Omnidirectional mobile platform capable of adapting to star catalogue non-structural terrain environment

Abstract

The invention discloses an omni-directional mobile platform adaptable to a star catalogue non-structural terrain environment, and relates to the technical field of deep space exploration, the omni-directional mobile platform comprises a main body truss structure, a driving wheel leg mechanism and two groups of auxiliary wheel leg mechanisms, the two groups of auxiliary wheel leg mechanisms are arranged at the end part of the driving wheel leg mechanism, and the driving wheel leg mechanism is connected with the main body truss structure through a driving motor mounting plate. The omni-directional moving platform capable of adapting to the star catalogue non-structural terrain environment is adopted, and the lunar rover is adjusted to be in a two-wheel rapid advancing mode, a four-wheel obstacle crossing mode and a six-wheel climbing mode through the configuration changing capacity so that the requirement that the lunar rover can move omni-directionally in the rugged, gully, ruins, muddy and other non-structural complex ground environments can be met; flexible actions such as rapid low-consumption advancing and in-situ turning can be achieved, and different from a multi-wheel moving mode of a traditional scheme, the hybrid driving mode of the two sets of driving wheel legs and the two sets of auxiliary wheel legs guarantees the stability of the mechanism and meanwhile has more excellent movement flexibility.

Description

Technical Field

[0001] The invention relates to the field of deep space exploration technology, and in particular to an omnidirectional mobile platform capable of adapting to the non-structured terrain environment of a star surface. Background Art

[0002] The main functions of the lunar rover can be summarized as expanding the scope of scientific exploration, meeting the needs of mobile exploration of scientific payloads, and meeting the needs of lunar surface movement of materials and personnel. Its technical characteristics mainly focus on mobile technology and navigation control technology. At present, the lunar rover has achieved key technical indicators such as lunar surface movement, turning, obstacle crossing, and climbing through the design of suspension, drive, steering, folding and unfolding mechanisms, forming a configuration design represented by rocker arm suspension, six-wheel drive, and four-wheel steering; through the design of environmental perception, path planning, drive strategy, dynamic control and other technologies, it has achieved key technical indicators such as stable lunar surface movement, autonomous exploration, and dynamic attitude determination, forming a navigation control technology solution represented by multi-information fusion perception, cost evaluation path planning, and multi-wheel coordinated motion control. There are some shortcomings in the existing lunar rover: the shortcomings of the Apollo lunar rover are mainly reflected in: insufficient adaptability to the uncertain lunar terrain, and the single body configuration design limits its matching degree for different scenes and different tasks. When the Ares manned lunar rover (Char iot) moves and turns in a flat area, the mechanism consumes more energy, moves slowly and has a larger turning radius. The increased mobility of the all-terrain six-legged extraterrestrial exploration vehicle (ATHLETE) will increase the complexity of the mechanism, and it is impossible to achieve a balanced design of the two, resulting in a larger mass of the whole machine and limited mission applicability. Therefore, the present invention proposes an omnidirectional mobile platform that can adapt to the unstructured terrain environment of the star surface. Summary of the invention

[0003] The purpose of the present invention is to provide an omnidirectional mobile platform that can adapt to the unstructured terrain environment of the satellite surface. A lightweight, unstructured ground environment, omnidirectional mobile lunar rover is proposed to adapt to the terrain uncertainty of lunar surface exploration and achieve an improvement in the balance between movement capability and structural complexity.

[0004] To achieve the above-mentioned purpose, the present invention provides an omnidirectional mobile platform that can adapt to the unstructured terrain environment of the star map, including a main truss structure, a driving wheel-leg mechanism and an auxiliary wheel-leg mechanism, wherein the auxiliary wheel-leg mechanism is provided with two groups, and the two groups of the auxiliary wheel-leg mechanisms are arranged at the ends of the driving wheel-leg mechanism, and the driving wheel-leg mechanism is connected to the main truss structure through a drive motor mounting plate.

