CN110303506A - A collaboratively controlled space robot and its control method - Google Patents

Abstract

The invention relates to the field of robot technology, and discloses a cooperatively controlled space robot and a control method thereof, comprising a robot body and a walking belt arranged at the lower end thereof, motor boxes are arranged on both sides of the robot body, and two motor boxes The side walls of the robot body are fixed on the side walls of the robot body, and the motors are fixed inside the two motor boxes. The two screw rods are fixedly connected, and the lower ends of the two screw rods run through the lower ends of the corresponding motor boxes and extend downwards, and the lower ends of the two motor boxes are horizontally provided with moving plates. The collaboratively controlled space robot and its control method can prevent dust from being brought into the interior of the spacecraft, protect the front end of the robot, and simultaneously realize coordinated control of multiple space robots, and improve the communication between multiple space robots. interoperability.

Description

A collaboratively controlled space robot and its control method

technical field

The invention relates to the technical field of robots, in particular to a cooperatively controlled space robot and a control method thereof.

Background technique

Space robots (Space Robots) are special robots used to replace human beings in space for scientific experiments, out-of-cabin operations, space exploration and other activities. Space robots instead of astronauts can greatly reduce risks and costs. In the technology roadmap drawn by NASA in 2012, space robots are divided into two types: teleoperation robots and autonomous robots, and robots, teleoperation robots and autonomous robots (Robot, Tele-robot and Autonomous--RTA) are listed as important technological developments one of the directions.

At present, there are several main problems in the collaborative control of existing space robots: First, the space robots produced by different robot manufacturers usually use different machine programming languages and software tools, and their systems are relatively closed. The interoperability is poor, and it is basically unable to support the online programming of the multi-space robot collaborative control algorithm; second, when the space robot is doing tasks in the sky, its walking mechanism will occupy a large amount of dust. will be brought into the spaceship.

Contents of the invention

(1) Solved technical problems

Aiming at the deficiencies of the prior art, the present invention provides a cooperatively controlled space robot and its control method, which can prevent dust from being brought into the interior of the spaceship, protect the front end of the robot, and at the same time realize control over multiple space robots. Coordinated control, and the advantages of improving the interoperability between multiple space robots solve the problem of existing space robots. First, space robots produced by different robot manufacturers usually use different machine programming languages and software tools. Closed, the interoperability between different space robots is poor, basically unable to support the online programming of multi-space robot collaborative control algorithms; second, when space robots do tasks in the sky, their walking mechanisms will occupy a lot of dust. If the dust on the bottom is not cleaned up before, it will be brought into the spaceship.

(2) Technical solution

In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a cooperatively controlled space robot, including a robot body and a walking belt arranged at its lower end, motor boxes are provided on both sides of the robot body, and two The side walls of the motor boxes are fixed on the side walls of the robot body, the inside of the two motor boxes are fixed with motors, the output ends of the two motors are provided with screw rods, and the two motors are connected to each other. The output ends are fixedly connected to the two screw rods through a coupling, and the lower ends of the two screw rods pass through the lower ends of the corresponding motor boxes and extend downwards. As for the moving plate, threaded holes are provided at the center of the upper ends of the two moving plates, and the two moving plates are threadedly connected with the rod walls of the two screws through the threaded holes, and the lower ends of the two moving plates are Both sides are vertically fixedly connected with connecting rods, the lower ends of the two connecting rods are fixedly provided with fixing plates, and the lower ends of the two said fixing plates are respectively fixedly provided with scrapers and cleaning brushes.

Preferably, two fixed blocks are respectively fixed on both sides of the robot body and on both sides of the moving plate. A slide bar is fixedly connected between the fixed blocks, and a connecting plate is fixedly connected to both sides of the two moving plates, and the two connecting plates located on both sides of the moving plate are connected to the corresponding sliding bar through a sliding hole. rod wall sliding connection.

Preferably, the front end of the robot body is provided with an anti-collision plate, and a plurality of buffer mechanisms are arranged between the anti-collision plate and the robot body, and the buffer mechanisms include a sleeve fixedly arranged at the front end of the robot body, and the sleeve The inside of the barrel is slidably connected with a moving rod, and one end of the moving rod inside the sleeve is fixedly provided with a spring, and the end of the spring away from the moving rod is fixedly connected with the inner side wall of the sleeve, and the end of the moving rod away from the spring extends to the outside of the sleeve and fixedly connected to the side wall of the crash plate.

