CN104493809A - Metamorphic mechanism type wheel type mobile robot palletizer mechanism - Google Patents
Metamorphic mechanism type wheel type mobile robot palletizer mechanism Download PDFInfo
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- CN104493809A CN104493809A CN201410756102.6A CN201410756102A CN104493809A CN 104493809 A CN104493809 A CN 104493809A CN 201410756102 A CN201410756102 A CN 201410756102A CN 104493809 A CN104493809 A CN 104493809A
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Abstract
The invention discloses a metamorphic mechanism type wheel type mobile robot palletizer mechanism which comprises a mobile platform, a body, a first drive rod, a second drive rod, an arm rod and a triangular connecting rod member, wherein the triangular connecting rod member comprises a first edge rod, a second edge rod and a third edge rod; the tail end of the arm rod is an output end; during work, by combination of a seventh revolute pair and a fourth revolute pair, the second edge rod of the triangular connecting rod member is partially overlapped with the fourth revolute pair and a sixth revolute pair of the arm rod so as to realize transformation between a two-freedom degree mechanism and a single-freedom degree mechanism; the metamorphic mechanism type wheel type mobile robot palletizer mechanism has the characteristics of multi-functional stage changes, multi-topological structure changes and multi-freedom-degree changes; moreover, the mechanism also has the functions of movement and operation, is large in working space and is applicable to different tasks, places and work objects.
Description
Technical field
The present invention relates to robot field, particularly a kind of metamorphic mechanisms formula wheel type mobile robot palletizer mechanism.
Background technology
Mobile robot, is one and integrates multi-functional integrated system such as environment sensing, dynamic decision and planning, Behavior-Based control and execution etc.It has concentrated the multi-disciplinary achievements in research such as sensor technology, information processing, electronic engineering, computer engineering, automation control engineering and artificial intelligence, and representing the most overachievement of electromechanical integration, is one of most active field of current scientific technological advance.Along with robot performance is constantly perfect, the range of application of mobile robot is greatly expanded, not only be widely used in the industries such as industry, agricultural, medical treatment, service, and harmfully in urban safety, national defence and space exploration field etc. well applied with dangerous situation.Therefore, mobile robot technology has obtained the common concern of countries in the world.
Metamorphic mechanisms is the key concept of scholar's proposition in recent years, can the novel mechanism of variable freedom or variable number of components, this kind of mechanism except the height with similar expandable mechanism can contract and ductile except, also can change topological diagram and cause variable freedom, there is the features such as multi-functional phase change, multiple topology change, multiple degrees of freedom change, can according to the change of functional requirement or environment etc., adapt to different task, flexible Application is in different occasion.
Metamorphic mechanisms is applied to mobile robot's design, by metamorphic mechanisms formula mobile robot mechanism novel for generation one class, makes mobile robot have more development space.
Summary of the invention
The object of the present invention is to provide a kind of metamorphic mechanisms formula wheel type mobile robot palletizer mechanism, it can overcome the deficiency of existing robot palletizer, has the function moving simultaneously and operate, and energy flexible Application is in different occasion.
The present invention achieves the above object by the following technical programs: a kind of metamorphic mechanisms formula wheel type mobile robot palletizer mechanism, comprises moveable platform, fuselage, the first driving lever, the second driving lever, arm bar and delta link component.Concrete structure and annexation are: described fuselage is connected on moveable platform by the first revolute pair, fuselage is connected with first driving lever one end by the second revolute pair, the first driving lever other end is by the 4th revolute pair and arm pole interlinking, fuselage is connected with second driving lever one end by the 3rd revolute pair, the second driving lever other end is linked with delta link component first side rod one end by the 5th revolute pair, and the delta link component first side rod other end is by the 6th revolute pair and arm pole interlinking.
Described first driving lever and the second driving lever measure-alike.
Described 4th revolute pair is equal with the Second Edge pole length of described delta link component to the length of the 6th revolute pair.
Described delta link component, its 3rd side rod length equals the length of the second revolute pair to the 3rd revolute pair.
Operation principle and process:
During work, by the combination of the 4th revolute pair and the 7th revolute pair, make to partly overlap between the 4th revolute pair of the second side rod of delta link component and arm bar and the 6th revolute pair, now metamorphic mechanisms formula wheel type mobile robot palletizer mechanism is single-degree-of-freedom parallel-crank mechanism, second side rod of delta link component and between the 4th revolute pair of arm bar with the 6th revolute pair, part is when separating, now metamorphic mechanisms formula wheel type mobile robot palletizer mechanism is the controlled linkage of two-freedom.Realize single-degree-of-freedom and the inter-agency transformation of two-freedom, robot palletizer mechanism is made both to have had mobile and operating function, have again the multi-functional phase change feature of metamorphic mechanisms, make robot palletizer adapt to different task, flexible Application is in different occasion and different targets.
