CN107150730A - A kind of combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees - Google Patents
A kind of combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees Download PDFInfo
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- CN107150730A CN107150730A CN201710182482.0A CN201710182482A CN107150730A CN 107150730 A CN107150730 A CN 107150730A CN 201710182482 A CN201710182482 A CN 201710182482A CN 107150730 A CN107150730 A CN 107150730A
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- pedipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
A kind of combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees, including combination drive pedipulator system and frame bar assembly, the combination drive pedipulator system includes the first combination drive pedipulator system, the second combination drive pedipulator system, the 3rd combination drive pedipulator system and the 4th combination drive pedipulator system.A kind of combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees, when small-power servomotor is operated alone, and just can realize that complexity is climbed tree and embrace tree motion, driving is simple；Pedipulator and trunk have angle of inclination, just can be realized using the reaction force of driving force locked, climb tree safe and reliable；During robot climbs tree, the free degree is changed, thus it is possible to vary hold angle tightly, realize the change of robot flexible adaptation tree diameters；Animal bodies construction is simulated, makes robot capable of climbing trees flexible adaptation different shape trees；Using high-power conventional motor, small-power servomotor combination drive, cost is reduced, flexible output degree is high, and control is simple.
Description
Technical field
The present invention relates to Robot Design field, particularly a kind of combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees.
Background technology
With the continuous improvement of robot technology level, the application of bio-robot is gradually extensive, wherein bionical machine of climbing tree
Applying for device people is also increasing in terms of trees training, disease control, pest control, picking fruit, field detection monitoring,
Existing robot capable of climbing trees mainly has imitative snakelike winding robot, up and down telescopic robot, convertible robot etc., there is driving
Element is numerous, and movement velocity is slow, and load capacity is small, and the problems such as to different-diameter trees poor universality, it is impossible to realize very well
Climb tree and task.
Chinese patent ZL2012103468033 discloses a kind of four-footed climbing robot, and the robot utilizes self-weight self-locking,
And each holding arm installs three motors, driving is more complicated, and overall movement speed is also relatively slow, does not have applicability；It is Chinese special
Sharp CN105963931A discloses a kind of novel automatic and climbed tree equipment, and the patent utilization hydraulic cylinder, which shrinks crawler belt and realized, creeps,
Realized and held tightly using arc-shaped rod, in actual job, be only applicable to uiform section straight elevator trees, trees thickness can not be complete when changing
Into holding, using limiting to very much.Other disclosed patents about robot capable of climbing trees are substantially similar with above-mentioned two classes patent.
Easily there is hydraulic fluid leak in hydraulic-driven, is mixed into the problems such as producing vibration noise after the impurity such as air, and liquid
Casting die processing request is high, compared to hydraulic-driven, and motor driving then has efficiency high, and signal intensity transmits the advantages of facilitating,
The occasion that automation requires high has unique advantage, and compared to small-power servomotor, high-power conventional motor control is simple, valency
Lattice are cheap, using with less demanding occasion, therefore in actual applications, generally using small-power servomotor with it is high-power often
Advise the hybrid drive system of motor.
At present, it there are no driving simple, climb tree reliable and secure, but energy flexible adaptation is in different-diameter, different shape trees,
The high combination drive robot capable of climbing trees of simple, the flexible output degree of control.
The content of the invention
Become born of the same parents' robot capable of climbing trees it is an object of the invention to provide a kind of combination drive step-by-step movement, it can overcome existing machine of climbing tree
The deficiency of device people, robot capable of climbing trees driving is simple, when small-power servomotor is operated alone, and just can realize that complexity is climbed tree and embrace tree
Motion；Pedipulator and trunk have angle of inclination, just can be realized using the reaction force of driving force locked, and work safety of climbing tree can
Lean on；During robot climbs tree, the free degree is changed, thus it is possible to vary hold angle tightly, realize robot flexible adaptation tree diameters
Change；Animal bodies construction is simulated, makes robot capable of climbing trees flexible adaptation different shape trees；Using high-power conventional motor, small
Power servomotor combination drive, reduces cost, and flexible output degree is high, and control is simple.
