Wheeled bouncing combined type mobile robot
By integrating a wheel unit, an elastic energy storage and release mechanism, and an angle adjustment mechanism onto the mobile robot, elastic energy storage jumps are achieved in the lunar environment, solving the problem of the mobile robot's poor ability to escape alone on the lunar surface and improving the robot's passability on rugged terrain.
Patent Information
- Application Number
- CN202511198057.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-26
- Publication Date
- 2026-02-06
AI Technical Summary
Existing mobile robots have poor ability to escape from lunar surface environments and cannot move freely on rugged terrain.
Design a wheeled and bouncing hybrid mobile robot that combines a wheeled unit and an elastic energy storage and release mechanism. The robot achieves bouncing through an angle adjustment mechanism. By coordinating the elastic energy storage and release mechanism and the angle adjustment mechanism, the robot can achieve elastic energy storage jumps on the lunar surface.
The robot is able to efficiently escape from craters and impact craters, has good lunar surface mobility and independent escape capabilities, and can jump high and repeatably.
Smart Images
Figure CN121469752A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of aerospace machinery, and particularly relates to a wheel-hopping combined mobile robot. BACKGROUND
[0002] In future lunar exploration and development tasks, small robots with good lunar surface passability are required. Unlike the earth environment, the lunar surface is covered with craters and impact craters, and is covered with lunar dust, so the mobile robot used on the lunar surface should be able to freely move on the rugged terrain and have the ability to escape independently. The robot should have a camera to shoot the lunar surface environment information, and the conventional mobile robot design applied on the earth cannot meet the above requirements. SUMMARY
[0003] The technical problem to be solved by the application is to provide a wheel-hopping combined mobile robot to solve the problem of poor independent escape ability of the existing mobile robot.
[0004] To solve the above problems, the technical scheme of the application is as follows: The wheel-hopping combined mobile robot of the application comprises: A mobile robot body, wherein a plurality of wheel-hopping units are arranged on the mobile robot body; An elastic energy storage and release mechanism arranged on the mobile robot body and extending rearward in the length direction of the mobile robot body, wherein the elastic force output direction of the elastic energy storage and release mechanism is rearward along the length direction of the mobile robot body; An angle adjusting mechanism arranged on the mobile robot body, wherein the output end of the angle adjusting mechanism is used to support the front end of the mobile robot body upward and drive the front end of the mobile robot body upward to a preset hopping angle in the length direction; In the hopping preparation state, the output end of the angle adjusting mechanism is the front end support point of the mobile robot body, and the elastic energy storage and release mechanism is the rear end support point of the mobile robot body; in the hopping state, the elastic energy storage and release mechanism releases elastic force rearward along the length direction of the mobile robot body, thereby driving the mobile robot body to jump.
[0005] The wheel-hopping combined mobile robot of the application comprises a fixed frame, a plurality of wheel-hopping units, a camera unit and a main control unit; At least two wheel-hopping units are arranged on the two sides of the fixed frame in the length direction; the camera unit is arranged at the front end of the fixed frame; the angle adjusting mechanism and the elastic energy storage and release mechanism are arranged on the fixed frame; The main control unit is arranged on the fixed frame, and the main control unit is electrically connected with the elastic energy storage release mechanism, the angle adjusting mechanism, the camera unit and each wheel running unit respectively.
[0006] The wheel running and bouncing combined mobile robot of the present application, the elastic energy storage release mechanism comprises an elastic frame, an elastic energy storage mechanism and an elastic release mechanism. The first end of the elastic frame is hinged to the fixed frame, and the second end of the elastic frame extends rearward from the fixed frame. The elastic energy storage mechanism is installed on the fixed frame, and the output end of the elastic energy storage mechanism is connected to the second end of the elastic frame, and the elastic energy storage mechanism is configured to drive the second end of the elastic frame to move towards the fixed frame to a preset bouncing preparation position. The elastic release mechanism is installed on the fixed frame, and the output end of the elastic release mechanism is configured to switch between a grabbing position and a release position. In the bouncing preparation state, the output end of the elastic release mechanism is located at the grabbing position and limits the second end of the elastic frame at the preset bouncing preparation position; when bouncing, the output end of the elastic release mechanism switches to the release position, and the second end of the elastic frame is released from the limit and releases the elastic force.
