CN107175650B - Wheel-leg composite spherical parallel mechanism and underwater robot with same - Google Patents

Wheel-leg composite spherical parallel mechanism and underwater robot with same Download PDF

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Publication number
CN107175650B
CN107175650B CN201710291008.1A CN201710291008A CN107175650B CN 107175650 B CN107175650 B CN 107175650B CN 201710291008 A CN201710291008 A CN 201710291008A CN 107175650 B CN107175650 B CN 107175650B
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China
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branched chain
platform
driving branched
wheel
driving
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CN201710291008.1A
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CN107175650A (en
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陈原
桑董辉
王康玲
高军
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Shandong University
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Shandong University
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Publication of CN107175650A publication Critical patent/CN107175650A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • B25J9/0063Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base

Abstract

The invention discloses a wheel-leg composite spherical parallel mechanism and an underwater robot with the same, and belongs to the field of robots. The wheel-leg composite spherical parallel mechanism comprises a static platform and a movable platform, wherein a first driving branched chain, a second driving branched chain and an RUR middle motion transmission branched chain are arranged between the static platform and the movable platform. In the invention, the first driving branched chain, the second driving branched chain and the RUR intermediate motion transfer branched chain together form a novel spherical two-degree-of-freedom wheel-leg composite parallel mechanism. The invention changes the space motion attitude of the wheels by utilizing the novel spherical parallel mechanism, thereby realizing the steering and obstacle crossing attitude adjustment actions when the underwater robot walks. The invention has the characteristics of simple structure, convenient installation, convenient control, good steering and obstacle crossing performance and the like.

Description

Wheel-leg composite spherical parallel mechanism and underwater robot with same
The application is divided into cases, and the application date of the original application is as follows: 2016.03.07, application No.: 201610128319.1, title of invention: a two-degree-of-freedom wheel-leg composite spherical mechanism and an underwater robot.
Technical Field
The invention relates to the technical field of robots, in particular to a wheel-leg composite spherical parallel mechanism and an underwater robot with the same.
Background
The terrain gullies are vertical and horizontal, uneven and have obstacles, so that the mobile robot having a single function (such as a wheel type, a leg type and a crawler type) cannot satisfy the marine environment having multiple features. The wheel-leg composite moving mode has the high efficiency of wheel type movement and the good obstacle crossing performance of leg type movement, and is one of the composite type. Unfortunately, the existing wheel-leg combined moving mode only realizes simple combination of functions between the wheel and the leg foot, and the two are completely independent in structure and are not integrated, so that the two moving modes can be switched under different terrain conditions, and a special auxiliary mechanism is generally required to be added, so that the leg mechanism is more complicated and is not flexible enough.
More seriously, most of the wheel-leg combined leg mechanisms adopt a series mechanism, so that the joint driving motor is difficult to seal, and the defects of small turning radius, large dead weight load ratio, monotonous posture and the like exist. Different from a common wheel-leg composite moving mode, the wheel-leg composite moving mode for adjusting the attitude of the parallel multi-leg foot can provide wheel rotation driving and can also generate wheel space attitude adjusting motion in other multi-dimensional directions according to the moving and operating task requirements of the robot, so that the marine mobile robot can adapt to the marine environment in different wheel space attitudes, and the terrain adaptation and obstacle avoidance capability of the robot are greatly improved. The parallel mechanism with less degrees of freedom has the advantages of less degrees of freedom, large rigidity-weight ratio, rich motion postures, strong dynamic performance and bearing capacity and the like, and therefore an innovative design concept based on the wheel-leg combined parallel leg mechanism with less degrees of freedom is provided.
Disclosure of Invention
The invention aims to provide a wheel-leg composite spherical parallel mechanism and an underwater robot with the same, which can realize a multi-posture spherical working space of wheel legs and improve the steering and obstacle crossing capabilities of the underwater robot.