The present invention reaches above-mentioned purpose by the following technical programs：A kind of combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees,
Including combination drive pedipulator system and frame bar assembly, concrete structure and annexation are：
The combination drive pedipulator system includes the first combination drive pedipulator system, the second combination drive pedipulator system
System, the 3rd combination drive pedipulator system and the 4th combination drive pedipulator system, the first combination drive pedipulator system
Including drive rocker, driven rocking bar, connecting rod, pedipulator small-power servomotor, the high-power conventional motor of pedipulator, link,
Cut with scissors with connecting rod sliding sleeve, sliding sleeve driving hydraulic cylinder, pedipulator, fixed claw rolling bearing and arc-shaped limit chute, drive rocker one end
Connect, the other end is fixedly connected with pedipulator small-power servomotor, pedipulator small-power servomotor and the first bar are by rotating
Pair connection, and drive drive rocker to be rotated relative to the first bar, driven rocking bar one end and rod hinge connection, the other end and the first bar are cut with scissors
Connect, link both with rod hinge connection, and be connected with sliding sleeve by cylindrical pair, also fix and connect with the high-power conventional motor of pedipulator
Connect, the sliding sleeve is connected through a screw thread with sliding sleeve driving hydraulic cylinder, the high-power conventional motor of pedipulator is connected with pedipulator,
The sliding sleeve driving hydraulic cylinder is hinged with the first bar, and the fixed claw is fixedly connected with link, is pacified below the driven rocking bar
Rolling bearing is filled, rolling bearing is moved in arc-shaped limit chute, arc-shaped limit chute is fixed on below the first bar, second mixes
Close driving pedipulator system, the 3rd combination drive pedipulator system, the 4th combination drive pedipulator system and the first combination drive
Pedipulator system architecture and annexation are identical；
The frame bar assembly include the first bar, the second bar, the 3rd bar, the 4th bar, the 5th bar, the 6th bar, the 7th bar and
8th bar, the first bar is hinged with the second bar by the first Hooke, and the second bar is connected with the 3rd bar by second hinge, the 3rd bar
It is connected with the 4th bar by the high-power conventional motor of side link first, the 4th bar is connected with the 5th bar by third hinge, the 5th
Bar is hinged with the 6th bar by the second Hooke, and the 6th bar and the 7th bar are by the 4th hinge connection, and the 7th bar and the 8th bar are logical
The connection of the high-power conventional motor of side link second is crossed, the 8th bar is connected with the first bar by first axle, and side link first drives
Hydraulic cylinder one end is hinged with the first bar, and the other end is hinged with the second bar by the 3rd Hooke, the driving hydraulic cylinder of side link second
One end is connected with the 6th bar, and the other end is hinged with the 5th bar by the 4th Hooke, the driving hydraulic cylinder one end of side link the 3rd with
First bar is hinged, and the other end is hinged with the 8th bar, and the driving hydraulic cylinder one end of side link the 4th is hinged with the 6th bar, the other end and
Seven bars are hinged, and the driving hydraulic cylinder one end of side link the 5th is hinged with the 5th bar, and the other end is hinged with the 4th bar, and side link the 6th drives
Hydrodynamic cylinder pressure one end is hinged with the second bar, and the other end is hinged with the 3rd bar.
The arc-shaped limit chute circular arc corresponding angle is 100-105 °, and the pedipulator is with link setting angle
45-50°。
The present invention's has the prominent advantages that：
1. combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees during climbing tree, pedipulator can realize two-freedom and list
The transformation of the free degree, belongs to variable freedom and becomes born of the same parents' structure, with multi-functional phase change, multiple topology change, multiple degrees of freedom
Variation characteristic, makes pedipulator complete the action of complexity during climbing tree.During climbing tree, require different according to gait, list is certainly
By degree work when can realize that relative trunk is held tightly or loosened upwards upwards and wait motion, when two frees degree work, so that machine
Tool leg keeps holding tightly when robot is moved upwards, and can change holding angle, adapts to different-diameter trees.
2. combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees, driving is simple, when small-power servomotor is operated alone, just can
Flexibly imitate animal to climb tree action, pedipulator can realize relative trunk by holding tightly to upwards loosening, then to holding trunk upwards
Compound action, while realize that pedipulator is locked on trunk by the reaction force of small-power servomotor, work of climbing tree peace
It is complete reliable.
3. two Hooke's hinges and its drive device in frame bar assembly, when actually climbing tree, more preferably simulate animal bodies
Structure, realizes multi-faceted steering, avoidance, changes center of gravity, trees of different shapes are adapted to, using high-power conventional motor, small
Power servomotor combination drive, reduces cost, and flexible output degree is high, and control is simple.
Brief description of the drawings
Fig. 1 is the structural representation of combination drive step-by-step movement robot capable of climbing trees of the present invention.
Fig. 2 is view when drive rocker of the present invention is vertical with the first bar.
Fig. 3 is pedipulator of the present invention with respect to the limiting condition schematic diagram that the first bar is moved upwards.
Fig. 4 is pedipulator of the present invention with respect to the limiting condition schematic diagram that the first bar is moved downward.
Fig. 5 is the schematic diagram of end movement track when pedipulator of the present invention is climbed tree upwards.
Fig. 6 is that combination drive step-by-step movement of the present invention becomes the first step of born of the same parents' robot capable of climbing trees and climbed tree gait schematic diagram.
Fig. 7 is that combination drive step-by-step movement of the present invention becomes the second step of born of the same parents' robot capable of climbing trees and climbed tree gait schematic diagram.
Fig. 8 is link schematic diagram of the present invention.
Fig. 9 is arc-shaped limit chute schematic diagram of the present invention.
The representative implication of each mark is in accompanying drawing：
1：First axle；2：8th bar；3：The high-power conventional motor of side link second；4：7th bar；5：4th hinge；6：
6th bar；7：Second Hooke's hinge；8：5th bar；9：Third hinge；10：4th bar；11：The high-power conventional electricity of side link first
Machine；12：3rd bar；13：Second hinge；14：Second bar；15：First Hooke's hinge；16：First bar；17：Pedipulator；18：Arc
Limit sliding chutes；19：Rolling bearing；20：Fixed claw；21：The driving hydraulic cylinder of side link first；22：3rd Hooke's hinge；23：Frame linking
The driving hydraulic cylinder of bar second；24：4th Hooke's hinge；25：The driving hydraulic cylinder of side link the 3rd；26：Side link 4 wheel driven hydrodynamic pressure
Cylinder；27：The driving hydraulic cylinder of side link the 5th；28：The driving hydraulic cylinder of side link the 6th；29：The high-power conventional motor of pedipulator；
30：Pedipulator small-power servomotor；31：Drive rocker；32：Connecting rod；33：Link；34：Sliding sleeve；35：Driven rocking bar；36：
Sliding sleeve driving hydraulic cylinder；37：Trees.
Embodiment
Below in conjunction with the accompanying drawings and technical scheme is clearly and completely described embodiment, it is clear that this is only
Only it is a part of embodiment of the invention, rather than whole embodiments.Based on embodiments of the present invention, art technology
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the model that the present invention is protected
Enclose.