[0007] The wheel running and bouncing combined mobile robot of the present application, the elastic energy storage mechanism comprises an energy storage motor, a winding rod and a winding rope; the winding rod is rotationally connected to the fixed frame, the output end of the energy storage motor is connected to the winding rod, and the two ends of the winding rope are respectively connected to the winding rod and the second end of the elastic frame.
[0008] The wheel running and bouncing combined mobile robot of the present application, the elastic release mechanism comprises a release motor arranged on the fixed frame, a grabbing release mechanism and a grabbing hook installed on the second end of the elastic frame. The output end of the release motor is connected to the input end of the grabbing release mechanism, and the output end of the grabbing release mechanism is configured to clamp or release the grabbing hook under the drive of the release motor.
[0009] The wheel running and bouncing combined mobile robot of the present application, the second end of the elastic frame is provided with the wheel running unit.
[0010] The wheel running and bouncing combined mobile robot of the present application, the wheel running unit comprises a wheel running motor and a crawling wheel, and the material of the crawling wheel is an elastic material.
[0011] The wheel running and bouncing combined mobile robot of the present application, the crawling wheel is an 8-shaped crawling wheel.
[0012] The present invention relates to a wheeled, bouncing, composite mobile robot, wherein the angle adjustment mechanism includes an angle adjustment motor and an angle adjustment strut; the angle adjustment strut is installed at the output end of the angle adjustment motor and is arranged along the length direction of the fixed frame; the angle adjustment strut is configured to swing downward under the drive of the angle adjustment motor and support the fixed frame.
[0013] Because the present invention adopts the above technical solution, it has the following advantages and positive effects compared with the prior art: One embodiment of the present invention provides a rearward-extending elastic energy storage and release mechanism and an angle adjustment mechanism for lifting the mobile robot body to a preset jumping angle on a mobile robot body with a wheel unit. In the jumping preparation state, the elastic energy storage and release mechanism enters an elastic energy storage state, and the output end of the angle adjustment mechanism supports downward and drives the mobile robot body to the preset jumping angle. At this time, the mobile robot as a whole includes two support points, namely the output end of the angle adjustment mechanism located below the mobile robot body and the elastic energy storage and release mechanism located behind the mobile robot body. During jumping, the elastic energy storage and release mechanism releases elastic force backward along the length direction of the mobile robot body. Under the action of this elastic force, the mobile robot body moves forward and upward along the preset jumping angle, thereby generating a reaction force with the lunar surface to achieve the ability of elastic energy storage jump. The energy storage jump is repeatable and has a high jump height, which helps the robot to escape from the crater impact crater and solves the problem of poor independent escape ability of existing mobile robots. Attached Figure Description
[0014] Figure 1 This is an overall schematic diagram of the wheeled bouncing composite mobile robot of the present invention; Figure 2 This is a schematic diagram of the elastic frame energy storage deformation of the wheeled bouncing composite mobile robot of the present invention. Figure 3 This is a schematic diagram of the elastic release mechanism of the wheeled bouncing composite mobile robot of the present invention; Figure 4 This is a schematic diagram illustrating the use of the adjustable strut of the wheeled, bouncing, composite mobile robot of the present invention. Figure 5 This is another schematic diagram illustrating the use of the adjustable strut of the wheeled bouncing composite mobile robot of the present invention.
[0015] Explanation of reference numerals in the attached diagram: 1. Fixed frame; 2. Release motor; 3. Wheel motor; 4. Energy storage motor; 5. Flexible frame; 6. Grab hook; 7. Winding rope; 8. Winding rod; 9. Grab and release mechanism; 10. Angle-adjusting motor; 11. First main control box; 12. Crawling wheel; 13. Camera unit; 14. Angle-adjusting support rod; 15. Second main control box. Detailed Implementation
[0016] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed account of the wheeled, bouncing, composite mobile robot proposed in this invention. The advantages and features of this invention will become clearer from the following description and claims.
[0017] See Figures 1 to 5 In one embodiment, a wheeled bouncing composite mobile robot includes a mobile robot body, an elastic energy storage and release mechanism, and an angle adjustment mechanism.