Preferably, the anti-collision plate includes an inner plate and an outer plate, a shock absorbing plate is arranged between the inner plate and the outer plate, and the two sides of the shock absorbing plate are respectively fixed to the opposite side walls of the inner plate and the outer plate connect.

Preferably, the scraper is a curved plate, and the cleaning brush is made of PP plastic wire.

Preferably, the motor is a stepper motor, and the model of the motor is 39BYG250.

A control method of a cooperatively controlled space robot, the specific steps are as follows:

Step 1: Set up a communication headquarters, establish a communication system in an Ethernet environment, and unify the connection channel between the space robot and the communication system, that is, set a unique IP address, so that multiple space robots can successfully connect with the communication headquarters;

Step 2: Unify the communication languages of the controllers of multiple space robots. Because the space robots produced by different robot manufacturers usually use different machine programming languages and software tools, their systems are relatively closed, so it is necessary to connect multiple space robots to The communication language of the controller is unified;

Step 3: Control panel, since step 1 and step 2 have unified the processing of space robots, so only one control panel needs to be developed, and the interior of the control panel is equipped with a distance sensor, which is used for each space robot, and then through The operation panel controls the nearest space robot and needs to control multiple space robots synchronously, the distance sensor can be turned off, so that the control panel can control multiple space robots through Ethernet, and the operation mechanism of the scraper and cleaning brush is also through control panel;

Step 4: Collect the running status of multiple space robots. Controllers and signal sending devices are installed on multiple space robots. When a space robot fails, the controller and signal sending device can send the signal to the control panel through Ethernet .

(3) Beneficial effects

Compared with the prior art, the present invention provides a cooperatively controlled space robot and its control method, which have the following beneficial effects:

1. The collaboratively controlled space robot, through the motors arranged on both sides of the robot body, the motor can drive the screw to rotate, the screw can make the moving plate move down, and the moving plate can make the scraper and cleaning brush move down and connect with the walking belt Contact, so that when the robot body is walking, it can clean up the clods and dust on the walking belt to prevent them from being brought into the interior of the spacecraft.

2. The cooperatively controlled space robot, through the sleeve, spring, moving rod and anti-collision plate arranged at the front end of the robot body, when the anti-collision plate hits an obstacle, it can make the anti-collision plate squeeze the moving rod, so that The moving rod moves inside the sleeve and squeezes the spring, so that the anti-collision plate can have a buffering effect, and then the robot body can be protected.

3. The control method of the collaboratively controlled space robot, through the provided step 1: establish a communication headquarters; step 2: unify the communication language of the controllers of multiple space robots; step 3: control the panel; The operating state of a space robot can realize the cooperative control of multiple space robots and improve the intercommunication between multiple space robots.

Description of drawings

Fig. 1 is a kind of collaborative control space robot and its control method structural schematic diagram that the present invention proposes;

Fig. 2 is the structural schematic diagram that scraper and cleaning brush are connected with moving plate among Fig. 1;

Fig. 3 is a schematic structural diagram of the connection between the sleeve and the moving rod in Fig. 1;

Fig. 4 is a structural schematic diagram of the anti-collision plate in Fig. 1 .

In the figure: 1 robot body, 2 walking belt, 3 motor box, 4 motor, 5 screw, 6 moving plate, 7 connecting rod, 8 fixing plate, 9 scraper, 10 cleaning brush, 11 fixing block, 12 sliding rod, 13 Connecting plate, 14 sleeves, 15 moving rods, 16 springs, 17 inner plates, 18 outer plates, 19 damping plates, 20 anti-collision plates.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Fig. 1-4, a space robot for cooperative control, including a robot body 1 and a walking belt 2 arranged at its lower end, motor boxes 3 are arranged on the top of both sides of the robot body 1, and the sides of the two motor boxes 3 The walls are fixed on the side wall of the robot body 1, the inside of the two motor boxes 3 are fixed with a motor 4, and the output ends of the two motors 4 are provided with a screw 5, and the output ends of the two motors 4 are connected through a joint. The shaft device is fixedly connected with two screw rods 5, the lower ends of the two screw rods 5 run through the lower ends of the corresponding motor boxes 3 and both extend downwards, and the lower parts of the two motor boxes 3 are horizontally provided with moving plates 6, and the two moving plates 6 Threaded holes are provided at the center of the upper end of the upper end, and the two moving plates 6 are threadedly connected with the rod walls of the two screw rods 5 through the threaded holes. Both sides of the lower ends of the two moving plates 6 are vertically fixedly connected with connecting rods 7. The lower ends of each connecting rod 7 are fixedly provided with a fixed plate 8, and the lower ends of the two fixed plates 8 are respectively fixed with a scraper 9 and a cleaning brush 10.