Compares figure 1, Fig. 2, Fig. 8 and Fig. 9, combination drive step-by-step movement of the present invention become born of the same parents' robot capable of climbing trees, including mixed
Driving pedipulator system and frame bar assembly are closed, concrete structure and annexation are：
The combination drive pedipulator system includes the first combination drive pedipulator system, the second combination drive pedipulator system
System, the 3rd combination drive pedipulator system and the 4th combination drive pedipulator system, the first combination drive pedipulator system
Including drive rocker 31, driven rocking bar 35, connecting rod 32, pedipulator small-power servomotor 30, link 33, sliding sleeve 34, sliding sleeve
The high-power conventional motor 29 of driving hydraulic cylinder 36, pedipulator, pedipulator 17, fixed claw 20, rolling bearing 19 and arc-shaped limit are slided
Groove 18, one end of drive rocker 31 is connected with connecting rod 32 by revolute pair, and the other end is fixed with pedipulator small-power servomotor 30
Connection, pedipulator small-power servomotor 30 is connected with the first bar 16 by revolute pair, and drives drive rocker 31 relative first
Bar 16 is rotated, and driven one end of rocking bar 35 is hinged with connecting rod 32, and the other end is hinged with the first bar 16, and link 33 is both cut with scissors with connecting rod 32
Connect, and be connected with sliding sleeve 34 by cylindrical pair, is also fixedly connected with the high-power conventional motor of pedipulator 29, the sliding sleeve 34 is with sliding
Set driving hydraulic cylinder 36 is connected through a screw thread, and the high-power conventional motor 29 of pedipulator is connected with pedipulator 17, the sliding sleeve
Driving hydraulic cylinder 36 is hinged with the first bar 16, and the fixed claw 20 is fixedly connected with link 33, the driven lower section of rocking bar 35
Rolling bearing 19 is mounted with, rolling bearing 19 is moved in arc-shaped limit chute 18, and arc-shaped limit chute 18 is fixed on the first bar
16 lower section, the second combination drive pedipulator system, the 3rd combination drive pedipulator system, the 4th combination drive pedipulator system with
First combination drive pedipulator system architecture and annexation are identical；
The frame bar assembly includes the first bar 16, the second bar 14, the 3rd bar 12, the 4th bar 10, the 5th bar 8, the 6th bar
6th, the 7th bar 4 and the 8th bar 2, the first bar 16 are connected with the second bar 14 by the first Hooke's hinge 15, the second bar 14 and the 3rd bar 12
Connected by second hinge 13, the 3rd bar 12 is connected with the 4th bar 10 by the high-power conventional motor 11 of side link first, the 4th
Bar 10 is connected with the 5th bar 8 by third hinge 9, and the 5th bar 8 is connected with the 6th bar 6 by the second Hooke's hinge 7, the 6th bar 6 with
7th bar 4 is connected by the 4th hinge 5, and the 7th bar 4 is connected with the 8th bar 2 by the high-power conventional motor 3 of side link second, the
Eight bars 2 are connected with the first bar 16 by first axle 1, and the one end of the first driving hydraulic cylinder of side link 21 is hinged with the first bar 16, separately
One end is connected with the second bar 14 by the 3rd Hooke's hinge 22, and the one end of the second driving hydraulic cylinder of side link 23 is hinged with the 6th bar 6, separately
One end is connected with the 5th bar 8 by the 4th Hooke's hinge 24, and the one end of the 3rd driving hydraulic cylinder of side link 25 is hinged with the first bar 16, separately
One end is hinged with the 8th bar 2, and the one end of the 4th driving hydraulic cylinder of side link 26 is hinged with the 6th bar 6, and the other end is cut with scissors with the 7th bar 4
Connect, the one end of the 5th driving hydraulic cylinder of side link 27 is hinged with the 5th bar 8, the other end is hinged with the 4th bar 10, side link the 6th drives
The one end of hydrodynamic cylinder pressure 28 is hinged with the second bar 14, and the other end is hinged with the 3rd bar 12.
