CN101462269A - Movable parallel robot device - Google Patents
Movable parallel robot device Download PDFInfo
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- CN101462269A CN101462269A CNA2009101049550A CN200910104955A CN101462269A CN 101462269 A CN101462269 A CN 101462269A CN A2009101049550 A CNA2009101049550 A CN A2009101049550A CN 200910104955 A CN200910104955 A CN 200910104955A CN 101462269 A CN101462269 A CN 101462269A
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Abstract
The invention discloses a movable parallel robot device, which comprises a movable platform used as a carrying body, and at least two branches connected with the movable platform; each branch is distributed on the periphery of the movable platform and can rotate relatively to the movable platform; the lower end of each branch is provided with a movable structure used for controlling the lower end of the branch to move in a preset plane. The movable parallel robot device adopts that each branch can rotate relatively to the movable platform, and the lower end of the branch is controlled in the preset plane to move. The device has the advantages of simple structure, rigidity, strong carrying capacity, larger work space and stronger operation flexibility, so as to conveniently carry out a program that a robot avoids barriers and strange tracks, and perform self-adaptive adjustment of the position of the robot according to the actual task requirements.
Description
Technical field
The present invention relates to the Robotics field, be specifically related to a kind of movable parallel robot device.
Background technology
Existing mobile robot can be carried multiple sensors normally as the multifunctional movement carrier, and such as camera, pressure sensor, temperature sensor etc., end also can be finished particular tasks such as extracting, detection, tracking by the installation manipulator arm.But mobile platform itself is carrying body just, does not have attitude to change, and the arm of its terminal series connection also is difficult to finish big rigidity and supports the class operation.
The robot of another kind of technology is a parallel robot; parallel robot is to be the robot of executing agency with the parallel institution; the mechanism of existing parallel robot all adopts version fixing and mobile two platforms; its kinematic accuracy height; rigidity is big; structural stability is good, but its working space is limited, and scope of activities is all smaller usually.
So the mobile robot of prior art and parallel robot are for rescuing, speedily carry out rescue work, can't satisfying the demands in the task of detecting, complex environment such as anti-riot.
Therefore also there is defective in prior art, and awaits improving and development.
Summary of the invention
The objective of the invention is, the defective that exists at above-mentioned prior art provides a kind of movable parallel robot device, and it is simple in structure, in light weight, rigidity and bearing capacity are strong, and working space is big, and operating flexibility is strong, have cognition and obstacle climbing ability.
For achieving the above object, the present invention adopts following technical scheme:
A kind of movable parallel robot device, it comprises a moving platform as carrying body, with at least two branches that are connected with this moving platform; Wherein, described each branch is distributed in the periphery of described moving platform, and rotatable with respect to described moving platform;
The bottom of described branch is provided with moving structure, and described moving structure is used for that the lower end of described branch is controlled moves in a predetermined plane.
Described movable parallel robot device, wherein, described branch is set to three, and distribution triangular in shape on described moving platform.
Described movable parallel robot device, wherein, the upper end of described each branch is connected by revolute pair with described moving platform, and the lower end of described each branch is connected by ball pivot with described moving structure;
Described movable parallel robot device, wherein, the upper end of described each branch is connected by ball pivot with described moving platform, and the lower end of described each branch is connected by revolute pair with described moving structure.
Described movable parallel robot device wherein, is provided with at least two driving rolls on described moving structure, described each driving rolls passes through motor-driven respectively; On described moving structure, also be provided with a steering wheel, be used to change the moving direction of described moving structure.
Described movable parallel robot device, wherein, described moving structure is provided with a planar motor, and described planar motor is arranged on the workbench, is used to be controlled at the two dimensional motion on the described workbench.
Movable parallel robot device provided by the present invention, owing to adopted the described relatively moving platform of each branch rotatable, and the lower end of described branch is controlled mobile in a predetermined plane.It is simple in structure, rigidity and bearing capacity are strong; Have bigger working space, operating flexibility is also stronger, thereby can carry out robot obstacle-avoiding easily and keep away unusual trajectory planning, can also carry out self adaptation to the pose of robot according to the specific tasks demand and regulate, and practicality is very strong.
Description of drawings
Fig. 1 is the structural representation of movable parallel robot device one preferred embodiment of the present invention;
Fig. 2 is the structural representation of another preferred embodiment of movable parallel robot device of the present invention;
Fig. 3 is the connection enlarged drawing of revolute pair in the movable parallel robot device of the present invention;
Fig. 4 connects enlarged drawing for ball pivot in the movable parallel robot device of the present invention.