Both sides of the robot body 1 and both sides of the moving plate 6 are respectively fixed with two fixed blocks 11, and the two fixed blocks 11 on both sides of the moving plate 6 are symmetrically distributed up and down, and the fixed blocks on both sides of the moving plate 6 11 are jointly fixedly connected with slide bar 12, and both sides of two moving plates 6 are all fixedly connected with connecting plate 13, and the two connecting plates 13 that are positioned at moving plate 6 both sides all pass through the slide hole and the bar of corresponding slide bar 12. Wall sliding connection.

The front end of the robot body 1 is provided with an anti-collision plate 20, and a plurality of buffer mechanisms are arranged between the anti-collision plate 20 and the robot body 1. The buffer mechanism includes a sleeve 14 fixedly arranged at the front end of the robot body 1, and the inside of the sleeve 14 slides Connected with a moving rod 15, one end of the moving rod 15 positioned at the inside of the sleeve 14 is fixedly provided with a spring 16, and one end of the spring 16 away from the moving rod 15 is fixedly connected with the inner side wall of the sleeve 14, and the moving rod 15 extends away from an end of the spring 16 to The outside of the sleeve 14 is fixedly connected with the side wall of the anti-collision plate 20 .

The anti-collision plate 20 comprises an inner plate 17 and an outer plate 18, and a shock absorbing plate 19 is arranged between the inner plate 17 and the outer plate 18. The connection can make the anti-collision plate 20 have a better cushioning effect.

The scraper 9 is a curved plate, and the cleaning brush 10 is made of PP plastic wire.

The motor 4 adopts a stepper motor, and the model of the motor 4 is 39BYG250.

A control method of a cooperatively controlled space robot, the specific steps are as follows:

Step 1: Set up a communication headquarters, establish a communication system in an Ethernet environment, and unify the connection channel between the space robot and the communication system, that is, set a unique IP address, so that multiple space robots can successfully connect with the communication headquarters;

Step 2: Unify the communication languages of the controllers of multiple space robots. Because the space robots produced by different robot manufacturers usually use different machine programming languages and software tools, their systems are relatively closed, so it is necessary to connect multiple space robots to The communication language of the controller is unified;

Step 3: Control panel, since step 1 and step 2 have unified the processing of space robots, so only one control panel needs to be developed, and the interior of the control panel is equipped with a distance sensor, which is used for each space robot, and then through The operation panel controls the nearest space robot and needs to control multiple space robots synchronously, the distance sensor can be turned off, so that the control panel can control multiple space robots through Ethernet, and the operation mechanism of the scraper and cleaning brush is also through control panel;

Step 4: Collect the running status of multiple space robots. Controllers and signal sending devices are installed on multiple space robots. When a space robot fails, the controller and signal sending device can send the signal to the control panel through Ethernet .

In summary, the cooperatively controlled space robot and its control method, when in use, use the motor 4 arranged on both sides of the robot body 1, the motor 4 can drive the screw 5 to rotate, and the screw 5 can make the moving plate 6 move downward , the moving plate 6 can make the scraper 9 and the cleaning brush 10 move down and contact with the walking belt 2, so that when the robot body 1 is walking, the clods and dust on the walking belt 2 can be cleaned up to avoid its It is brought into the interior of the spaceship, and through the sleeve 14, spring 16, moving rod 15 and crash plate 20 arranged at the front end of the robot body 1, when the crash plate 20 hits an obstacle, the crash plate 20 can be squeezed. Press the moving rod 15, so that the moving rod 15 moves inside the sleeve 14 and squeezes the spring 16, so that the anti-collision plate 20 can have a buffer effect, and then the robot body 1 can be protected. Through the provided step 1: set up Communication Headquarters; Step 2: Unify the communication language of the controllers of multiple space robots; Step 3: Control the panel; Step 4: Collect the running status of multiple space robots, which can realize coordinated control of multiple space robots and improve Interoperability among multiple space robots.