The circular arc corresponding angle of arc-shaped limit chute 18 is 100-105 °, the pedipulator 17 and the angle of link 33
45-50°。
Operation principle and process：
Compares figure 2, Fig. 3, Fig. 4 and Fig. 5, when drive rocker 31 is vertical with connecting rod 32, sliding sleeve 34 slides into link 33
It is middle；The independent role effect of pedipulator small-power servomotor 30, can be with as state is changed into state shown in Fig. 3 as shown in Figure 2
Realize relative first bar 16 of pedipulator 17 upwards while holding the motion of trunk tightly, such as state is changed into action effect as shown in Figure 4
State shown in Fig. 2, it is possible to achieve relative first bar 16 of pedipulator 17 loosens the motion of trunk simultaneously upwards, i.e., action effect is by scheming
4 are changed into Fig. 2 when being changed into state shown in Fig. 3 again, and pedipulator 17 does upward relaxing exercise again relative to the first bar 16 by holding
Do and hold motion tightly upwards, action effect on the contrary is changed into Fig. 2 and is changed into state shown in Fig. 4 again as shown in Figure 3, realizes pedipulator
17 relative to the first bar 16 by holding state to loosening downwards again to the motion held tightly downwards, be also that pedipulator 17 drives and climbed tree machine
The process that device people moves upwards, and sliding sleeve driving hydraulic cylinder 36 participates in being changed into Fig. 2 as shown in Figure 3 and being again changed into shown in Fig. 4
Process, it is ensured that when robot is moved upwards, pedipulator 17 is always maintained at the holding to trunk, the driving of sliding sleeve driving hydraulic cylinder 36
Process is, when state is changed into state shown in Fig. 2 as shown in Figure 3, and sliding sleeve driving hydraulic cylinder 36 is gradually stretched out, and shown in Fig. 2
State is up to range, when state is changed into state shown in Fig. 4 as shown in Figure 2, and sliding sleeve driving hydraulic cylinder 36 gradually bounces back, and
Reset condition is reduced in state shown in Fig. 4, pedipulator small-power servomotor 30 and sliding sleeve driving hydraulic cylinder during this
36 cooperate, and realize the automatic conversion of one degree of freedom and two frees degree, realize robot during upward motion,
Pedipulator 17 is always maintained at holding tightly.
Compares figure 5, when pedipulator is moved upwards, can be realized under the independent role of pedipulator small-power servomotor 30
The range of motion for holding of climbing tree, imitates animal and climbs tree process leg action, i.e. pedipulator 17 by holding trunk, to upwards gradually
Loosen, then to the process gradually held tightly upwards, θ in Fig. 51、θ2The size of value reflects the holding journey of pedipulator 17 and trees 37
Degree.
Compares figure 2, Fig. 3, Fig. 4 and Fig. 5, pedipulator 17 constitute a pin with fixed claw 20 and climb instrument, and incline with trunk
Oblique certain angle, therefore the driving force of pedipulator small-power servomotor 30 can not only realize that upward climb tree of pedipulator 17 is embraced simultaneously
The motion of tight trunk, moreover it is possible to realize that pedipulator 17, to the locked of trunk, meets reliable and stable requirement of climbing tree, while pedipulator 17
It is connected with the high-power conventional motor of pedipulator 29 by common leading screw, stretching for pedipulator 17 can be adjusted automatically according to trunk diameter
Contracting length, realizes and is generally applicable function.
Compares figure 6, Fig. 7 and Fig. 8, pedipulator 17 are identical with the pedipulator action in the 3rd combination drive pedipulator system,
And with the pedipulator in the second combination drive pedipulator system on the contrary, pedipulator in the second combination drive pedipulator system with
Pedipulator action in 4th combination drive pedipulator system is identical, therefore during climbing tree, the first step, as shown in fig. 6, machine
Pedipulator in the combination drive pedipulator system of tool leg 17 and the 3rd is moved upwards with respect to body, and the second combination drive pedipulator
The pedipulator in pedipulator and the 4th combination drive pedipulator system in system is moved downward with respect to body, i.e. the second combined drive
The pedipulator in pedipulator and the 4th combination drive pedipulator system in dynamic pedipulator system, drives robot body to transport upwards
Dynamic, second step is identical with the first step, pedipulator and the 4th combination drive pedipulator system in the second combination drive pedipulator system
Pedipulator in system is moved upwards with respect to body, and the pedipulator in the combination drive pedipulator system of pedipulator 17 and the 3rd is with respect to machine
Body is moved downward, i.e., the pedipulator in the combination drive pedipulator system of pedipulator 17 and the 3rd drives robot body to transport upwards
Dynamic, the two steps are just realized robot capable of climbing trees and quickly climbed tree successively.