Outstanding advantages of the present invention is:
1, robot is installed on a mobile platform, and this structure makes robot have the motion redundancy of almost infinitely-great working space and height, and has mobile and operating function simultaneously, and this is that it is better than the place of mobile robot and traditional robot;
2, mobile robot has locomotive function, in (as cosmic space, the etc.) environment work replacing people to be engaged under danger, severe (as radiation, poisonous etc.) environment less than operation and people, there are larger mobility, flexibility than general robot under water;
3, robot palletizer mechanism in the course of the work, mechanism's single-degree-of-freedom can be realized and two-freedom changes, for variable freedom metamorphic mechanisms, there is multi-functional phase change, multiple topology change, multiple degrees of freedom variation characteristic, make robot palletizer energy flexible Application in different occasion and different targets, during mechanism's two-freedom, robot mechanism output can be realized and accurately locate, during single-degree-of-freedom, effectively can realize plate motion and do.
Accompanying drawing explanation
Fig. 1 is the structural representation of metamorphic mechanisms formula wheel type mobile robot palletizer mechanism of the present invention.
Fig. 2 is the moveable platform structural representation of metamorphic mechanisms formula wheel type mobile robot palletizer mechanism of the present invention.
Fig. 3 is the airframe structure schematic diagram of metamorphic mechanisms formula wheel type mobile robot palletizer mechanism of the present invention.
Configuration state figure when Fig. 4 is metamorphic mechanisms formula wheel type mobile robot palletizer mechanism's two-freedom of the present invention.
Configuration state figure when Fig. 5 is metamorphic mechanisms formula wheel type mobile robot palletizer mechanism's single-degree-of-freedom of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, metamorphic mechanisms formula wheel type mobile robot palletizer mechanism of the present invention, comprise moveable platform 1, fuselage 2, first driving lever 4, second driving lever 14, arm bar 7 and delta link component, fuselage 2 is connected on moveable platform 1 by the first revolute pair 16, fuselage 2 is connected with first driving lever 4 one end by the second revolute pair 3, first driving lever 4 other end is linked with arm bar 7 by the 4th revolute pair 6, fuselage 2 is connected with second driving lever 14 one end by the 3rd revolute pair 15, second driving lever 14 other end is linked with delta link component first side rod 10 one end by the 5th revolute pair 13, delta link component first side rod 10 other end is linked with arm bar 7 by the 6th revolute pair 9.
Described first driving lever 4 is identical with the second driving lever size 14,
Described 4th revolute pair 6 is equal with the second side rod 8 length of described delta link component to the length of the 6th revolute pair 9,
3rd side rod 12 length of described delta link component equals the length of the second revolute pair 3 to the 3rd revolute pair 15.
Operation principle and process:
Contrast Fig. 4 and Fig. 5, metamorphic mechanisms formula wheel type mobile robot palletizer mechanism operationally, by the combination of the 4th revolute pair 6 and the 7th revolute pair 5, make the second side rod 8 of delta link component and partly overlap between the 4th revolute pair 6 of arm bar and the 6th revolute pair 9, now metamorphic mechanisms formula wheel type mobile robot palletizer mechanism is single-degree-of-freedom parallel-crank mechanism, second side rod 8 of delta link component and part when separating between the 4th revolute pair 6 of arm bar with the 6th revolute pair 9, now metamorphic mechanisms formula wheel type mobile robot palletizer mechanism is the controlled linkage of two-freedom.Realize single-degree-of-freedom and the inter-agency transformation of two-freedom, make robot palletizer mechanism both have mobile and operating function simultaneously, have again the multi-functional phase change feature of metamorphic mechanisms, this robot palletizer can adapt to different task, and flexible Application is in different occasion and different targets.
Claims (4)
1. a metamorphic mechanisms formula wheel type mobile robot palletizer mechanism, comprise moveable platform, fuselage, first driving lever, second driving lever, arm bar and delta link component, it is characterized in that, concrete structure and annexation are: described fuselage is connected on moveable platform by the first revolute pair, fuselage is connected with first driving lever one end by the second revolute pair, the first driving lever other end is by the 4th revolute pair and arm pole interlinking, fuselage is connected with second driving lever one end by the 3rd revolute pair, the second driving lever other end is linked with delta link component first side rod one end by the 5th revolute pair, the delta link component first side rod other end is by the 6th revolute pair and arm pole interlinking, by the combination of the 4th revolute pair and the 7th revolute pair, make to partly overlap between the 4th revolute pair of the second side rod of delta link component and arm bar and the 6th revolute pair, metamorphic mechanisms formula wheel type mobile robot palletizer mechanism is single-degree-of-freedom parallel-crank mechanism, second side rod of delta link component and part when separating between the 4th revolute pair of arm bar with the 6th revolute pair, metamorphic mechanisms formula wheel type mobile robot palletizer mechanism is the controlled linkage of two-freedom, realize single-degree-of-freedom and the inter-agency transformation of two-freedom, robot palletizer mechanism is made both to have had mobile and operating function, there is again the multi-functional phase change feature of metamorphic mechanisms.