The specific embodiment
The invention provides a kind of movable parallel robot device, clearer, clear and definite for making purpose of the present invention, technical scheme and advantage, below develop simultaneously with reference to accompanying drawing that the present invention is described in more detail for embodiment.
A kind of movable parallel robot device of the present invention, as depicted in figs. 1 and 2, it comprises a moving platform 101 as carrying body, with the two or more branches 120 that are connected with this moving platform 101; Described moving platform 101 is used to assemble the equipment of finishing various tasks, as manipulator, video camera etc.Described branch 120 is preferable to be set to three, and distribution triangular in shape on described moving platform, the flexible operation of three branches, and described each branch 120 can adopt identical structure certainly.Wherein, described each branch 120 is distributed in the periphery of described moving platform 101, and rotatable with respect to described moving platform 101; The bottom of described branch 120 is provided with moving structure, and described moving structure can be the moving structure 121 of multiple structure, and described moving structure is used for that the lower end of described branch 120 is controlled moves in a predetermined plane.
Preferred embodiment of movable parallel robot device of the present invention as shown in Figure 1, the movable parallel robot device of present embodiment mainly comprises: one as the moving platform 101 of carrying body and three branches 120 that are attached thereto.Wherein three branches 120 be positioned at moving platform 101 around, and structure is identical.Branch 120 is made up of connecting rod 103 and moving structure 121, and the upper end of connecting rod 103 is connected with moving platform 101 by revolute pair 102, and the lower end is connected with the moving structure 105 of moving structure 121 by ball pivot 104.Wherein Fig. 3 is the connection enlarged drawing of revolute pair, and Fig. 4 connects enlarged drawing for ball pivot.
Described moving structure 121 comprises driving rolls 107 and steering wheel 108, and described driving rolls 107 and described steering wheel 108 are installed in the bottom of moving structure 105, and described driving rolls 107 is set to coaxial two, and a plurality of driving rolls 107 can certainly be set.Institute's driving rolls 107 is driven by motor 106 respectively and advances, by the speed difference between motor 106 each driving rolls 107 of control, make direction of advance change, and the steering wheel 108 that cooperates the front is controlled advancing of moving structure 121 and is turned to, realize two frees degree of a translation one rotation, be used to change the moving direction of movable parallel robot of the present invention.
The movable parallel robot of present embodiment can be with attitude to move, the high rigidity and the bearing capacity that under fixing pose situation, have parallel robot mechanism, and this robot has certain cognitive ability and obstacle climbing ability, therefore can adapt to complicated natural environment under, the unknown, changeable non-structure environment, be particularly suitable for finishing rescue, speedily carry out rescue work, task such as detecting.
Another embodiment of movable parallel robot device of the present invention as shown in Figure 2, the movable parallel robot of this embodiment mainly comprises: a moving platform 101 and three branches 120 that link to each other with this moving platform 101 as carrying body.Wherein three branches 120 be positioned at moving platform around, and structure is identical, each branch 120 is made up of connecting rod 103 and moving structure 121, and the upper end of connecting rod 103 is connected with moving platform 101 by ball pivot 104, and the lower end is connected with the moving structure 105 of moving structure 121 by revolute pair 102.
Described moving structure 121 is driven by planar motor 109, planar motor 109 is fixed together with moving structure 105, move on workbench 110 by control plane motor 109, realize the two dimensional surface motion of moving structure 121 on described workbench 110, realize two plane one-movement-freedom-degrees.
Movable parallel robot device provided by the present invention reality use and operating process in, can be on the top of moving platform 101 according to different needs, the configuration operation manipulator is used for machining, perhaps disposes video camera, illuminating device waits the various tasks of finishing.By controlling the motion of each branches end, the control of the pose of the six degree of freedom of realization moving platform 101 is to satisfy the actual needs that use and operate of each side.
Movable parallel robot device provided by the present invention, it combines the parallel robot technology with mobile robot technology, adopted the described relatively moving platform of each branch rotatable, the lower end of described branch is controlled moves in a predetermined plane, so its structure is more simple, rigidity and bearing capacity are stronger; And the size adjustable of each branch's lower end moving structure makes movable parallel robot of the present invention have bigger working space, and operating flexibility is also stronger.