When robot capable of climbing trees needs the remains stationary on trunk, to complete when such as training, monitoring, insect pest preventing and controlling work,
Driven rocking bar 35 connects rolling bearing 19, and to move to upper extreme position in arc-shaped limit chute 18 locked, is only driven by sliding sleeve
Hydraulic cylinder 36 drives, and realizes the complete holding to trunk, the second combination drive pedipulator system, the 3rd combination drive pedipulator system
Pedipulator in system and the 4th combination drive pedipulator system is identical with the state of pedipulator 17, and now robot capable of climbing trees is just firm
Hold tightly on trunk in jail.
The driving hydraulic cylinder 25 of side link the 3rd and the driving hydraulic cylinder 26 of side link the 4th are driven, or drives side link simultaneously
5th driving hydraulic cylinder 27 and the driving hydraulic cylinder 28 of side link the 6th, it is possible to achieve left and right turn, while driving side link first
Driving hydraulic cylinder 21 and the second driving hydraulic cylinder of side link 23 can be realized and bent over upwards, while driving side link first high-power
Conventional motor 11 and the high-power conventional motor 3 of side link second can realize that the change of center of gravity is realized in left and right doubling, flexibly suitable
Answer various operating modes.
Claims (3)
1. a kind of combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees, including combination drive pedipulator system and frame bar assembly, its
It is characterised by, concrete structure and annexation are：
The combination drive pedipulator system include the first combination drive pedipulator system, the second combination drive pedipulator system,
3rd combination drive pedipulator system and the 4th combination drive pedipulator system, the first combination drive pedipulator system include
Drive rocker, driven rocking bar, connecting rod, pedipulator small-power servomotor, the high-power conventional motor of pedipulator, link, sliding sleeve,
Sliding sleeve driving hydraulic cylinder, pedipulator, fixed claw rolling bearing and arc-shaped limit chute, drive rocker one end and rod hinge connection, separately
One end is fixedly connected with pedipulator small-power servomotor, driven rocking bar and rod hinge connection, link both with rod hinge connection, and with
Sliding sleeve is connected by cylindrical pair pair, is also fixedly connected with the high-power conventional motor of pedipulator, and the sliding sleeve drives hydraulic pressure with sliding sleeve
Cylinder is connected through a screw thread, and the high-power conventional motor of pedipulator is connected with pedipulator by common leading screw, the fixed claw with
Link is fixedly connected, and the rolling bearing is arranged on below driven rocking bar, and rolling bearing is moved in arc-shaped limit chute, the
Two combination drive pedipulator systems, the 3rd combination drive pedipulator system, the 4th combination drive pedipulator system is mixed with first
Drive pedipulator system architecture and annexation identical.
2. combination drive step-by-step movement according to claim 1 becomes born of the same parents' robot capable of climbing trees, it is characterised in that the arc-shaped limit
Chute circular arc corresponding angle is 100-105 °.
3. combination drive step-by-step movement according to claim 1 becomes born of the same parents' robot capable of climbing trees, it is characterised in that the pedipulator with
Link setting angle is 45-50 °.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182482.0A CN107150730A (en) | 2017-03-24 | 2017-03-24 | A kind of combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees |
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|---|---|---|---|
| CN201710182482.0A CN107150730A (en) | 2017-03-24 | 2017-03-24 | A kind of combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees |
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| CN106314584A (en) * | 2016-09-23 | 2017-01-11 | 靳奉熹 | Cleaning and maintenance robot for high-rise buildings |
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