[0018] The mobile robot body is equipped with several wheel units. An elastic energy storage and release mechanism is located on the mobile robot body and extends rearward along its length. The elastic force output direction of the elastic energy storage and release mechanism is rearward along the length of the mobile robot body. An angle adjustment mechanism is located on the mobile robot body, and its output end is used to support downwards and lift the front end of the mobile robot body upwards to a preset bounce angle.
[0019] In the jump preparation state, the output end of the angle adjustment mechanism is the front fulcrum of the mobile robot body, and the elastic energy storage and release mechanism is the rear fulcrum of the mobile robot body. During the jump, the elastic energy storage and release mechanism releases elastic force backward along the length direction of the mobile robot body, driving the mobile robot body to perform a jump operation.
[0020] This embodiment incorporates a rearward-extending elastic energy storage and release mechanism and an angle adjustment mechanism for lifting the mobile robot body to a preset jump angle on a mobile robot body with wheeled units. In the jump preparation state, the elastic energy storage and release mechanism enters an elastic energy storage state, and the output end of the angle adjustment mechanism supports downwards and drives the mobile robot body to the preset jump angle. At this time, the mobile robot as a whole includes two support points: the output end of the angle adjustment mechanism located below the mobile robot body and the elastic energy storage and release mechanism located behind the mobile robot body. During the jump, the elastic energy storage and release mechanism releases elastic force rearwards along the length of the mobile robot body. Under the action of this elastic force, the mobile robot body moves forward and upward along the preset jump angle, thereby generating a reaction force with the lunar surface to achieve the ability to perform an elastic energy storage jump. This energy storage jump is repeatable and has a high jump height, which helps the robot escape from crater impact craters and solves the problem of poor independent escape ability of existing mobile robots.
[0021] The specific structure of the wheeled-jumping composite mobile robot in this embodiment will be further described below: In this embodiment, the mobile robot body described above may specifically include a fixed frame 1, several wheel units, a camera unit 13, and a main control unit.
[0022] The fixed frame 1 can be a rectangular frame structure, including a front beam, a rear beam, and two side beams located between them. At least two wheel units are spaced apart on each side of the fixed frame 1 along its length, specifically four wheel units, arranged at the four ends of the fixed frame 1 (i.e., two wheel units on each side along the length). A camera unit 13 is located at the front end of the fixed frame 1 for capturing images of the scene from the robot's perspective. An angle adjustment mechanism and an elastic energy storage and release mechanism are respectively located on the fixed frame 1. A main control unit is located on the fixed frame 1 and is electrically connected to the elastic energy storage and release mechanism, the angle adjustment mechanism, the camera unit 13, and each wheel unit for control purposes.
[0023] In this embodiment, the aforementioned elastic energy storage and release mechanism may include an elastic frame 5, an elastic energy storage mechanism, and an elastic release mechanism.
[0024] The first end of the flexible frame 5 is hinged to the fixed frame 1 (specifically, it can be hinged to the aforementioned front beam), and the second end of the flexible frame 5 extends rearward from the fixed frame 1. An elastic energy storage mechanism is mounted on the fixed frame 1, and its output end is connected to the second end of the flexible frame 5. The elastic energy storage mechanism is configured to move the second end of the flexible frame 5 toward the fixed frame 1 to a preset bounce preparation position, i.e., to cause the flexible frame 5 to contract and bend. An elastic release mechanism is mounted on the fixed frame 1, and its output end is configured to switch between a gripping position and a release position.
[0025] In the jump preparation state, the output end of the elastic release mechanism is located in the gripping position and limits the second end of the elastic frame 5 to the preset jump preparation position. During the jump, the output end of the elastic release mechanism switches to the release position, the second end of the elastic frame 5 is released from the limit and the elastic force is released, that is, the elastic frame 5 returns to its original shape. The elastic force generated in this process drives the mobile robot to jump as a whole.
[0026] Specifically, the flexible frame 5 may include two flexible beams and a tail beam. The front ends of the two flexible beams are hinged to both ends of the front beam, and the rear ends of the two flexible beams are connected to the tail beam.