In order to solve the technical problems, the invention provides the following technical scheme:
on the one hand, a wheel-leg composite spherical parallel mechanism is provided, which comprises a static platform and a movable platform, wherein:
only a first driving branched chain and a second driving branched chain are arranged between the side surface of the static platform and the side surface of the movable platform, the first driving branched chain is an active driving branched chain, and the second driving branched chain is an active driving branched chain or a passive driving branched chain;
the middle part of quiet platform is provided with first transmission shaft with the form of revolute pair, the middle part of moving platform is provided with the second transmission shaft with the form of revolute pair, be provided with first universal joint between first transmission shaft and the second transmission shaft to form the middle motion transmission branch chain of RUR, the end of second transmission shaft is provided with the wheel.
In another aspect, an underwater robot is provided, which comprises a robot housing, and the lower part of the robot housing is provided with the wheel-leg composite spherical parallel mechanism.
The invention has the following beneficial effects:
in the invention, the first driving branched chain, the second driving branched chain and the RUR intermediate motion transfer branched chain together form a novel spherical two-degree-of-freedom wheel-leg composite parallel mechanism. The invention utilizes the novel spherical parallel mechanism to change the space motion attitude of the wheels, thereby realizing the steering and obstacle crossing attitude adjustment actions when the underwater robot walks; the parallel mechanism has only two degrees of freedom, simple structure and convenient control; the intermediate motion transmission branched chain realizes the transmission of the rotary motion between the spindle motor and the wheel. The spherical parallel mechanism is organically combined with the wheels, so that the multi-posture movement function of the mechanism is realized, compared with the traditional serial mechanism, a plurality of joints and drives are omitted, the wheel-leg composite structure of the underwater robot is more compact, and meanwhile, the mechanism can be installed and used singly, so that the mechanism has the advantages of modular application and convenience in batch production; the spherical parallel mechanism can realize accurate control under the control of the motor and hydraulic pressure, has high response speed, and ensures that the wheels can quickly realize the adjustment of various postures.
Drawings
FIG. 1 is a schematic structural diagram of one embodiment of a wheel-leg composite spherical parallel mechanism of the present invention;
FIG. 2 is a schematic structural diagram of another embodiment of a wheel-leg composite spherical parallel mechanism according to the present invention;
fig. 3 is a schematic structural diagram of another embodiment of the wheel-leg composite spherical parallel mechanism of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
In one aspect, the present invention provides a wheel-leg composite spherical parallel mechanism, as shown in fig. 1-3, comprising a stationary platform 10, 10 ', 10 "and a movable platform 14, 14', 14", wherein:
only a first driving branched chain and a second driving branched chain are arranged between the side surfaces of the static platforms 10, 10 'and 10' and the side surfaces of the dynamic platforms 14, 14 'and 14', the first driving branched chain is an active driving branched chain, and the second driving branched chain is an active driving branched chain or a passive driving branched chain;
the middle part of the static platform 10, 10 'is provided with a first transmission shaft 19, 19' in the form of a revolute pair, the middle part of the movable platform 14, 14 'is provided with a second transmission shaft 15, 15' in the form of a revolute pair, a first universal joint 18, 18 'is arranged between the first transmission shaft 19, 19' and the second transmission shaft 15, 15 'so as to form an RUR middle motion transmission branched chain, and the tail end of the second transmission shaft 15, 15' is provided with a wheel.
In the invention, the first driving branched chain, the second driving branched chain and the RUR intermediate motion transfer branched chain together form a novel spherical two-degree-of-freedom wheel-leg composite parallel mechanism. The invention utilizes the novel spherical parallel mechanism to change the space motion attitude of the wheels, thereby realizing the steering and obstacle crossing attitude adjustment actions when the underwater robot walks; the parallel mechanism has only two degrees of freedom, simple structure and convenient control; the intermediate motion transmission branched chain realizes the transmission of the rotary motion between the spindle motor and the wheel. The spherical parallel mechanism is organically combined with the wheels, so that the multi-posture movement function of the mechanism is realized, compared with the traditional serial mechanism, a plurality of joints and drives are omitted, the wheel-leg composite structure of the underwater robot is more compact, and meanwhile, the mechanism can be installed and used singly, so that the mechanism has the advantages of modular application and convenience in batch production; the spherical parallel mechanism can realize accurate control under the control of the motor and hydraulic pressure, has high response speed, and ensures that the wheels can quickly realize the adjustment of various postures.
