CN109747727A - A kind of modularization robot shipping platform of electric cylinder driving - Google Patents
A kind of modularization robot shipping platform of electric cylinder driving Download PDFInfo
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- CN109747727A CN109747727A CN201711081158.6A CN201711081158A CN109747727A CN 109747727 A CN109747727 A CN 109747727A CN 201711081158 A CN201711081158 A CN 201711081158A CN 109747727 A CN109747727 A CN 109747727A
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- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 230000033001 locomotion Effects 0.000 claims abstract description 32
- 210000000245 forearm Anatomy 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 abstract description 12
- 238000012423 maintenance Methods 0.000 abstract description 8
- 238000005265 energy consumption Methods 0.000 abstract description 7
- 230000009194 climbing Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 230000000052 comparative effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 241000592274 Polypodium vulgare Species 0.000 description 3
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- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 101000911390 Homo sapiens Coagulation factor VIII Proteins 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
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- 102000057593 human F8 Human genes 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
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Abstract
A kind of modularization robot shipping platform of electric cylinder driving, includes two or more robot platform unit, and the robot platform unit includes robot wheel leg mechanism and wheel.The robot wheel leg mechanism is the seven bar two-freedom link mechanisms containing two prismatic pairs, contains two closed loops, and wheel is mounted on robot wheel leg mechanism.This kind of modularization robot shipping platform is using link transmission instead of existing Flat car hydraulic transmission system, two prismatic pairs are driving pair, it is driven by servo electric jar, under computer programming control, large space may be implemented in the robot wheel leg mechanism, high flexibility ratio two-freedom controlled motion, to make wheel possess stronger obstacle climbing ability, compared to existing flat car, not only shorten action response time, reduce failure rate, energy consumption and maintenance cost, intelligent level greatly improved, and avoid hydraulic line constraint, convenient for being reconfigured quickly, high-precision carriage of special cargo job requirements can preferably be met.
Description
Technical field
The present invention relates to flat car field, especially a kind of modularization robot shipping platform of electric cylinder driving.
Background technique
Flat car is a kind of engineering transportation vehicle for being mainly used to large-scale, the heavy non-dismountable cargo of handling, due to using
Highway transportation is not required to be laid with specific track, has the characteristics that at low cost, conevying efficiency is high, and than other kind of vehicle of same size
Type can load more cargos, therefore be widely used in airport, harbour, railway station, factory and bulk storage plant, and transported deeply
The favor of defeated unit.But during engineer application, there is also many engineering technology problems for existing flat car, firstly, existing
There is flat car especially modular panel vehicle to be all made of Hydraulic Power Transmission System, that there is energy consumptions is high, mechanical efficiency is low, reliability
The problems such as difference, Yi Fasheng oil accident；Secondly, existing flat car majority does not have re-configurability, the number of axle has generally been consolidated after factory
Fixed, user is difficult to be reconstructed according to their own needs, recombinate, for existing module flat car, because being limited by complicated liquid
Pressure pipeline, carrying out console module assembly work according to task, time-consuming, and professional is needed to operate, and has seriously affected work
Industry efficiency；Further more, the wheel leg mechanism used in existing flat car technology, working space is small, flexibility ratio is poor, causes flat car obstacle detouring
Ability is poor, or even does not have any obstacle climbing ability, also there are the obstacles such as deceleration strip on the paved roads such as harbour, harbour, puts down
Wooden handcart is unavoidably impacted when passing through, therefore is difficult to meet the hauling operation requirement of dangerous goods.
With using controllable mechanism as the development of the theory of mechanisms front subject of representative and the present computer technology, modern control
The modern technologies such as technology processed, robot are constantly progressive, and provide technical foundation for the greenization, intelligence, modularization of flat car,
How to propose a kind of modularization robot shipping platform of electric cylinder driving, there is compact-sized, low energy consumption, high reliability, low
While the features such as maintenance cost, have quick reconfigurable ability and higher obstacle climbing ability, it can be horizontal and vertical
The big working space of two-freedom, the high flexibility ratio controlled motion of wheel are realized in direction, meet the dangerous special article such as harbour, harbour
Hauling operation requirement, it has also become the engineering problem of one urgent need to resolve in flat car field.