[0005] Preferably, the driving wheel leg mechanism is provided with two groups, and the two groups of driving wheel leg mechanisms include an auxiliary thigh group, an inner calf group, a driving wheel, an outer calf group and a thigh group, one end of the thigh group is connected to the thigh group drive motor, the thigh group drive motor is connected to the drive motor mounting plate, the other end of the thigh group is connected to the outer calf group, the outer calf group is connected to the driving wheel, the driving wheel is connected to the inner calf group, the inner calf group is connected to the auxiliary thigh group, the auxiliary thigh group is connected to the auxiliary thigh drive motor, and the auxiliary thigh drive motor is connected to the drive motor mounting plate.

[0006] Preferably, the inner calf group is connected to the auxiliary thigh group via a joint bearing, and the auxiliary thigh group is configured as a structure with one side closed and the other side hollowed out.

[0007] Preferably, the two groups of auxiliary wheel-leg mechanisms include a steering motor and a bogie, the bogie is connected to the main truss structure through a joint bearing, a support platform is provided below the main truss structure, the steering motor is provided on the support platform, and the steering motor is connected to the joint bearing.

[0008] Preferably, the spherical bearing is fixedly connected to the bogie by bolts, the ends of the bogie are connected to the Watt long connecting rod through angular contact ball bearings, the Watt long connecting rod is connected to the elastic connecting rod, and the elastic connecting rod is connected to the differential.

[0009] Preferably, the differential is connected to the elastic link via a bridge suspension bearing, both ends of the differential are connected to auxiliary wheels, an A1 motor is provided at the upper end of the differential, and the A1 motor is connected to the differential via the bolts.

[0010] Preferably, the outer calf group is configured as a hollow structure.

[0011] Therefore, the present invention adopts the above-mentioned omnidirectional mobile platform that can adapt to the unstructured terrain environment of the star map, which has the following beneficial effects:

[0012] (1) High mobility. The lunar rover of the present invention has multiple working modes. In the dual-wheel drive mode, the lunar rover can achieve fast and low-power travel, on-the-spot turning and other flexible movements. Different from the traditional multi-wheel movement mode, the driving mode of the two sets of wheel-leg mechanisms has better mobility while ensuring the stability of the mechanism.

[0013] (2) High terrain adaptability. The lunar rover of the present invention is equipped with two sets of active wheel-leg mechanisms. Different from the wheel-type mechanism of the traditional scheme, the wheel-leg mechanism has both the rapid movement capability of the wheel-type mechanism and the obstacle passing capability of the leg-type mechanism, and has better adaptability to the complex terrain of the lunar surface. At the same time, the four sets of auxiliary wheels can increase the stability and grip of the whole vehicle in the rugged terrain environment, so that the lunar rover has the ability to move in all terrains on the lunar surface.

[0014] (3) High fault tolerance. In normal working mode, the lunar rover of the present invention adopts two-wheel drive to move quickly, so it has high fault tolerance for the other four sets of auxiliary wheels. At the same time, the two sets of active drive wheels are designed as wheel-leg type configurations, which have two working modes: wheel-type movement and leg-type movement. Therefore, it also has high fault tolerance.

[0015] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of an embodiment of an omnidirectional mobile platform that can adapt to the unstructured terrain environment of the star map according to the present invention;

[0017] Figure 2 It is a front view of an embodiment of an omnidirectional mobile platform that can adapt to the unstructured terrain environment of the star chart according to the present invention;

[0018] Figure 3 A side view of an embodiment of an omnidirectional mobile platform that can adapt to the unstructured terrain environment of the satellite surface according to the present invention;

[0019] Reference numerals

[0020] 1. Main truss structure; 2. Active wheel leg mechanism; 21. Drive motor mounting plate; 22. Auxiliary thigh drive motor; 23. Auxiliary thigh group; 24. Inner calf group; 25 Active wheel drive motor; 26. Active wheel; 27. Outer calf group; 28. Thigh group; 29. ​​Thigh drive motor; 3. Auxiliary wheel leg mechanism; 31. Steering motor; 32. Spherical bearing; 33. Bogie; 34. Auxiliary wheel; 35. Differential; 36. Watt long connecting rod; 37. Elastic connecting rod; 38. Bridge suspension bearing; 39. A1 motor. DETAILED DESCRIPTION