[0027] Specifically, the flexible energy storage mechanism may include an energy storage motor 4, a winch 8, and a rope 7. The winch 8 is rotatably connected to the fixed frame 1 (specifically, it may be rotatably connected to two side beams), and the output end of the energy storage motor 4 is connected to the winch 8 to drive its rotation. The two ends of the rope 7 are respectively connected to the second end of the winch 8 and the second end of the flexible frame 5 (specifically, the tail beam). The rotation of the winch 8 causes the rope 7 to wind around it, thereby pulling the tail beam and the rear ends of the two flexible beams forward. The rope 7 may specifically be a steel wire rope.
[0028] Specifically, the elastic release mechanism may include a release motor 2 mounted on the fixed frame 1, a gripping release mechanism 9, and a gripping hook 6 mounted on the second end of the elastic frame 5. The output end of the release motor 2 is connected to the input end of the gripping release mechanism 9, and the output end of the gripping release mechanism 9 is configured to clamp (i.e., the aforementioned gripping position) or release (i.e., the aforementioned release position) the gripping hook 6 under the drive of the release motor 2. Specifically, the gripping release mechanism 9 may be configured as a multi-link mechanism, the output end of which is two clamping ends. The two clamping ends can clamp the gripping hook 6 by bringing them close together, and can release the gripping hook 6 by moving them away from each other.
[0029] In this embodiment, the second end of the flexible frame 5 may be further provided with a wheel unit. Specifically, a wheel unit may be provided at each end of the tail beam to improve the overall passability of the mobile robot.
[0030] In this embodiment, the wheel unit may specifically include a wheel motor 3 and a crawling wheel 12. The wheel motor 3 is mounted on the corresponding side beam and tail beam, and the crawling wheel 12 is mounted on the output shaft of the wheel motor 3. The crawling wheel 12 may be made of an elastic material, which can buffer and absorb impact loads through elastic deformation during wheel movement and bouncing.
[0031] Furthermore, the crawling wheel 12 can be a figure-eight crawling wheel 12. Through the corresponding wheel motor 3, the irregular figure-eight crawling wheel 12 can generate speed difference and phase difference to achieve different movement modes, so that the figure-eight crawling wheel 12 has different orientations and speeds, and realizes linear movement, rotation and other movement modes. Compared with round wheels, it has stronger passability on the rugged lunar surface.
[0032] In this embodiment, the aforementioned angle adjustment mechanism may specifically include an angle adjustment motor 10 and an angle adjustment strut 14. The angle adjustment strut 14 is installed at the output end of the angle adjustment motor 10 and is arranged along the length of the fixed frame 1. The angle adjustment strut 14 is configured to swing downward under the drive of the angle adjustment motor 10 and support the fixed frame 1. Specifically, the angle adjustment motor 10 may be mounted on one of the side beams.
[0033] In this embodiment, the main control unit may specifically include a first main control box 11 and a second main control box 15 respectively arranged on the fixed frame 1, which are used to control each motor to realize wheel and bouncing operations.
[0034] In this embodiment, the entire robot adopts a dustproof and sealed design.
[0035] In this embodiment, before the robot prepares to jump, such as Figure 2 As shown, Figure 2This is a schematic diagram of the energy storage deformation of the elastic frame 5 in this embodiment. The elastic frame 5 can generate elastic deformation by rotating the energy storage motor 4, causing the wire rope to wind around the winch 8. This pulls the crawler wheel 12 connected to the elastic frame 5 towards the fixed frame 1, thereby pulling the grab hook 6 closer to the vicinity of the grabbing and releasing mechanism 9. Figure 3 As shown, Figure 3 This is a schematic diagram of the elastic release mechanism in this embodiment. The release motor 2 rotates, driving the gripping and release mechanism 9 to clamp the gripping hook 6. Then, the energy storage motor 4 rotates in the opposite direction to release the steel wire, as shown below. Figure 4 As shown, Figure 4 This is a schematic diagram of how the angle-adjusting support rod 14 is used in this embodiment. At the same time, the angle-adjusting motor 10 drives the angle-adjusting support rod 14 to support the robot and adjust the jumping angle.
[0036] When the robot begins to jump, as Figure 4 As shown, after adjusting the robot's jump angle, as... Figure 3 As shown, the gripping and releasing mechanism 9 opens and releases the gripper 6, instantly releasing the stored elastic energy and enabling the robot to jump. During the robot's descent, it relies on the elastic deformation of the wheels and the elastic material of its own structure to cushion the impact load.
