CN109909982A - A kind of climbing robot based on 4-RPS parallel institution - Google Patents
A kind of climbing robot based on 4-RPS parallel institution Download PDFInfo
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- CN109909982A CN109909982A CN201910332156.2A CN201910332156A CN109909982A CN 109909982 A CN109909982 A CN 109909982A CN 201910332156 A CN201910332156 A CN 201910332156A CN 109909982 A CN109909982 A CN 109909982A
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- foot
- hinged
- electric telescopic
- parallel institution
- telescopic rod
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Abstract
The invention discloses a kind of climbing robots based on-RPS parallel institution, including trunk, identical first foot of four structures, the second foot, third foot and four-footed, the bottom four corners of the trunk successively it is hinged first foot, second foot, third foot and four-footed, each foot includes four electric telescopic rods, four electric telescopic rods are hinged on moving platform, and the moving platform bottom is equipped with vola；The advantages of parallel institution bearing capacity is big and electric pushrod control is accurate, stable drive is combined, so that robot high sensitivity, structural stability are good.
Description
Technical field
The present invention relates to a kind of climbing robots based on 4-RPS parallel institution, belong to climbing robot technical field.
Background technique
Quadruped robot has the advantages that stability is good and load capacity is big for comparing biped robot, with polypody machine
People, which compares, then has the characteristics that control is simple, redundancy structure is few, therefore quadruped robot becomes current robot research field
Hot spot.But existing quadruped robot of creeping can only discretely adjust the direction creeped, and it is mobile to can not achieve 360 ° of any directions.
Summary of the invention
The purpose of the present invention is to provide a kind of climbing robots based on 4-RPS parallel institution, to solve the prior art
In caused above-mentioned can not achieve the mobile defect of 360 ° of any directions.
A kind of climbing robot based on-RPS parallel institution, including identical first foot of trunk, four structures, second
Foot, third foot and four-footed, the bottom four corners of the trunk successively it is hinged first foot, second foot, third foot and four-footed, each
The foot includes four electric telescopic rods, and four electric telescopic rods are hinged on moving platform, and the moving platform bottom is equipped with
Vola.
Preferably, the bottom four corners of the trunk are all equipped with fixed platform, and the bottom four corners of the fixed platform are all equipped with hinged
Seat, the hinged-support and electric telescopic rod are hinged.
Preferably, the fixed platform is connect by bolt with body, and the hinged-support is connect by bolt with fixed platform.
Preferably, the electric telescopic rod bottom end is respectively connected with bulb, and the bulb is respectively hinged with ball hinged support, and four
A ball hinged support is fixed on the quadrangle of fixed platform.
Preferably, spring is connected between the moving platform bottom centre and vola.
Preferably, each four sufficient electric telescopic rods are symmetrical arranged.
Compared with prior art, advantageous effects of the invention:
1, vola end can be made to obtain different tracks by the telescopic direction and speed that adjust four electric pushrods, realizes and appoints
The movement in meaning direction changes robot entirety creep speed by adjusting track in certain direction.
2, four foots are independent of one another, the motion phase of four foots can be kept variant by control sequential when creeping, and realize
A variety of gaits.
3, the advantages of parallel institution bearing capacity is big and electric pushrod control is accurate, stable drive is combined, so that robot
High sensitivity, structural stability are good.
Detailed description of the invention
Fig. 1 is overall structure figure of the invention；
Fig. 2 is foot mechanism structure chart of the invention；
Fig. 3 is foot mechanism explosive view of the invention；
Fig. 4 is parallel institution of the invention and its branch distributed architecture figure；
Fig. 5 is foot mechanism motion profile figure of the invention.
In figure: 1, first foot, the 2, second foot, 3, third foot, 4, four-footed, 5, trunk, 11, fixed platform, 12, hinged-support,
13, electric telescopic rod, 15, bulb, 16, ball hinged support, 17, moving platform, 18, spring, 19, vola.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
A kind of climbing robot based on 4-RPS parallel institution, including trunk 5, four knots are disclosed as Figure 1-Figure 4
Identical the 1, second foot 2 of first foot of structure, third foot 3 and four-footed 4, each foot is identical in being positioned against for space, described
Successively hinged the 1, second foot 2 of first foot, third foot 3 and four-footed 4, each foot include four electricity to the bottom four corners of trunk 5
Dynamic telescopic rod 13, four electric telescopic rods 13 are hinged on moving platform 17, and 17 bottom of moving platform is equipped with vola 19.