[0021] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0022] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] Example

[0024] See also Figure 1-3 The present invention provides an omnidirectional mobile platform that can adapt to the non-structural terrain environment of the star map, including a main truss structure 1, a driving wheel-leg mechanism 2 and an auxiliary wheel-leg mechanism 3. The auxiliary wheel-leg mechanism 3 is provided with two groups, and the two groups of auxiliary wheel-leg mechanisms 3 are arranged at the ends of the driving wheel-leg mechanism 2. The driving wheel-leg mechanism 2 is connected to the main truss structure 1 through a driving motor mounting plate 21. The main truss mechanism 1 is composed of a truss structure welded from a rectangular aluminum alloy flat plate and a plurality of aluminum alloy hollow circular tubes.

[0025] The driving wheel leg mechanism 2 includes an auxiliary thigh group 23, an inner calf group 24, a driving wheel 26, an outer calf group 27 and a thigh group 28. One end of the thigh group 28 is connected to a thigh group driving motor 29, and the thigh group driving motor 29 is arranged in a driving motor mounting plate 21. The other end of the thigh group 28 is connected to the outer calf group 27. The thigh group 28 drives the outer calf group 27 to move. The outer calf group 27 is set as a hollow structure. The design reduces the dead weight of the mobile platform while ensuring the structural strength of the mobile platform. The outer calf group 27 is connected to the driving wheel 26. The moving wheel 26 is connected to the active wheel driving motor 25 to drive the rotation of the active wheel 26. The active wheel 26 is connected to the inner calf group 24. The inner calf group 24 is connected to the auxiliary thigh group 23. One side of the auxiliary thigh group 23 is set as a closed surface, and the other side is set as a hollow structure. The auxiliary thigh group 23 is connected to the auxiliary thigh driving motor 22. The auxiliary thigh driving motor 22 drives the auxiliary thigh group 23. The auxiliary thigh driving motor 22 is connected to the driving motor mounting plate 21, and the auxiliary thigh driving motor 22 is set inside the driving motor mounting plate 21.

[0026] The two sets of auxiliary wheel-leg mechanisms 3 each include a steering motor 31 and a bogie 33. The bogie 33 is connected to the main truss structure 1 through a joint bearing 32. A support platform is provided below the main truss structure 1. The support platform is provided with a steering motor 31, and the steering motor 31 is connected to the joint bearing 32. The steering motor 31 and the joint bearing 32 cooperate to realize the steering process. The joint bearing 32 is fixedly connected to the bogie 33 through bolts. The ends of the bogie 33 are connected to the Watt long connecting rod 36 through angular contact ball bearings. Four Watt long connecting rods 36 are provided in one set of auxiliary wheel-leg mechanisms 3. The Watt long connecting rod 36 is connected to the elastic connecting rod 37, and the elastic connecting rod 37 is connected to the differential 35. The differential 35 is connected to the elastic connecting rod 37 through a bridge suspension bearing 38. Both ends of the differential 35 are connected to the auxiliary wheels 34. The upper end of the differential 35 is provided with an A1 motor 39, and the A1 motor 39 is connected to the differential 35 through bolts.

[0027] In terms of suspension system, the lunar rover adopts the suspension structure of "Watt link + elastic link", that is, the Watt long link 36 and the elastic link 37 together form the suspension system. This structure can always keep the wheels perpendicular to the lunar surface. The elastic link 37 can not only play a connecting role, but also absorb part of the impact load through its own elastic deformation, thereby improving the stability of the lunar rover.

[0028] The present invention can move omnidirectionally in non-structural complex ground environments such as rugged, gully, ruins, muddy, etc., and has three working modes for different terrains, namely, a two-wheel fast travel mode, a four-wheel obstacle crossing mode and a six-wheel climbing mode.