It should be noted that the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, but also includes none other elements specifically listed, or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (7)

1. a kind of robot for space of Collaborative Control, including robot body (1) and the treads (2) of its lower end are set, It is characterized by: two lateral roofs of the robot body (1) are equipped with motor housing (3), the side wall of two motor housings (3) It being fixed on the side wall of robot body (1), the inside of two motor housings (3) is fixed with motor (4), and two The output end of the motor (4) is equipped with screw rod (5), and the output end of two motors (4) passes through shaft coupling and two institutes It states screw rod (5) to be fixedly connected, the lower end of the corresponding motor housing (3) and downward is run through in the lower end of two screw rods (5) Extend, the lower section of two motor housings (3) is transversely provided with movable plate (6), at the upper end center of two movable plates (6) Threaded hole is offered, two movable plates (6) are threadedly coupled by threaded hole with the bar wall of two screw rods (5), The lower end two sides of two movable plates (6) are fixedly connected with connecting rod (7) vertically, the lower end of two connecting rods (7) It is fixed with fixed plate (8), the lower end of two fixed plates (8) is fixed with scraper plate (9) and cleaning brush (10) respectively.

2. a kind of robot for space of Collaborative Control according to claim 1, it is characterised in that: the robot body (1) the two sides and two sides for being located at movable plate (6) are fixed with two fixed blocks (11) respectively, are located at the movable plate (6) two Two fixed blocks (11) of side are located at jointly solid between the fixed block (11) of the movable plate (6) two sides in symmetrical up and down Surely it is connected with slide bar (12), the two sides of two movable plates (6) are fixedly connected to connecting plate (13), are located at the movable plate (6) two connecting plates (13) of two sides are slidably connected by slide opening with the bar wall of the corresponding slide bar (12).

3. a kind of robot for space of Collaborative Control according to claim 1, it is characterised in that: the robot body (1) front end is equipped with Crashworthy plate (20), and multiple buffer gears, institute are equipped between the Crashworthy plate (20) and robot body (1) Stating buffer gear includes the sleeve (14) for being fixed at robot body (1) front end, and the internal slide of the sleeve (14) connects It is connected to mobile bar (15), the mobile bar (15) is located at the internal one end of sleeve (14) and is fixed with spring (16), the spring (16) one end far from mobile bar (15) is fixedly connected with the inner sidewall of sleeve (14), and the mobile bar (15) is far from spring (16) One end extend to the outside of sleeve (14) and be fixedly connected with the side wall of Crashworthy plate (20).

4. a kind of robot for space of Collaborative Control according to claim 3, it is characterised in that: Crashworthy plate (20) packet Inner panel (17) and outside plate (18) are included, is equipped with vibration damper plate (19) between the inner panel (17) and outside plate (18), the vibration damper plate (19) The side wall opposite with inner panel (17) and outside plate (18) is fixedly connected respectively for two sides.

5. a kind of robot for space of Collaborative Control according to claim 1, it is characterised in that: the scraper plate (9) is arc Shape plate, the cleaning brush (10) are made of PP plastic wire.

6. a kind of robot for space of Collaborative Control according to claim 1, it is characterised in that: the motor (4) uses Stepper motor, the model 39BYG250 of the motor (4).

7. a kind of control method of the robot for space of Collaborative Control, it is characterised in that: specific step is as follows:

Step 1: communication general headquarters are set up, communication system, and uniform spaces robot and communication system are established in ethernet environment Between interface channel, that is, be arranged only one IP address so that multiple space robotics with communication general headquarters' successful connection；

Step 2: the communication language of the controller of unified multiple robot for spaces, since different robot building manufacturers produces Robot for space generally use different machine language programming language and software tool, system is more closed, it is therefore desirable to will be more The communication language of controller on a robot for space is unified；

Step 3: control panel only needs out since robot for space is unitized and handled by step 1 and step 2 An operation panel is issued, the inside of control panel is equipped with distance-sensor, and distance-sensor is used to each robot for space, so It, can be with when being manipulated afterwards by operation panel apart from nearest robot for space, while needing the multiple robot for spaces of synchronously control Turn off distance-sensor, so that control panel controls multiple space device people by Ethernet, the wherein operation of scraper plate and cleaning brush Mechanism is also to be controlled by control panel；

Step 4: acquiring the operating status of multiple robot for spaces, and controller and signal hair are equipped on multiple robot for spaces Device out, when robot for space breaks down, signal can be sent to by controller and signaling device by Ethernet Control panel.