Specifically, the bottom four corners of the trunk 5 are all equipped with fixed platform 11, the bottom four corners of the fixed platform 11 are all equipped with
Hinged-support 12, hinged-support 12 is bolted on 11 bottom of fixed platform, and the end of bolt is concordant with hinged-support 12, will not
Influence with the installation of fixing seat 12, the hinged-support 12 and electric telescopic rod 13 are hinged, four hinged-supports 12 respectively with four electricity
Dynamic telescopic rod 13 constitutes revolute pair by pin connection.
Specifically, the fixed platform 11 is connect by bolt with body 5, the hinged-support 12 passes through bolt and fixed platform 11
Connection.
Specifically, 13 bottom end of electric telescopic rod is respectively connected with bulb 15, the bulb 15 is respectively hinged with flexural pivot
Support 16, four ball hinged supports 16 are fixed on the quadrangle of fixed platform 11, and four bulbs 15 pass through with four ball hinged supports 16
Interference fit connects into spherical pair.
Specifically, being connected with spring 18 between 11 bottom centre of moving platform and vola 19, it is possible to reduce vola 19 with
The buffering on ground.
Specifically, each four sufficient electric telescopic rods 13 are symmetrical arranged, respectively there are four electric telescopic rods for each foot
13, top is big, and bottom is small,；Every two electric telescopic rods 13 are symmetrical arranged, first the 1, second foot 2 of foot, third foot 3 and four-footed
4, it is symmetrical arranged between every two rhizopodium, keeps whole device more stable.
When creeping, the motion phase of four foots can be kept variant by control sequential, realize a variety of gaits, Er Qietong
The direction and speed for overregulating four electric telescopic rods 13 can make 17 end of vola obtain different tracks, realize any direction
Movement, certain direction by adjust track change robot entirety creep speed.
Below by by taking the direction a-c is advanced to the left as an example, in conjunction with Fig. 4-Fig. 5 explanation.
Electric telescopic rod 13 extends at a, and c locates the contraction of electric telescopic rod 13, electronic at electric telescopic rod 13 and d at b to stretch
13 constant speed of contracting bar is shunk and contraction speed is less than electric telescopic rod at c, moves the inclination of plane lower-left upper right, and ground of kicking backward is undergone attached
A process in Fig. 5, at a electric telescopic rod 13, electric expansion 13 at b, electric telescopic rod 13 at c, electric telescopic rod 13 is equal at d
It shrinks, and the contraction speed of electric telescopic rod 13 is greater than the contraction speed of electric telescopic rod 13 at c, electric telescopic rod 13 at b at a
It is shunk with 13 constant speed of electric telescopic rod at d, contraction speed is between electric telescopic rod 13 at electric telescopic rod 13 at a and c, warp
Go through B process in attached drawing 5；Electric telescopic rod 13, electric telescopic rod 13 at b, electric telescopic rod 13 at c, electric expansion at d at a
Bar 13 extends, and electric telescopic rod 13 extends the elongation speed that speed is greater than electric telescopic rod 13 at a, electric expansion at b at c
13 isodromicing elongation of electric telescopic rod at bar 13 and d, extend speed at electric telescopic rod 13 at a and c electric telescopic rod 13 it
Between, the inclination of plane upper left bottom right is moved, C process in attached drawing 5 is undergone；Electric telescopic rod 13 is shunk at c, electric telescopic rod 13 at a
Elongation, b locates electric telescopic rod 13 and d place 13 isodromicing elongation of electric telescopic rod and elongation speed is less than electric telescopic rod 13 at a, time
Return original position, undergoes D process in attached drawing 5；It using A-B-C-D Four processes as a cycle, moves in circles, realizes successively forward
Walking.When creeping, by control sequential, keeps the motion phase of four foots variant, realize a variety of gaits.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of climbing robot based on 4-RPS parallel institution, which is characterized in that identical including trunk (5), four structures
First foot (1), the second foot (2), third foot (3) and four-footed (4), the bottom four corners of the trunk (5) successively hinged first foot
(1), the second foot (2), third foot (3) and four-footed (4), each foot includes four electric telescopic rods (13), described in four
Electric telescopic rod (13) is hinged on moving platform (17), and moving platform (17) bottom is equipped with vola (19).