[0037] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.
Claims
1. A wheeled, bouncing composite mobile robot, characterized in that, include: A mobile robot body, wherein the mobile robot body is provided with several wheel units; An elastic energy storage and release mechanism is disposed on the mobile robot body and extends rearward from the mobile robot body in the length direction; and the elastic force output direction of the elastic energy storage and release mechanism is rearward along the length direction of the mobile robot body. An angle adjustment mechanism is provided on the mobile robot body, and the output end of the angle adjustment mechanism is used to support downward and drive the front end of the mobile robot body in the length direction to lift upward to a preset bounce angle. In the jump preparation state, the output end of the angle adjustment mechanism is the front fulcrum of the mobile robot body, and the elastic energy storage and release mechanism is the rear fulcrum of the mobile robot body; during the jump, the elastic energy storage and release mechanism releases elastic force backward along the length direction of the mobile robot body, driving the mobile robot body to perform a jump operation.
2. The wheeled, hopping, composite mobile robot as described in claim 1, characterized in that, The mobile robot body includes a fixed frame, several wheel units, a camera unit, and a main control unit; The fixed frame has at least two wheel units spaced apart on each side along its length; the camera unit is located at the front end of the fixed frame. The angle adjustment mechanism and the elastic energy storage and release mechanism are respectively disposed on the fixed frame; The main control unit is arranged on the fixed frame, and the main control unit is electrically connected to the elastic energy storage and release mechanism, the angle adjustment mechanism, the camera unit and each of the wheel units.
3. The wheeled, hopping, composite mobile robot as described in claim 1, characterized in that, The elastic energy storage and release mechanism includes an elastic frame, an elastic energy storage mechanism, and an elastic release mechanism; The first end of the flexible frame is hinged to the fixed frame, and the second end of the flexible frame extends rearward from the fixed frame; The elastic energy storage mechanism is installed on a fixed frame, and the output end of the elastic energy storage mechanism is connected to the second end of the elastic frame. The elastic energy storage mechanism is configured to drive the second end of the elastic frame to move toward the fixed frame to a preset bounce preparation position. The elastic release mechanism is mounted on the fixed frame, and the output end of the elastic release mechanism is configured to switch between a gripping position and a release position. In the bouncing preparation state, the output end of the elastic release mechanism is located at the gripping position and limits the second end of the elastic frame to the preset bouncing preparation position; during bouncing, the output end of the elastic release mechanism switches to the release position, and the second end of the elastic frame is released from the limit and releases the elastic force.
4. The wheel-bounce composite mobile robot as described in claim 3, characterized in that, The elastic energy storage mechanism includes an energy storage motor, a winch, and a winch rope; the winch is rotatably connected to the fixed frame, the output end of the energy storage motor is connected to the winch, and the two ends of the winch rope are respectively connected to the winch and the second end of the elastic frame.
5. The wheeled, hopping, composite mobile robot as described in claim 3, characterized in that, The elastic release mechanism includes a release motor disposed on the fixed frame, a gripping release mechanism, and a gripping hook installed at the second end of the elastic frame; The output end of the release motor is connected to the input end of the gripping and releasing mechanism, and the output end of the gripping and releasing mechanism is configured to grip or release the gripping hook under the drive of the release motor.
6. The wheeled, hopping, composite mobile robot as described in claim 3, characterized in that, The second end of the elastic frame is provided with the wheel unit.
7. The wheeled, hopping, composite mobile robot as described in claim 2 or 6, characterized in that, The wheel unit includes a wheel motor and crawling wheels, the crawling wheels being made of an elastic material.
8. The wheeled, hopping, composite mobile robot as described in claim 7, characterized in that, The crawling wheel is a figure-eight crawling wheel.
9. The wheel-bounce composite mobile robot as described in claim 1, characterized in that, The angle adjustment mechanism includes an angle adjustment motor and an angle adjustment strut; the angle adjustment strut is installed at the output end of the angle adjustment motor and is arranged along the length of the fixed frame. The angle adjustment strut is configured to swing downward under the drive of the angle adjustment motor and support the fixed frame.