It also is provided with multisensor syste and the tail house with perception movable parallel robot device provided by the present invention.Make it have certain cognitive ability and obstacle climbing ability, thereby can carry out robot obstacle-avoiding easily and keep away unusual trajectory planning, can also carry out self adaptation to the pose of robot according to the specific tasks demand and regulate.Can adapt under the natural environment complicated, unknown, changeable non-structure environment, be particularly suitable for finishing rescue, speedily carry out rescue work, detecting, task such as anti-riot, have very strong practicality.
It should be noted that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (6)
1, a kind of movable parallel robot device, it comprises a moving platform as carrying body, with at least two branches that are connected with this moving platform; It is characterized in that described each branch is distributed in the periphery of described moving platform, and rotatable with respect to described moving platform; The lower end of described branch is provided with moving structure, and described moving structure is used for that the lower end of described branch is controlled moves in a predetermined plane.
2, movable parallel robot device according to claim 1 is characterized in that, described branch is set to three, and distribution triangular in shape on described moving platform.
3, movable parallel robot device according to claim 2 is characterized in that, the upper end of described each branch is connected by revolute pair with described moving platform, and the lower end of described each branch is connected by ball pivot with described moving structure.
4, movable parallel robot device according to claim 2 is characterized in that, the upper end of described each branch is connected by ball pivot with described moving platform, and the lower end of described each branch is connected by revolute pair with described moving structure.
5, movable parallel robot device according to claim 2 is characterized in that, at least two driving rolls are set on described moving structure, and described each driving rolls passes through motor-driven respectively; Also be provided with a steering wheel on described moving structure, described steering wheel is used to change the moving direction of described moving structure.
6, movable parallel robot device according to claim 2 is characterized in that, described moving structure is provided with a planar motor, and described planar motor is arranged on the workbench, is used to be controlled at the two dimensional motion on the described workbench.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009101049550A CN101462269A (en) | 2009-01-13 | 2009-01-13 | Movable parallel robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009101049550A CN101462269A (en) | 2009-01-13 | 2009-01-13 | Movable parallel robot device |
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| Publication Number | Publication Date |
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| CN101462269A true CN101462269A (en) | 2009-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNA2009101049550A Pending CN101462269A (en) | 2009-01-13 | 2009-01-13 | Movable parallel robot device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080834A (en) * | 2016-06-17 | 2016-11-09 | 清华大学 | Can pose adjustment and the mobile robot of operation |
| CN106627818A (en) * | 2016-12-05 | 2017-05-10 | 清华大学 | Novel multifunctional vehicle |
| CN107668898A (en) * | 2017-11-15 | 2018-02-09 | 长沙翼希网络科技有限公司 | A kind of Intelligent blower |
| CN109176459A (en) * | 2018-10-26 | 2019-01-11 | 清华大学 | Multi-functional absorption type mobile platform |
| CN110497413A (en) * | 2019-08-26 | 2019-11-26 | 西南交通大学 | A kind of method for inspecting and device based on image procossing |
| CN111872916A (en) * | 2020-07-22 | 2020-11-03 | 燕山大学 | Posture-adjustable three-degree-of-freedom parallel rescue robot |
-
2009
- 2009-01-13 CN CNA2009101049550A patent/CN101462269A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080834A (en) * | 2016-06-17 | 2016-11-09 | 清华大学 | Can pose adjustment and the mobile robot of operation |
| CN106627818A (en) * | 2016-12-05 | 2017-05-10 | 清华大学 | Novel multifunctional vehicle |
| CN107668898A (en) * | 2017-11-15 | 2018-02-09 | 长沙翼希网络科技有限公司 | A kind of Intelligent blower |
| CN109176459A (en) * | 2018-10-26 | 2019-01-11 | 清华大学 | Multi-functional absorption type mobile platform |
| CN109176459B (en) * | 2018-10-26 | 2021-08-10 | 清华大学 | Multifunctional adsorption type mobile platform |
| CN110497413A (en) * | 2019-08-26 | 2019-11-26 | 西南交通大学 | A kind of method for inspecting and device based on image procossing |
| CN111872916A (en) * | 2020-07-22 | 2020-11-03 | 燕山大学 | Posture-adjustable three-degree-of-freedom parallel rescue robot |
| CN111872916B (en) * | 2020-07-22 | 2021-12-21 | 燕山大学 | Posture-adjustable three-degree-of-freedom parallel rescue robot |
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Application publication date: 20090624 |