The technical solution of the present invention is explained in detail by three specific examples.
The first embodiment is as follows:
as shown in fig. 1, in the present embodiment, the stationary platform 10 is a strip, and the movable platform 14 is a square;
the first driving branched chain is an RUHR (Ruhr motion branched chain), the second driving branched chain is an RUPU (Rupu motion branched chain), the first driving branched chain and the second driving branched chain are both driving branched chains, and the RUHR motion branched chain and the RUPU motion branched chain are symmetrically arranged;
a first rotating pair 12, a second universal joint 110, a first screw pair 113 and a third rotating pair 13 are sequentially arranged between one end of the static platform 10 and one end of the movable platform 14, so that an RUHR movement branched chain is formed, wherein the first rotating pair 12 is driven by a first motor 11 arranged on the static platform 10;
a second revolute pair 17, a third universal joint 111, a first revolute pair 16 and a fourth universal joint 112 are sequentially arranged between the other end of the static platform 10 and the other end of the movable platform 14, so as to form an RUPU motion branched chain, wherein the second revolute pair 17 is driven by a second motor 114 arranged on the static platform 10.
In this embodiment, the RUHR motion branched chains and the RUPU motion branched chains located at both sides and the RUR middle motion transfer branched chain located in the middle together form a novel spherical two-degree-of-freedom wheel-leg composite parallel mechanism. The parallel mechanism connected with the RUHR motion branched chain drives the first motor 11 to drive the first rotating pair 12, torque is transmitted to the first screw pair 113 through the second universal joint 110, the torque is converted into linear motion of the first screw pair 113, the movable platform 14 is pushed, single-degree-of-freedom twisting of the movable platform 14 with the first universal joint 18 as a circle center is realized, the third rotating pair 13 limits the rotational degree of freedom of the movable platform 14 in the Z direction, and the movable platform 14 can only rotate around the X, Y axis; the parallel mechanism connected with the RUPU motion branched chain drives the second motor 114 to drive the second revolute pair 17, torque is transmitted to the movable platform 14 through the third universal joint 111, the first revolute pair 16 and the fourth universal joint 112, and the twisting of the movable platform 14 with another degree of freedom is realized, preferably, the tail end of the fourth universal joint 112 is fixed on the movable platform 14, the axis is parallel to the movable platform 14, and the first revolute pair 16 plays a role of passive restraint, so that the stability of the whole mechanism is ensured. The rotation speed and the steering control of the first motor 11 and the second motor 114 driven by the parallel mechanism realize various postures required by the forward movement of the wheels. In the embodiment, an RUR middle motion transmission branch chain is added between the static platform 10 and the movable platform 14 and is used for transmitting the torque and the motion of the spindle motor to the wheels. The novel spherical parallel mechanism has the characteristics of a spherical mechanism, the two driving branched chains are active driving branched chains and are symmetrically arranged on the same horizontal plane, the two driving branched chains are motors, the control is simple, and great convenience is provided for the wheel steering and obstacle crossing.
Example two:
as shown in fig. 2, in the present embodiment, the stationary platform 10 'is 1/4 circular, and the movable platform 14' is square;
the first driving branch chain is an RUPU moving branch chain, the second driving branch chain is an RUPR moving branch chain, the first driving branch chain is an active driving branch chain, and the second driving branch chain is a passive driving branch chain; the RUPU motion branched chain and the RUPR motion branched chain are vertically arranged;
a first rotating pair 12 ', a second universal joint 110 ', a first moving pair 16 ' and a fourth universal joint 112 ' are sequentially arranged between one arc-shaped end of the static platform 10 ' and one side of the moving platform 14 ', so as to form an RUPU motion branched chain, wherein the first rotating pair 12 ' is driven by a first motor 11 ' arranged on the static platform 10 ';
and a second revolute pair 17 ', a third universal joint 111', a second revolute pair 210 'and a third revolute pair 13' are sequentially arranged between the other end of the arc-shaped static platform 10 'and the corresponding side of the movable platform 14', so that an RUPR motion branched chain is formed.
