CN105539786A - Wheel-leg composite parallel leg mechanism and underwater robot - Google Patents
Wheel-leg composite parallel leg mechanism and underwater robot Download PDFInfo
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- CN105539786A CN105539786A CN201610070877.7A CN201610070877A CN105539786A CN 105539786 A CN105539786 A CN 105539786A CN 201610070877 A CN201610070877 A CN 201610070877A CN 105539786 A CN105539786 A CN 105539786A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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Abstract
The invention discloses a wheel-leg composite parallel leg mechanism and an underwater robot, and belongs to the field of robots. The wheel-leg composite parallel mechanism comprises a static platform and a movable platform, wherein an RUPU movement branch chain, an RPRU movement branch chain and an RUR intermediate movement transmission branch chain are arranged between the static platform and the movement platform. In the wheel-leg composite parallel leg mechanism, the RUPU movement branch chain and the RPRU movement branch chain positioned on both sides and the RUR intermediate movement transmission branch chain positioned in the middle construct the novel spherical two-degree-of-freedom wheel-leg composite parallel mechanism together. The space movement postures of wheels are changed by using the novel spherical parallel mechanism, so that posture adjusting actions of steering and obstacle crossing during walking of the underwater robot are realized. The wheel-leg composite parallel leg mechanism has the characteristics of simple structure, convenience in installation and control, high steering and obstacle-crossing performance, and the like.
Description
Technical field
The present invention relates to robot field, refer to especially and a kind ofly to take turns-leg combined shunt leg mechanism and there is the under-water robot of this mechanism.
Background technology
Landform ravines and guillies criss-cross, is uneven, and there is obstacle, and mobile robot's (such as sufficient formula of wheeled, leg and the formula of carrying out) therefore with simple function also just can not meet the marine environment with multiple characteristics.Wheel-leg compound move mode has the high efficiency of wheel type mobile and the good obstacle performance of leg formula movement concurrently, is the one that in the middle of combined type, research is more.But regrettably, existingly to take turns-leg compound move mode only to achieve between wheel and leg foot simple combination functionally, and both are completely independently in structure, do not combine together, therefore they realize the conversion between different move mode under different terrain conditions, generally also must increase special auxiliary mechanism, make leg mechanism more complicated like this and underaction.
More seriously, great majority wheel-leg combined leg mechanism adopts serial mechanism, so not only makes joint drive motor enclosed package difficulty, and has that turn radius is little, deadweight duty ratio is large and the weak point such as attitude is dull.From generally take turns-leg compound move mode is different, wheel-leg compound the move mode of in parallel many leg foot pose adjustment is except providing wheel turns and driving, the wheel spatial attitude adjustment motion on other multi-dimensional direction can also be produced according to robot mobile operating mission requirements, thus ocean mobile robot with the wheel spatial attitude self adaptation marine environment come in every shape, can be which greatly improves the landform adaptation of robot and keeps away barrier ability.Minority carrier generation lifetime has that degree of freedom is few, stiffness/weight ratio is large, athletic posture is abundant, dynamic property and the advantage such as load-carrying capacity is strong, proposes based on lower-mobility wheel-leg combined parallel leg Creative Mechanism Design theory for this reason.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind ofly to take turns-leg combined shunt leg mechanism and have the under-water robot of this mechanism, and it can realize the sphere working space of taking turns leg multi-pose, improves under-water robot and turns to and obstacle climbing ability.
For solving the problems of the technologies described above, the invention provides technical scheme as follows:
On the one hand, a kind of wheel-leg combined shunt leg mechanism is provided, comprises silent flatform and moving platform, wherein:
Described silent flatform is the strip shape of horizontally set, and described moving platform is box-shaped;
The first revolute pair, the first universal-joint, the first moving sets and the second universal-joint is disposed with between one end of described silent flatform and one end of described moving platform, thus forming RUPU movement branched chain, wherein said first revolute pair is driven by the parallel institution drive motor be arranged on described silent flatform;
The second revolute pair, the second moving sets, the 3rd revolute pair and the 3rd universal-joint is disposed with between the other end of described silent flatform and the other end of described moving platform, thus forming RPRU movement branched chain, one end of wherein said second revolute pair is fixedly installed on described silent flatform;
The middle part of described silent flatform is provided with the first transmission shaft, the middle part of described moving platform is provided with second driving shaft, be provided with the 4th universal-joint between described first transmission shaft and second driving shaft, thus form RUR intermediary movements transmission side chain, the end of described second driving shaft is provided with wheel.
On the other hand, a kind of under-water robot is provided, comprise robot shells, the bottom of described robot shells is provided with above-mentioned wheel-leg combined shunt leg mechanism, be provided with spindle motor in described robot shells, described spindle motor drives to connect through diff describedly to take turns-the first transmission shaft of leg combined shunt leg mechanism.