Summary of the invention
The object of the present invention is to provide a kind of modularization robot shipping platforms of electric cylinder driving, tight with structure
Gather, low energy consumption, high reliability, low-maintenance cost of upkeep the features such as while, have quick reconfigurable ability and higher obstacle detouring
Ability can realize the big working space of two-freedom, the high flexibility ratio controlled motion of wheel in horizontal and vertical direction, meet port
The hauling operation requirement of the danger special article such as mouth, harbour.
The present invention reaches above-mentioned purpose by the following technical programs:
A kind of modularization robot shipping platform of electric cylinder driving, includes two or more robot platform unit, the machine
Device people's platform unit includes robot wheel leg mechanism and wheel, the robot wheel leg mechanism be seven bars two containing two prismatic pairs from
By degree link mechanism, contain two closed loops, comprising platform, the first sliding rail, the second sliding rail, the first guide rod, the second guide rod, big
Arm, forearm, two prismatic pair are driving pair, are driven by servo electric jar, forearm can realize two-freedom movement output, wheel
It is mounted on forearm, vehicle is realized by the controllable coupled motions mode of the two-freedom of robot wheel leg mechanism according to real-time road
Two-freedom controlled motion is taken turns, obstacle detouring movement is completed.
First sliding rail one end is connect by the first revolute pair with large arm, and the other end is led by first movement pair with first
The connection of bar one end, the first guide rod other end are connect by the second revolute pair with forearm, and the forearm passes through third revolute pair
It is connect with large arm, large arm is connect by the 4th revolute pair with the second guide rod, and the second guide rod other end passes through the second prismatic pair
It is connect with second sliding rail one end, the second sliding rail other end is connect by the 5th revolute pair with platform, and the large arm passes through the
Six revolute pairs are connect with platform；Wheel is mounted on forearm by the 7th revolute pair.
The robot wheel leg mechanism contains seven bar two-freedom link mechanisms of two prismatic pairs, contains two closed loops, phase
Than single five bar parallel institution of closed loop, there is bigger space and flexibility, and then ensure that the wheel being mounted on forearm
The big working space of two-freedom can be carried out, the movement of high flexibility ratio makes shipping platform have outstanding obstacle performance；By
Contain two prismatic pairs in this kind of robot wheel leg mechanism, and prismatic pair is driving pair, the machine relative to the connection of full revolute pair
People takes turns leg mechanism, has the characteristics that structure is more compact, movement inertia is small, dynamic performance is good；Due to being replaced using link transmission
The hydraulic system that generation existing module flat car uses, greatly improved power transmission efficiency and reliability, have low energy consumption,
The features such as high reliability, low-maintenance cost of upkeep.
The modularization robot shipping platform of the electric cylinder driving, includes two or more robot platform unit, by
In eliminating Hydraulic Power Transmission System, it is no longer limited by complicated hydraulic line, the robot platform unit can be by platform
Connector quickly quickly connect reconstruct with multiple robot platform units, form multi-foot robot shipping platform.In computer
Under control, the movement such as it can make polypody high load robot flat car maintenance level by coupled motions and complete leaping over obstacles,
Meet the transport of large-scale, heavy special cargo；It is adopted and is computerizedd control due to this kind of modularization robot shipping platform, phase
It is higher than hydraulic system intelligent level, and there is more preferably kinematic accuracy and response speed.
Of the invention has the prominent advantages that:
1. the robot wheel leg mechanism is the seven bar two-freedom link mechanisms containing two prismatic pairs, due to this kind of robot wheel leg
Mechanism contains two prismatic pairs, and prismatic pair is driving pair, is driven by servo electric jar, compared to the full rotation driven by driving lever
The robot wheel leg mechanism of pair connection, although load capacity is smaller, with compact-sized, movement inertia is small, motion range is big
Etc. advantages, especially suitable for manufacture light-duty low-load flat car robot.
2. the robot wheel leg mechanism is to compare five bar parallel institution of single closed loop containing two closed loop seven-bar mechanisms,
With bigger space and flexibility, to ensure that the wheel being mounted on forearm realizes that the big work of two-freedom is empty
Between, the movement of high flexibility ratio makes shipping platform have outstanding obstacle performance；Due to using link transmission instead of existing
The hydraulic system that modular panel vehicle uses, greatly improved power transmission efficiency and reliability, have low energy consumption, highly reliable
The features such as property, low-maintenance cost of upkeep.