In this embodiment, the RUPU motion branch chain and the RUPR motion branch chain on both sides and the middle RUR motion transfer branch chain in the middle together form a novel spherical two-degree-of-freedom wheel-leg composite parallel mechanism. The parallel mechanism connected with the RUPU motion branched chain drives the first motor 11 'to drive the first rotating pair 12', and transmits torque to the moving platform 14 'through the second universal joint 110', the first moving pair 16 'and the fourth universal joint 112', so as to realize single-degree-of-freedom twisting of the tail end of the fourth universal joint 112 'connected with the moving platform 14', preferably, the tail end of the fourth universal joint 112 'is fixed on the moving platform 14', the axis is parallel to the moving platform 14 ', the first moving pair 16' realizes linear motion through hydraulic drive, and the moving platform 14 'is pushed to realize single-degree-of-freedom twisting which is vertical to the twisting direction and takes the first universal joint 18' as the center of a circle; the RUPR motion branched chain is a passive constraint branched chain, the third revolute pair 13 'limits the rotational freedom degree of the movable platform 14' in the Z direction, so that the movable platform 14 'can only rotate around an X, Y axis, and the second revolute pair 210', the third universal joint 111 'and the second revolute pair 17' are used as passive constraints of the RUPU motion branched chain and the middle motion transmission branched chain, so that the stability of the whole mechanism is ensured. The rotation speed of the first motor 11 'driven by the parallel mechanism and the displacement control of the first hydraulic driving moving pair 16' realize a plurality of postures required when the wheel advances. In the embodiment, an RUR middle motion transmission branch chain is added between the static platform 10 'and the movable platform 14' and is used for transmitting the torque and the motion of the spindle motor to the wheels. The novel spherical parallel mechanism has the characteristics of a spherical mechanism, the two driving branched chains are vertically arranged, the driving is arranged on one branched chain, the control is simple, and great convenience is provided for the wheel steering and obstacle crossing.
Example three:
as shown in fig. 3, in the present embodiment, the stationary platform 10 "is a strip, and the movable platform 14" is a square;
the first driving branched chain and the second driving branched chain are RRPR moving branched chains, the first driving branched chain is an active driving branched chain, the second driving branched chain is a passive driving branched chain, and the first driving branched chain and the second driving branched chain are symmetrically arranged;
a first rotating pair 12 ", a fourth rotating pair 310", a first moving pair 16 "and a fifth rotating pair 311" are sequentially arranged between one end of the static platform 10 "and one end of the moving platform 14", so as to form a first driving branched chain, wherein the first rotating pair 12 "is driven by a first motor 11" arranged on the static platform 10 ";
and a second revolute pair 17 ", a sixth revolute pair 312", a second revolute pair 210 "and a third revolute pair 13" are sequentially arranged between the other end of the static platform 10 "and the other end of the movable platform 14", so that a second driving branched chain is formed.