The present invention has following beneficial effect:
In the present invention, be positioned at RUPU movement branched chain and the RPRU movement branched chain of both sides and be positioned at wheel-leg combined shunt mechanism that middle RUR intermediary movements transmission side chain together constitutes a kind of novel spherical surface two-freedom.The present invention utilizes new spherical parallel institution to change the space motion attitude of wheel, thus achieve under-water robot walking time turn to the pose adjustment action with obstacle detouring; This parallel institution only has two degree of freedom, and structure is simple, and it is convenient to control; Intermediary movements transmission side chain achieves the rotary motion transmission between spindle motor and wheel.This sphere parallel mechanism organically combines with wheel, achieve the motor function of this mechanism's multi-pose, compared with traditional serial mechanism, eliminate a lot of joint and driving, make the wheel of under-water robot-leg composite structure compacter, this mechanism singly can overlap and install and use simultaneously, has modular applications, is convenient to the advantage of batch manufacturing; Sphere parallel mechanism of the present invention can realize accurate control, fast response time under the control of motor and hydraulic pressure, makes wheel realize the adjustment of various attitude fast.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram one with the under-water robot of wheel-leg combined shunt leg mechanism of the present invention;
Fig. 2 is the overall structure schematic diagram two with the under-water robot of wheel-leg combined shunt leg mechanism of the present invention;
Fig. 3 is the overall structure schematic diagram three with the under-water robot of wheel-leg combined shunt leg mechanism of the present invention;
Fig. 4 of the present inventionly to take turns-the structural representation of leg combined shunt leg mechanism;
The structure diagram of the diff that Fig. 5 is Fig. 1, adopt in 2 and 3.
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearly, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.
On the one hand, the invention provides a kind of wheel-leg combined shunt leg mechanism, as Figure 1-4, comprise silent flatform 24 and moving platform 15, wherein:
Silent flatform 24 is the strip shape of horizontally set, and moving platform 15 is box-shaped;
The first revolute pair 11, first universal-joint 12, first moving sets 13 and the second universal-joint 14 is disposed with between one end of silent flatform 24 and one end of moving platform 15, thus form RUPU movement branched chain, wherein the first revolute pair 11 is driven by the parallel institution drive motor 10 be arranged on silent flatform 24;
The second revolute pair 21, second moving sets 20, the 3rd revolute pair 19 and the 3rd universal-joint 18 is disposed with between the other end of silent flatform 24 and the other end of moving platform 15, thus form RPRU movement branched chain, wherein one end of the second revolute pair 21 is fixedly installed on silent flatform 24 and (drives without motor);
The middle part of silent flatform 24 is provided with the first transmission shaft 23, the middle part of moving platform 24 is provided with second driving shaft 17, be provided with the 4th universal-joint 22 between first transmission shaft 23 and second driving shaft 17, thus form RUR intermediary movements transmission side chain, the end of second driving shaft 17 is provided with wheel 16.
In the present invention, be positioned at RUPU movement branched chain and the RPRU movement branched chain of both sides and be positioned at wheel-leg combined shunt mechanism that middle RUR intermediary movements transmission side chain together constitutes a kind of novel spherical surface two-freedom.The parallel institution drive motor 10 that RUPU movement branched chain connects drives the first revolute pair 11, moment of torsion is delivered to moving platform 15 by the first universal-joint 12, first moving sets 13, second universal-joint 14, realize twisting the single degree of freedom of moving platform 15, first moving sets 13 realizes straight-line motion, promotes moving platform 15 and realizes vertical with the above-mentioned torsional direction single degree of freedom being the center of circle with the 4th universal-joint 22 and twist; RPRU movement branched chain is passive bound side chain, second revolute pair 21 limits the rotational freedom of the Z-direction of moving platform, moving platform 15 can only be rotated around X, Y-axis, second moving sets 20, the 3rd revolute pair 19, the 3rd universal-joint 18 transmit the passive bound (equal passive delivery) of side chain as RUPU movement branched chain and intermediary movements, ensure the stable of whole mechanism.Many attitude required when wheel 16 advances is realized by the rotating speed of parallel institution drive motor 10 and the Bit andits control of the first moving sets 13.The present invention adds RUR intermediary movements and transmits side chain between silent flatform 24 and moving platform 15, is used for the torque of spindle motor and Movement transmit on wheel 16.This new spherical parallel institution has spherical mechanism feature, and each branched positional layout is simple and easy, for wheel turn to provide with obstacle detouring greatly convenient.