2. the climbing robot according to claim 1 based on 4-RPS parallel institution, which is characterized in that the trunk (5)
Bottom four corners be all equipped with fixed platform (11), the bottom four corners of the fixed platform (11) are all equipped with hinged-support (12), described hinged
Seat (12) and electric telescopic rod (13) are hinged.
3. the climbing robot according to claim 2 based on 4-RPS parallel institution, which is characterized in that the fixed platform
(11) it is connect by bolt with body (5), the hinged-support (12) is connect by bolt with fixed platform (11).
4. the climbing robot according to claim 1 based on 4-RPS parallel institution, which is characterized in that described electronic to stretch
Contracting bar (13) bottom end is respectively connected with bulb (15), and the bulb (15) is respectively hinged with ball hinged support (16), four balls
Hinged-support (16) is fixed on the quadrangle of fixed platform (11).
5. the climbing robot according to claim 1 based on 4-RPS parallel institution, which is characterized in that the moving platform
(11) it is connected between bottom centre and vola (19) spring (18).
6. the climbing robot according to claim 1 based on 4-RPS parallel institution, which is characterized in that each foot
Four electric telescopic rods (13) be symmetrical arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910332156.2A CN109909982A (en) | 2019-04-24 | 2019-04-24 | A kind of climbing robot based on 4-RPS parallel institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910332156.2A CN109909982A (en) | 2019-04-24 | 2019-04-24 | A kind of climbing robot based on 4-RPS parallel institution |
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| CN109909982A true CN109909982A (en) | 2019-06-21 |
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| CN201910332156.2A Pending CN109909982A (en) | 2019-04-24 | 2019-04-24 | A kind of climbing robot based on 4-RPS parallel institution |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112596420A (en) * | 2020-11-24 | 2021-04-02 | 江苏科技大学 | Bionic crawling robot and autonomous control method thereof |
| CN113478464A (en) * | 2021-07-22 | 2021-10-08 | 中北大学 | Parallel bionic moving platform with adjustable gravity center |
| CN114701580A (en) * | 2022-03-22 | 2022-07-05 | 沈阳工业大学 | Omnidirectional motion multi-foot wall-climbing unmanned system for maintaining outer surface of wind turbine generator |
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| US20050275367A1 (en) * | 2004-06-09 | 2005-12-15 | Martin Buehler | Robot and robot leg mechanism |
| CN101819727A (en) * | 2010-04-28 | 2010-09-01 | 淮阴工学院 | Vehicular earthquake simulator based on 4-RPS (Range Positioning System) space parallel mechanism |
| CN104843102A (en) * | 2015-03-17 | 2015-08-19 | 北京理工大学 | Damping foot type robot based on six-degrees-of-freedom parallel mechanism |
| CN106002922A (en) * | 2016-07-14 | 2016-10-12 | 安庆里外里工业产品设计有限公司 | Moving wheel for intelligent transfer robot at construction site |
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2019
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050275367A1 (en) * | 2004-06-09 | 2005-12-15 | Martin Buehler | Robot and robot leg mechanism |
| CN101819727A (en) * | 2010-04-28 | 2010-09-01 | 淮阴工学院 | Vehicular earthquake simulator based on 4-RPS (Range Positioning System) space parallel mechanism |
| CN104843102A (en) * | 2015-03-17 | 2015-08-19 | 北京理工大学 | Damping foot type robot based on six-degrees-of-freedom parallel mechanism |
| CN106002922A (en) * | 2016-07-14 | 2016-10-12 | 安庆里外里工业产品设计有限公司 | Moving wheel for intelligent transfer robot at construction site |
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| 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 |
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| Title |
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| 王云: ""基于3-RPS四足并联腿步行机器人的研究"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112596420A (en) * | 2020-11-24 | 2021-04-02 | 江苏科技大学 | Bionic crawling robot and autonomous control method thereof |
| CN113478464A (en) * | 2021-07-22 | 2021-10-08 | 中北大学 | Parallel bionic moving platform with adjustable gravity center |
| CN114701580A (en) * | 2022-03-22 | 2022-07-05 | 沈阳工业大学 | Omnidirectional motion multi-foot wall-climbing unmanned system for maintaining outer surface of wind turbine generator |
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Application publication date: 20190621 |
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