2. metamorphic mechanisms formula wheel type mobile robot palletizer mechanism according to claim 1, is characterized in that, described first driving lever and the second driving lever measure-alike.
3. metamorphic mechanisms formula wheel type mobile robot palletizer mechanism according to claim 1, it is characterized in that, described 4th revolute pair is equal with the Second Edge pole length of described delta link component to the length of the 6th revolute pair.
4. metamorphic mechanisms formula wheel type mobile robot palletizer mechanism according to claim 1, is characterized in that, the 3rd side rod length of described delta link component equals the length of the second revolute pair to the 3rd revolute pair.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875201A (en) * | 2015-06-08 | 2015-09-02 | 广西大学 | Variable-configuration large-space robot palletizer mechanism |
| CN105313107A (en) * | 2015-11-10 | 2016-02-10 | 南宁邃丛赋语科技开发有限责任公司 | Rotatable manipulation arm with metamorphic function |
| CN106938461A (en) * | 2017-03-24 | 2017-07-11 | 广西大学 | A kind of structure state metamorphic mechanisms of eight connecting rod three with three kinds of mapping of freedom degree |
| CN106945038A (en) * | 2017-03-24 | 2017-07-14 | 广西大学 | A kind of three structure state metamorphic mechanisms with single-degree-of-freedom and double two-freedom conversion |
| CN106962134A (en) * | 2017-03-24 | 2017-07-21 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom become transformation cell type trees training tree felling machine |
| CN106965150A (en) * | 2017-03-24 | 2017-07-21 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion combination drive training are cut down trees robot |
| CN107018857A (en) * | 2017-03-24 | 2017-08-08 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training are cut down trees robot |
| CN107018858A (en) * | 2017-03-24 | 2017-08-08 | 广西大学 | A kind of double two and single-degree-of-freedom conversion servo-drive become cell type training and cut down trees robot |
| CN107116619A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of double two and the change cell type automation training of single-degree-of-freedom conversion cut down trees robot |
| CN107135825A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion automation training are cut down trees robot |
| CN107135824A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion hydraulic-driven training are cut down trees robot |
| CN107901025A (en) * | 2017-11-07 | 2018-04-13 | 广西大学 | A kind of four structure state metamorphic mechanisms formula robot palletizer mechanisms |
| CN113305874A (en) * | 2021-05-27 | 2021-08-27 | 北京交通大学 | Three-finger multi-degree-of-freedom dexterous hand mechanism |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875201A (en) * | 2015-06-08 | 2015-09-02 | 广西大学 | Variable-configuration large-space robot palletizer mechanism |
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| CN105313107A (en) * | 2015-11-10 | 2016-02-10 | 南宁邃丛赋语科技开发有限责任公司 | Rotatable manipulation arm with metamorphic function |
| CN105313107B (en) * | 2015-11-10 | 2017-02-22 | 南宁邃丛赋语科技开发有限责任公司 | Rotatable manipulation arm with metamorphic function |
| CN107018857A (en) * | 2017-03-24 | 2017-08-08 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training are cut down trees robot |
| CN106945038A (en) * | 2017-03-24 | 2017-07-14 | 广西大学 | A kind of three structure state metamorphic mechanisms with single-degree-of-freedom and double two-freedom conversion |
| CN106962134A (en) * | 2017-03-24 | 2017-07-21 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom become transformation cell type trees training tree felling machine |
| CN106965150A (en) * | 2017-03-24 | 2017-07-21 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion combination drive training are cut down trees robot |
| CN106938461A (en) * | 2017-03-24 | 2017-07-11 | 广西大学 | A kind of structure state metamorphic mechanisms of eight connecting rod three with three kinds of mapping of freedom degree |
| CN107018858A (en) * | 2017-03-24 | 2017-08-08 | 广西大学 | A kind of double two and single-degree-of-freedom conversion servo-drive become cell type training and cut down trees robot |
| CN107116619A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of double two and the change cell type automation training of single-degree-of-freedom conversion cut down trees robot |
| CN107135825A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion automation training are cut down trees robot |
| CN107135824A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion hydraulic-driven training are cut down trees robot |
| CN107901025A (en) * | 2017-11-07 | 2018-04-13 | 广西大学 | A kind of four structure state metamorphic mechanisms formula robot palletizer mechanisms |
| CN113305874A (en) * | 2021-05-27 | 2021-08-27 | 北京交通大学 | Three-finger multi-degree-of-freedom dexterous hand mechanism |
| CN113305874B (en) * | 2021-05-27 | 2023-02-17 | 北京交通大学 | Three-finger multi-degree-of-freedom dexterous hand mechanism |
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Application publication date: 20150408 |