In this embodiment, the first driving branched chain and the second driving branched chain on both sides and the middle motion transfer branched chain in the middle of the two driving branched chains together form a novel spherical two-degree-of-freedom wheel-leg composite parallel mechanism. The parallel mechanism connected with the first driving branched chain drives the first motor 11 to drive the first rotating pair 12 "(specifically, a pair of meshed bevel gears 313) to transmit torque to the moving platform 14 through the fourth rotating pair 310 vertically and fixedly connected with the axis of the first rotating pair 12", so as to realize single-degree-of-freedom twisting of the moving platform 14 ", the first moving pair 16" realizes linear motion through hydraulic driving, and pushes the moving platform 14 "to realize single-degree-of-freedom twisting which is perpendicular to the twisting direction and takes the first universal joint 18" as a circle center, preferably, the axis of the first universal joint 18 "is on the same plane with the axes of the first rotating pair 12" and the second rotating pair 17 "; the second driving branched chain is a passive constraint branched chain, the third revolute pair 13 ' and the fifth revolute pair 311 ' limit the rotational freedom degree of the movable platform in the Z direction, so that the movable platform 14 ' can only rotate around an X, Y axis, and the second moving pair 210 ', the sixth revolute pair 312 ' and the second revolute pair 17 ' are used as passive constraints of the first driving branched chain ' and the intermediate motion transmission branched chain, so that the stability of the whole mechanism is ensured. The rotation speed of the first motor 11 'driven by the parallel mechanism and the displacement control of the first moving pair 16' driven by the hydraulic pressure realize a plurality of postures required when the wheel advances. The invention adds an RUR middle motion transmission branch chain between the static platform 10 'and the movable platform 14' for transmitting the torque and the motion of the spindle motor to the wheels. The novel spherical parallel mechanism has the characteristics that the two driving branched chains are vertically arranged, the driving is arranged on one branched chain, the control is simple, and great convenience is provided for the steering and obstacle crossing of the wheels.
In the invention, in order to better realize the constraint function of the second driving branched chain, the length of the movable platforms 14, 14 ', 14 "is preferably smaller than that of the static platforms 10, 10 ', 10", and the length of the movable platforms 14, 14 ', 14 "is generally smaller than the diameter of the wheels, of course, those skilled in the art can also comprehensively and flexibly set the lengths of the movable platforms 14, 14 ', 14" and the static platforms 10, 10 ', 10 "according to the actual situation. In addition, for convenience of control, each universal joint can comprise two orthogonal transmission hinges when being implemented.
In another aspect, the invention provides an underwater robot, which comprises a robot shell, wherein the lower part of the robot shell is provided with the wheel-leg composite spherical surface parallel mechanism.
Preferably, the number of the wheel-leg composite spherical parallel mechanisms is 4, and the wheel-leg composite spherical parallel mechanisms are symmetrically distributed on two sides of the robot shell in front and back to form the quadruped robot. The 4 wheel-leg composite spherical parallel mechanisms can be connected in pairs through differentials, so that different rotating speeds of the two wheels can be realized in the steering and obstacle crossing processes, and the slipping and jamming conditions can be prevented.
Furthermore, the upper part of the robot shell can be provided with lifting propellers to realize driving and steering (realized by controlling the rotating speed of the two propellers) in a swimming state in water, and the rear part of the robot shell can be provided with propelling propellers, specifically two propellers, which are responsible for lifting the robot in water.
In conclusion, the underwater robot adopts the scheme that the wheel-leg composite parallel mechanism is combined with the propeller propelling and lifting mechanism, so that the robot can move in water by the propeller and can also move across obstacles on a complex seabed pavement; the invention has simple structure, two branched chains at two sides are asymmetric branched chains, the parallel mechanism has less freedom degree and only two branched chains, and the control is simple; the invention has the characteristics of simple structure, convenient installation, convenient control, good steering and obstacle crossing performance and the like.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (8)

1. The utility model provides a wheel-leg composite sphere parallel mechanism which characterized in that, includes quiet platform and moves the platform, wherein:
only a first driving branched chain and a second driving branched chain are arranged between the side surface of the static platform and the side surface of the movable platform, the first driving branched chain is an active driving branched chain, and the second driving branched chain is a passive driving branched chain;
a first transmission shaft is arranged in the middle of the static platform in a revolute pair mode, a second transmission shaft is arranged in the middle of the movable platform in a revolute pair mode, a first universal joint is arranged between the first transmission shaft and the second transmission shaft, so that an RUR middle motion transmission branched chain is formed, and wheels are arranged at the tail end of the second transmission shaft;
the static platform is 1/4 round, and the movable platform is square;
the first driving branched chain is an RUPU moving branched chain, the second driving branched chain is an RUPR moving branched chain, the first driving branched chain is an active driving branched chain, and the second driving branched chain is a passive driving branched chain; the RUPU motion branched chain and the RUPR motion branched chain are vertically arranged;
a first revolute pair, a second universal joint, a first moving pair and a fourth universal joint are sequentially arranged between one arc-shaped end of the static platform and one side of the movable platform, so that the RUPU moving branched chain is formed, wherein the first revolute pair is driven by a first motor arranged on the static platform;
and a second revolute pair, a third universal joint, a second sliding pair and a third revolute pair are sequentially arranged between the other arc-shaped end of the static platform and the corresponding side of the movable platform, so that the RUPR moving branched chain is formed.