3. the modularization robot shipping platform of this kind of electric cylinder driving compares existing module flat car, have stronger
Reconfigurable ability.Due to eliminating Hydraulic Power Transmission System, it is no longer limited by complicated hydraulic line, robot platform unit can lead to
It crosses connector and realizes Modularized splice between platform and platform rapidly, form multi-foot robot shipping platform, meet large-scale, again
The transport of type special cargo, reconstructed operation is simple, and technical requirements are low, effectively increases the effect of this kind of robotic conveyance platform
Rate and the scope of application.
4. the modularization robot shipping platform of this kind of electric cylinder driving is under the control of the computer, pass through each robot wheel leg
Shipping platform level can be realized in mechanism coupled motions, and the movement such as can be carried out leaping over obstacles, due to this kind of modularization robot
The features such as shipping platform, which is adopted, to computerized control, and has control system simple, at low cost, compared to the plate using hydraulic system
Vehicle, not only high degree of automation, but also there is more preferably kinematic accuracy and response speed.
Detailed description of the invention
Fig. 1 is the robot platform unit signal of the modularization robot shipping platform of electric cylinder of the present invention driving
Figure.
Fig. 2 is the topology diagram of robot wheel leg mechanism of the present invention.
Fig. 3 is the three-dimensional of the robot platform unit of the modularization robot shipping platform of electric cylinder of the present invention driving
Schematic diagram.
Fig. 4 is the forearm schematic diagram of robot wheel leg mechanism of the present invention.
Fig. 5 is the modularization robot shipping platform schematic diagram of four-footed electric cylinder of the present invention driving.
Fig. 6 is the modularization robot shipping platform top view of four-footed electric cylinder of the present invention driving.
Fig. 7 is the modularization robot shipping platform main view of four-footed electric cylinder of the present invention driving.
Fig. 8 is the modularization robot shipping platform obstacle detouring schematic diagram of electric cylinder of the present invention driving.
Specific embodiment
Technical solution of the present invention is described further below by way of drawings and examples.
Comparative diagram 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, a kind of modularization robot shipping platform of electric cylinder driving, includes two
And the above robot platform unit, the robot platform unit include robot wheel leg mechanism and wheel, the robot wheel
Leg mechanism be the seven bar two-freedom link mechanisms containing two prismatic pairs, contain two closed loops, comprising platform 1, the first sliding rail 4,
Second sliding rail 13, the first guide rod 7, the second guide rod 11, large arm 2, forearm 9, two prismatic pair is driving pair, by servo electric jar
Driving, forearm 9 can realize that two-freedom movement output, wheel 15 are mounted on forearm 9, according to real-time road, pass through robot
The controllable coupled motions mode of two-freedom of leg mechanism is taken turns, realizes wheel two-freedom controlled motion, completes obstacle detouring movement.
Comparative diagram 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, described first sliding rail, 4 one end are connect by the first revolute pair 3 with large arm 2,
The other end 6 connect by first movement pair with 7 one end of the first guide rod, 7 other end of the first guide rod pass through the second revolute pair 8 and
Forearm 9 connects, and the forearm 9 is connect by third revolute pair 4 with large arm 2, and large arm 2 passes through the 4th revolute pair 10 and the second guide rod
The connection of 11 one end, 11 other end of the second guide rod are connect by the second prismatic pair 12 with 13 one end of the second sliding rail, second sliding rail
13 other ends are connect by the 5th revolute pair 14 with platform 1, and the large arm 2 is connect by the 6th revolute pair 26 with platform 1；Wheel
15 are mounted on forearm 9 by the 7th revolute pair 16.
Comparative diagram 1, Fig. 5, Fig. 6, Fig. 7, the robot wheel leg mechanism contain seven bar two-freedom connecting rod machines of two prismatic pairs
Structure contains two closed loops, compared to five bar parallel institution of single closed loop, has bigger space and flexibility, and then guarantee
The wheel 15 being mounted on forearm 9 can carry out the big working space of two-freedom, and the movement of high flexibility ratio has shipping platform
There is outstanding obstacle performance；Since this kind of robot wheel leg mechanism contains two prismatic pairs, and prismatic pair is driving pair, phase
For the robot wheel leg mechanism of full revolute pair connection, there are the spies such as structure is more compact, movement inertia is small, dynamic performance is good
Point；Due to the hydraulic system used using link transmission instead of existing module flat car, power transmission effect greatly improved
Rate and reliability have the characteristics that low energy consumption, high reliability, low-maintenance cost of upkeep.