[0029] Embodiment 1

[0030] The two-wheel fast travel mode is the main working mode of the lunar rover when it is traveling in a flat area. In this working mode, the two sets of active wheel leg mechanisms 2 of the lunar rover actively extend downward. The auxiliary thigh drive motor 22 in the drive motor mounting plate 21 drives the auxiliary thigh group 23 to rotate counterclockwise, and the thigh drive motor 29 drives the thigh group 28 to rotate clockwise, so that the auxiliary thigh group 23 drives the inner calf group 24 to rotate clockwise, and the thigh group 28 drives the outer calf group 27 to rotate counterclockwise, so that the active wheels 26 extend downward. The two sets of auxiliary wheel leg mechanisms 3 remain stationary, and only the two active wheels 26 are in contact with the lunar surface. At this time, the lunar rover can achieve fast, efficient and low-power travel with its two-wheel configuration.

[0031] The first steering method of the lunar rover in the two-wheel fast travel mode is differential steering, that is, the driving wheel drive motors 25 of the two sets of driving wheel leg mechanisms 2 drive the left and right driving wheels 26 at different speeds; the second steering method is in-situ steering, that is, the driving wheel drive motors 25 of the two sets of driving wheel leg mechanisms 2 drive the left and right driving wheels 26 in opposite directions, thereby realizing the in-situ steering function of the lunar rover. In the two-wheel drive travel mode, the lunar rover can achieve fast and low-power travel, in-situ turning and other flexible movements. Different from the multi-wheel movement method of the traditional solution, the driving method of the two sets of wheel-leg mechanisms has better movement flexibility while ensuring the stability of the mechanism.

[0032] Embodiment 2

[0033] The four-wheel obstacle crossing mode is the main working mode of the lunar rover when climbing over obstacles. The two sets of active wheel leg mechanisms 2 of the lunar rover actively extend forward; the front set of auxiliary wheel leg mechanisms 3 remain stationary, and the rear set of auxiliary wheel leg mechanisms 3 work (or the rear set of auxiliary wheel leg mechanisms 3 remain stationary, and the front set of auxiliary wheel leg mechanisms 3 work). During the obstacle crossing process, the lunar rover can increase the approach angle and departure angle of the whole vehicle by adjusting the positions of the two sets of active wheel leg mechanisms 2 and the working states of the front (rear) auxiliary wheel leg mechanisms 3. During the obstacle crossing process, the two sets of active wheel legs of the lunar rover actively extend out. This process is achieved by the auxiliary thigh drive motor 22 driving the auxiliary thigh group 23 to rotate clockwise, and the thigh drive motor 29 driving the thigh group 28 to rotate clockwise. The four-wheel travel of the lunar rover is achieved by the two sets of active wheel drive motors 25 driving the active wheels 26, and at the same time driving the rear two sets of auxiliary wheels 34 without motor drive to rotate.

[0034] In the four-wheel obstacle crossing mode, the lunar rover's steering method is front and rear axle steering. The steering motor 31 drives the bogie 33 to rotate, and the A1 motor 39 controls the two auxiliary wheels 34 through the differential 35.

[0035] Embodiment 3

[0036] The six-wheel climbing mode is the main working mode of the lunar rover when traveling on sloped terrain and rugged terrain. All wheel systems of the lunar rover (two sets of active wheel-leg mechanisms 2 and two sets of auxiliary wheel-leg mechanisms 3) are in a grounded state. At this time, the lunar rover can increase the contact area between the wheels and the lunar surface to improve the adhesion and driving ability of the whole vehicle. The height of the two sets of active wheel-leg mechanisms 2 can be achieved by driving the auxiliary thigh drive motor 22 and the thigh drive motor 29.

[0037] In the six-wheel climbing mode, the lunar rover's steering method is front and rear axle steering, and the control method of the two sets of auxiliary wheel leg mechanisms 3 is the same as that in the four-wheel obstacle crossing mode. The two sets of auxiliary wheel leg mechanisms 3 can increase the stability and grip of the vehicle in a rugged terrain environment, so that the lunar rover has the ability to move on the lunar surface in all terrains.