2. The wheel-leg composite spherical parallel mechanism according to claim 1, wherein the end of the fourth gimbal is fixed on the movable platform and the axis of the end is parallel to the movable platform.
3. The wheel-leg composite spherical parallel mechanism according to claim 2, wherein the length of the movable platform is less than the radius length of the stationary platform, and each universal joint comprises two orthogonal transmission hinges.
4. The utility model provides a wheel-leg composite sphere parallel mechanism which characterized in that, includes quiet platform and moves the platform, wherein:
only a first driving branched chain and a second driving branched chain are arranged between the side surface of the static platform and the side surface of the movable platform, the first driving branched chain is an active driving branched chain, and the second driving branched chain is a passive driving branched chain;
a first transmission shaft is arranged in the middle of the static platform in a revolute pair mode, a second transmission shaft is arranged in the middle of the movable platform in a revolute pair mode, a first universal joint is arranged between the first transmission shaft and the second transmission shaft, so that an RUR middle motion transmission branched chain is formed, and wheels are arranged at the tail end of the second transmission shaft;
the static platform is in a strip shape, and the movable platform is in a square shape;
the first driving branched chain and the second driving branched chain are RRPR moving branched chains, the first driving branched chain is an active driving branched chain, the second driving branched chain is a passive driving branched chain, and the first driving branched chain and the second driving branched chain are symmetrically arranged;
a first rotating pair, a fourth rotating pair, a first moving pair and a fifth rotating pair are sequentially arranged between one end of the static platform and one end of the moving platform, so that a first driving branched chain is formed, wherein the first rotating pair is driven by a first motor arranged on the static platform;
and a second revolute pair, a sixth revolute pair, a second moving pair and a third revolute pair are sequentially arranged between the other end of the static platform and the other end of the moving platform, so that a second driving branched chain is formed.
5. The wheel-leg composite spherical parallel mechanism according to claim 4, wherein the axis of the first gimbal is on the same plane as the axes of the first and second revolute pairs;
the first motor is in driving connection with the first rotating pair through a pair of meshed bevel gears.
6. A wheel-leg composite spherical parallel mechanism according to any of claims 1 to 5, wherein the length of the moving platform is less than the length of the stationary platform, each universal joint comprising two orthogonal drive hinges.
7. An underwater robot, characterized by comprising a robot housing, wherein the lower part of the robot housing is provided with the wheel-leg composite spherical parallel mechanism of claim 6.
8. The underwater robot as claimed in claim 7, wherein the number of the wheel-leg composite spherical parallel mechanisms is 4, and the wheel-leg composite spherical parallel mechanisms are symmetrically distributed on two sides of the robot shell in a front-back manner to form a quadruped robot;
the upper portion of robot shell is provided with the lift screw, the rear portion of robot shell is provided with the propulsion screw.
CN201710291008.1A 2016-03-07 2016-03-07 Wheel-leg composite spherical parallel mechanism and underwater robot with same Expired - Fee Related CN107175650B (en)

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CN201610128319.1A CN105563472B (en) 2016-03-07 2016-03-07 Two degrees of freedom Lun Tui composite spheres mechanism and underwater robot
CN201710291008.1A CN107175650B (en) 2016-03-07 2016-03-07 Wheel-leg composite spherical parallel mechanism and underwater robot with same

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