf 9 is connected to the foot 10. The bending movement of the thigh 8 and the calf 9 is achieved through the setting of the trunk pivot hinge 29 and the leg joint 30.

[0035] Furthermore, a track connector 12 for connecting the track 11 is provided on the inner side of the foot plate 10. Through the setting of the track 11, the movement and walking of the robot body are achieved under the combined action of the track 11 and the mechanical leg 26.

[0036] The robot head 1 is rotatably connected to the top of the trunk 4, and the robot head 1 can rotate 360 ​​degrees. Two search eyes 2 are symmetrically arranged on the robot head 1. A detector is arranged in the search eye 2. The wide-angle scanning camera is used to shoot and scan. A fill light ring is arranged at the outer circle of the wide-angle scanning camera to play a fill light role; the mechanical arm 16 and the mechanical arm 2 17 are swingably connected to the trunk 4 through the mechanical arm movable joint 5, which improves the flexibility of the mechanical arm. The mechanical arm 16 is provided with a clamping mechanism, and the clamping plate 25 is driven by the driving cylinder 23 to clamp. The mechanical arm 2 17 is provided with a manipulator mechanism, and the manipulator 21 is driven by the manipulator cylinder 18 to grasp. During the mobile search process of the robot, when a backlight area or a shadow area appears in the scanning and shooting area, and it is impossible to scan and shoot clearly, the scanning object in the backlight area or the shadow area can be moved or picked up by the clamping mechanism or the manipulator mechanism and then scanned and shot again, thereby improving the shooting accuracy; by arranging a crawler 11 at the bottom of the foot plate 10, the crawler 11 drives the robot body to move on the surface of the moon to carry out a large-scale mobile search.

[0037] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0038] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A flexible robot for lunar landing and ground search, characterized in that , comprising a robot body, the robot body comprising a trunk (4), a mechanical arm, a mechanical leg (26) and a robot head (1), the mechanical arm comprising a mechanical arm 1 (16) and a mechanical arm 2 (17), the mechanical arm 1 (16) and the mechanical arm 2 (17) being symmetrically arranged on both sides of the trunk (4), the robot head (1) being arranged at the top of the trunk (4) and being rotatably connected thereto, and the mechanical leg (26) being arranged at the bottom of the trunk (4) to support the trunk (4); A photovoltaic panel assembly is provided on the rear side of the trunk (4), the photovoltaic panel assembly comprising a photovoltaic panel (3), a mounting seat (13) and an angle adjustment member (15), the photovoltaic panel (3) is fixedly connected to the angle adjustment member (15), the mounting seat (13) is fixedly connected to the trunk (4), and the angle adjustment member (15) is rotatably connected to the mounting seat (13); The robot head (1) is rotatably connected to the trunk (4), the robot head (1) is provided with two groups of symmetrically distributed search eyes (2), the search eyes (2) are provided with detectors, and the detectors include wide-angle scanning cameras; The mechanical arm 1 (16) comprises an upper arm 1 (6), a lower arm 1 (7) and a clamping mechanism, wherein a first rotating shaft hinge (20) is provided at the connection between the upper arm 1 (6) and the lower arm 1 (7), and a second rotating shaft hinge (22) is provided at the connection between the lower arm 1 (7) and the clamping mechanism, and the clamping mechanism comprises a driving cylinder (23) and a clamping plate (25), and a driving shaft (24) is provided on the driving cylinder (23) and is drivingly connected to the clamping plate (25); The robot arm 2 (17) comprises a large arm 2 (27), a small arm 2 (28) and a robot mechanism, a third connecting shaft hinge (29) is provided at the connection between the large arm 2 (27) and the small arm 2 (28), a fourth connecting shaft hinge (19) is provided at the connection between the small arm 2 (28) and the robot mechanism, the robot mechanism comprises a robot cylinder (18) and a robot (21), a linkage drive member is provided on the robot cylinder (18), the linkage drive member is drivingly connected to the robot (21), and a robot assembly mounting plate (20) is provided on the robot (21); The mechanical leg (26) comprises a thigh (8), a calf (9) and a foot (10), and a crawler track (11) is provided at the bottom of the foot (10).

2. A lunar landing ground search flexible robot according to claim 1, characterized in that: A robot chip and a power supply component are arranged inside the trunk (4).

3. The lunar landing ground search flexible robot according to claim 1, characterized in that: The mechanical arm 1 (16) and the mechanical arm 2 (17) are movably connected to the trunk (4); the connection points between the mechanical arm 1 (16) and the mechanical arm 2 (17) and the trunk (4) are both provided with mechanical arm movable joints (5); the trunk (4) is internally provided with a driving component that is drivably connected to the mechanical arm movable joints (5); and through the setting of the mechanical arm movable joints (5), the swinging movement of the mechanical arm 1 (16) and the mechanical arm 2 (17) is realized.

4. The lunar landing ground search flexible robot according to claim 1, characterized in that: A head rotating motor and a robot head rotating drive assembly are arranged inside the trunk (4), and the robot head (1) is rotated by the head rotating motor and the robot head rotating drive assembly.

5. The lunar landing ground search flexible robot according to claim 1, characterized in that: A fill light circle is arranged inside the search eye (2), and the wide-angle scanning camera is arranged inside the fill light circle.

6. The lunar landing ground search flexible robot according to claim 1, characterized in that: The upper end of the thigh (8) is provided with a trunk rotating shaft hinge (29) connected to the trunk (4), and the lower end of the thigh (8) is provided with a leg joint (30). The thigh (8) is connected to the calf (9) through the leg joint (30), and the lower end of the calf (9) is connected to the foot plate (10).

7. The lunar landing ground search flexible robot according to claim 1, characterized in that: A crawler track connector (12) for connecting to the crawler track (11) is provided on the inner side of the foot plate (10).

8. The lunar landing ground search flexible robot according to claim 1, characterized in that: A rotation adjustment screw (14) is provided at the connection between the angle adjustment member (15) and the mounting seat (13), and the angle adjustment member (15) and the mounting seat (13) are rotationally connected via the rotation adjustment screw (14), thereby meeting the requirement of adjusting the tilt angle of the photovoltaic panel (3).

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