[0038] Therefore, the present invention adopts the above-mentioned omnidirectional mobile platform that can adapt to the unstructured terrain environment of the satellite surface, with high movement flexibility. The lunar rover of the present invention has multiple working modes. In the two-wheel drive travel mode, the lunar rover can achieve fast and low-power travel, on-the-spot turning and other flexible actions. Different from the multi-wheel movement mode of the traditional scheme, the driving mode of the two sets of wheel-leg mechanisms has better movement flexibility while ensuring the stability of the mechanism. High terrain adaptability, the lunar rover of the present invention has two sets of active wheel-leg mechanisms, which are different from the wheel mechanism of the traditional scheme. The wheel-leg mechanism has both the fast movement ability of the wheel mechanism and the obstacle passing ability of the leg mechanism, and has better adaptability to the complex terrain of the lunar surface. At the same time, the four sets of auxiliary wheels can increase the stability and grip of the whole vehicle in the rugged terrain environment, so that the lunar rover has the ability to move on the lunar surface in all terrains. High fault tolerance. In normal working mode, the lunar rover of the present invention adopts two-wheel drive to move quickly, so it has high fault tolerance for the other four sets of auxiliary wheels. At the same time, the two sets of active drive wheels are designed as wheel-leg configurations, with two working modes of wheel movement and leg movement, so it also has high fault tolerance.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. An omnidirectional mobile platform that can adapt to the unstructured terrain environment of the star map, characterized by: It includes a main truss structure, a driving wheel leg mechanism and an auxiliary wheel leg mechanism. The auxiliary wheel leg mechanism is provided with two groups. The two groups of auxiliary wheel leg mechanisms are arranged at the ends of the driving wheel leg mechanism. The driving wheel leg mechanism is connected to the main truss structure through a driving motor mounting plate.

2. The omnidirectional mobile platform capable of adapting to the unstructured terrain environment of the star map according to claim 1, characterized in that: The driving wheel leg mechanism is provided with two groups, and the two groups of driving wheel leg mechanisms include an auxiliary thigh group, an inner calf group, a driving wheel, an outer calf group and a thigh group. One end of the thigh group is connected to the thigh group driving motor, and the thigh group driving motor is connected to the driving motor mounting plate, and the other end of the thigh group is connected to the outer calf group, and the outer calf group is connected to the driving wheel, and the driving wheel is connected to the inner calf group, and the inner calf group is connected to the auxiliary thigh group, and the auxiliary thigh group is connected to the auxiliary thigh driving motor, and the auxiliary thigh driving motor is connected to the driving motor mounting plate.

3. The omnidirectional mobile platform capable of adapting to the unstructured terrain environment of the star map according to claim 2, characterized in that: The inner calf group is connected to the auxiliary thigh group through a joint bearing, and the auxiliary thigh group is configured to have a structure with one side closed and the other side hollowed out.

4. The omnidirectional mobile platform capable of adapting to the unstructured terrain environment of the star map according to claim 3, characterized in that: The two sets of auxiliary wheel-leg mechanisms both include a steering motor and a bogie. The bogie is connected to the main truss structure via a joint bearing. A support platform is provided below the main truss structure. The steering motor is provided on the support platform, and the steering motor is connected to the joint bearing.

5. The omnidirectional mobile platform capable of adapting to the unstructured terrain environment of the star map according to claim 4, characterized in that: The spherical bearing is fixedly connected to the bogie via bolts, the ends of the bogie are connected to the Watt long connecting rod via angular contact ball bearings, the Watt long connecting rod is connected to the elastic connecting rod, and the elastic connecting rod is connected to the differential.

6. The omnidirectional mobile platform capable of adapting to the unstructured terrain environment of the star map according to claim 5, characterized in that: The differential is connected to the elastic link through a bridge suspension bearing, both ends of the differential are connected to auxiliary wheels, an A1 motor is provided at the upper end of the differential, and the A1 motor is connected to the differential through the bolts.

7. The omnidirectional mobile platform capable of adapting to the unstructured terrain environment of the star map according to claim 6, characterized in that: The outer calf group is configured as a hollow structure.

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