The present invention utilizes new spherical parallel institution to change the space motion attitude of wheel, thus achieve under-water robot walking time turn to the pose adjustment action with obstacle detouring; This parallel institution only has two degree of freedom, and structure is simple, and it is convenient to control; Intermediary movements transmission side chain achieves the rotary motion transmission between spindle motor and wheel.This sphere parallel mechanism organically combines with wheel, achieve the motor function of this mechanism's multi-pose, compared with traditional serial mechanism, eliminate a lot of joint and driving, make the wheel of under-water robot-leg composite structure compacter, this mechanism singly can overlap and install and use simultaneously, has modular applications, is convenient to the advantage of batch manufacturing; Sphere parallel mechanism of the present invention can realize accurate control, fast response time under the control of motor and hydraulic pressure, makes wheel realize the adjustment of various attitude fast.
In order to better realize the binding function of RPRU movement branched chain, the preferred vertically direction of axis of the second revolute pair 21, the axis of the 3rd revolute pair 19 is preferably along the moving direction of the second moving sets 20.And, the length of moving platform 15 is preferably less than the length of silent flatform 24, the length of moving platform 15 is generally less than the diameter of wheel, the length of silent flatform 24 is generally the 2-3 of wheel diameter doubly for good, certainly, those skilled in the art can also need according to actual conditions the length comprehensively arranging moving platform 15 and silent flatform 24 flexibly.
Conveniently control, RUPU movement branched chain and RPRU movement branched chain are preferably all positioned on horizontal surface.And the first moving sets 13 specifically can adopt Driven by Hydraulic Cylinder.In addition, two orthogonal living hinge can all be comprised when the first universal-joint 12, second universal-joint 14, the 3rd universal-joint 18 and the 4th universal-joint 20 are specifically implemented.
On the other hand, the invention provides a kind of under-water robot, as Figure 1-5, comprise robot shells 2, the bottom of robot shells 2 is provided with above-mentioned wheel-leg combined shunt leg mechanism 1, be provided with spindle motor 7 in robot shells 2, spindle motor 7 drives the first transmission shaft 23 of fifth wheel-leg combined shunt leg mechanism 1 through diff 6.
Preferably, the quantity of wheel-leg combined shunt leg mechanism is 4, is distributed in the both sides of robot shells 2 before and after symmetrical, forms quadruped robot.4 wheel-leg combined shunt leg mechanisms can be linked by diff between any two, to realize realizing different rotating speeds with two wheels in obstacle detouring process turning to, to prevent from skidding and stuck situation.
Further, the top of robot shells 2 can be provided with elevating screw 3, to realize travelling state makes in water driving and to turn to (rotating speed controlling two screw propellers realizes), the rear portion of robot shells 2 can be provided with propelling screws 4, be specifically as follows two, be responsible for the lifting of robot in water.
In Fig. 1,2 and 3 illustrated embodiments, robot shells 2 is divided into upper and lower two parts, and propelling and lifting mechanism are mainly arranged in top, and road surface running gear is mainly arranged in bottom; 4 wheel-leg combined shunt leg mechanisms are fixed on the both sides of robot shells 2 by silent flatform 24, parallel institution drive motor 5,10 is fixed in robot shells 2, two wheel-leg combined shunt mechanisms connect respectively by a diff 6, drive with a spindle motor 7; Two propelling screws 4 are arranged on afterbody, are driven by two propulsion electric machines 9, for the propelling in water with turn to; An elevating screw 3 is arranged on robot shells 2 top, is driven by a lifting motor 8.
The structure diagram of the diff that Fig. 5 is Fig. 1, adopt in 2 and 3, wherein 25 is input shaft gear, and 26 is differential carrier, and 27 is output shaft gear (symmetrical 2), and 28 is output shaft transmission gear, and 29 is tooth rest, and 30 is input shaft transmission gear.Herein, the structure of diff is only citing, and it can also adopt other structures various common in this area.
To sum up, under-water robot of the present invention adopts the scheme that wheel-leg combined shunt mechanism advances with screw propeller, lifting mechanism is combined, and makes this robot that screw propeller both can have been leaned on travelling in water, also can walk by obstacle detouring on the road surface, seabed of complexity; Structure of the present invention is simple, and two, both sides side chain is asymmetric side chain, and this parallel institution degree of freedom is few, only has two, controls simple; It is simple that the present invention has structure, and it is convenient to install, and it is convenient to control, and the feature such as to turn to, obstacle performance is good.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from principle of the present invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (9)
1. a wheel-leg combined shunt leg mechanism, is characterized in that, comprises silent flatform and moving platform, wherein:
Described silent flatform is the strip shape of horizontally set, and described moving platform is box-shaped;
The first revolute pair, the first universal-joint, the first moving sets and the second universal-joint is disposed with between one end of described silent flatform and one end of described moving platform, thus forming RUPU movement branched chain, wherein said first revolute pair is driven by the parallel institution drive motor be arranged on described silent flatform;
The second revolute pair, the second moving sets, the 3rd revolute pair and the 3rd universal-joint is disposed with between the other end of described silent flatform and the other end of described moving platform, thus forming RPRU movement branched chain, one end of wherein said second revolute pair is fixedly installed on described silent flatform;
The middle part of described silent flatform is provided with the first transmission shaft, the middle part of described moving platform is provided with second driving shaft, be provided with the 4th universal-joint between described first transmission shaft and second driving shaft, thus form RUR intermediary movements transmission side chain, the end of described second driving shaft is provided with wheel.