Comparative diagram 4, Fig. 6, Fig. 7, Fig. 8, the modularization robot shipping platform of electric cylinder driving, comprising two and with
Upper robot platform unit is no longer limited by complicated hydraulic line, the robot is flat due to eliminating Hydraulic Power Transmission System
Platform unit quickly can quickly connect reconstruct by the connector 5 on platform 1 with multiple robot platform units, form polypody machine
People's shipping platform.Under the control of the computer, polypody high load robot flat car maintenance level can be made simultaneously by coupled motions
The movement such as leaping over obstacles is completed, the transport of large-scale, heavy special cargo is met；Since this kind of modularization robot transport is flat
Platform, which is adopted, to computerized control, higher compared to hydraulic system intelligent level, and has more preferably kinematic accuracy and response speed.
The modularization robot shipping platform of four-footed electric cylinder driving builds embodiment:
The modularization robot shipping platform of comparative diagram 5, Fig. 6, Fig. 7, Fig. 8, the four-footed electric cylinder driving includes four machines
People's platform unit, the robot platform unit connect weight by the connector on platform 1, platform 17, platform 18, platform 19
Structure forms larger area loading platform and realizes the coupling of each robot wheel leg mechanism, wheel with the help of computer system
Control, according to real-time road, is mounted on forearm 9, forearm 20, forearm 21, the wheel 15 on forearm 22, wheel 23, wheel 24, vehicle
Wheel 25 can realize rapidly that horizontal, vertical direction two-freedom movement is realized in the case of maintaining calamity plateau levels
Bionical lift leg movement, convenient for crossing over the hauling operation of the special cargos such as road shoulder, deceleration strip.
Claims (2)
1. a kind of modularization robot shipping platform of electric cylinder driving, it is characterised in that: flat comprising two or more robot
Platform unit, the robot platform unit include robot wheel leg mechanism and wheel, and the robot wheel leg mechanism is to move containing two
Seven secondary bar two-freedom link mechanisms are moved, contains two closed loops, is led comprising platform, the first sliding rail, the second sliding rail, first
Bar, the second guide rod, large arm, forearm, two prismatic pair are driving pair, are driven by servo electric jar, and forearm can realize that two is free
Movement output is spent, wheel is mounted on forearm, by the controllable coupled motions mode of the two-freedom of robot wheel leg mechanism, is realized
Wheel two-freedom controlled motion.
2. robot wheel leg mechanism according to claim 1, it is characterised in that: first sliding rail one end passes through the first rotation
Pair connect with large arm, and the other end passes through first movement pair and connect with the first guide rod, and the first guide rod other end passes through the
Two revolute pairs are connect with forearm, and the forearm is connect by third revolute pair with large arm, and large arm passes through the 4th revolute pair and second
Guide rod connection, the second guide rod other end are connect by the second prismatic pair with second sliding rail one end, and second sliding rail is another
End is connect by the 5th revolute pair with platform, and the large arm is connect by the 6th revolute pair with platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711081158.6A CN109747727A (en) | 2017-11-07 | 2017-11-07 | A kind of modularization robot shipping platform of electric cylinder driving |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711081158.6A CN109747727A (en) | 2017-11-07 | 2017-11-07 | A kind of modularization robot shipping platform of electric cylinder driving |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110539820A (en) * | 2019-09-16 | 2019-12-06 | 北京理工大学 | vehicle with a steering wheel |
| CN110861728A (en) * | 2019-11-20 | 2020-03-06 | 燕山大学 | Wheel leg type automatic guiding trolley |
| CN112519914A (en) * | 2020-12-08 | 2021-03-19 | 河海大学常州校区 | Wheel-leg robot for field detection |
| CN115180048A (en) * | 2022-08-04 | 2022-10-14 | 北京理工大学 | Reconfigurable modular mobility cross-country unmanned transportation platform |
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