2. according to claim 1ly take turns-leg combined shunt leg mechanism, it is characterized in that, the axis vertically direction of described second revolute pair, the axis of described 3rd revolute pair is along the moving direction of described second moving sets.
3. according to claim 1ly take turns-leg combined shunt leg mechanism, it is characterized in that, the length of described moving platform is less than the length of described silent flatform.
4. according to claim 1ly take turns-leg combined shunt leg mechanism, it is characterized in that, described RUPU movement branched chain and RPRU movement branched chain are all positioned on horizontal surface.
5. according to described wheel-leg combined shunt leg mechanism arbitrary in claim 1-4, it is characterized in that, described first moving sets adopts Driven by Hydraulic Cylinder.
6. according to claim 5ly take turns-leg combined shunt leg mechanism, it is characterized in that, described first universal-joint, the second universal-joint, the 3rd universal-joint and the 4th universal-joint include two orthogonal living hinge.
7. a under-water robot, it is characterized in that, comprise robot shells, the bottom of described robot shells is provided with arbitrary described wheel-leg combined shunt leg mechanism in claim 1-6, be provided with spindle motor in described robot shells, described spindle motor drives to connect through diff describedly to take turns-the first transmission shaft of leg combined shunt leg mechanism.
8. under-water robot according to claim 7, is characterized in that, describedly to take turns-quantity of leg combined shunt leg mechanism is 4, is distributed in the both sides of described robot shells before and after symmetrical, forms quadruped robot.
9. under-water robot according to claim 7, is characterized in that, the top of described robot shells is provided with elevating screw, and the rear portion of described robot shells is provided with propelling screws.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610070877.7A CN105539786B (en) | 2016-02-01 | 2016-02-01 | Wheel leg combined shunt leg mechanism and underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610070877.7A CN105539786B (en) | 2016-02-01 | 2016-02-01 | Wheel leg combined shunt leg mechanism and underwater robot |
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| CN105539786A true CN105539786A (en) | 2016-05-04 |
| CN105539786B CN105539786B (en) | 2017-07-04 |
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Cited By (5)
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| CN105563472A (en) * | 2016-03-07 | 2016-05-11 | 山东大学（威海） | Two-freedom-degree wheel-leg composite spherical mechanism and underwater robot |
| CN105583808A (en) * | 2016-03-07 | 2016-05-18 | 山东大学（威海） | Wheel-leg composite spherical surface parallel mechanism |
| CN108340986A (en) * | 2018-04-18 | 2018-07-31 | 辽宁工业大学 | A kind of wheel leg bio-robot with parallel-connection structure |
| CN108858120A (en) * | 2018-07-12 | 2018-11-23 | 北京理工大学 | It is a kind of for taking turns the parallel submissive wheel foot unit of biped robot |
| US11993123B2 (en) | 2020-08-12 | 2024-05-28 | Tencent Technology (Shenzhen) Company Limited | Mechanical leg and wheeled mobile device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105563472A (en) * | 2016-03-07 | 2016-05-11 | 山东大学（威海） | Two-freedom-degree wheel-leg composite spherical mechanism and underwater robot |
| CN105583808A (en) * | 2016-03-07 | 2016-05-18 | 山东大学（威海） | Wheel-leg composite spherical surface parallel mechanism |
| CN107175650A (en) * | 2016-03-07 | 2017-09-19 | 山东大学 | Take turns leg composite sphere parallel institution and the underwater robot with the mechanism |
| CN107175650B (en) * | 2016-03-07 | 2020-09-11 | 山东大学 | Wheel-leg composite spherical parallel mechanism and underwater robot with same |
| CN108340986A (en) * | 2018-04-18 | 2018-07-31 | 辽宁工业大学 | A kind of wheel leg bio-robot with parallel-connection structure |
| CN108858120A (en) * | 2018-07-12 | 2018-11-23 | 北京理工大学 | It is a kind of for taking turns the parallel submissive wheel foot unit of biped robot |
| CN108858120B (en) * | 2018-07-12 | 2021-04-02 | 北京理工大学 | Parallel type compliant wheel foot device for wheel foot robot |
| US11993123B2 (en) | 2020-08-12 | 2024-05-28 | Tencent Technology (Shenzhen) Company Limited | Mechanical leg and wheeled mobile device |
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