CN113043246A - Reconfigurable multi-mode parallel mobile robot - Google Patents
Reconfigurable multi-mode parallel mobile robot Download PDFInfo
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- CN113043246A CN113043246A CN202110249296.0A CN202110249296A CN113043246A CN 113043246 A CN113043246 A CN 113043246A CN 202110249296 A CN202110249296 A CN 202110249296A CN 113043246 A CN113043246 A CN 113043246A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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Abstract
The invention discloses a reconfigurable multi-mode parallel mobile robot, which comprises a first platform, a second platform and a kinematic chain arranged between the two platforms, wherein the first platform is a closed polygon formed by sequentially connecting a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, the second platform is a closed polygon formed by sequentially connecting a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, a tenth connecting rod, an eleventh connecting rod and a twelfth connecting rod, the first platform and the second platform are arranged in parallel, and the kinematic chain is arranged between the connecting rods of the first platform and the second platform and comprises an upper rod, a lower rod and a revolute pair connected between the upper rod and the lower rod; one end of the upper rod is connected with the first platform connecting rod through a rotating pair, and one end of the lower rod is connected with the second platform connecting rod through a rotating pair; a first rotating pair between the first connecting rod and the second connecting rod is driven by a first steering engine, a second rotating pair between the third connecting rod and the fourth connecting rod is driven by a second steering engine, a third rotating pair between the fifth connecting rod and the sixth connecting rod is driven by a third steering engine, and a rotating pair on any moving chain is driven by a fourth steering engine.
Description
The technical field is as follows:
the invention relates to the technical field of mechanical manufacturing and robots, in particular to a reconfigurable multi-mode parallel mobile robot.
Background art:
along with the development of science and technology, the robot has great influence on the life and work of people, can replace people to finish high-risk and difficult work, and simultaneously saves a large amount of manpower and material resources.
With the wide use of robots, people have made more intensive research on robots, and concepts such as reconfigurable and multi-operation modes are gradually proposed. Compared with the traditional mobile robot, the reconfigurable robot has many advantages, can be applied to many complex and dangerous environments, applies the reconfigurable mechanism to the mobile robot, and can improve the bearing capacity, rigidity and precision of the mobile robot.
Although the research of the reconfigurable robot is in an experimental stage at present, the reconfigurable robot has a wide application prospect.
A multi-mode mobile robot is defined to have at least two motion modes or two operation modes. The multi-mode mobile robot can have different movement speeds, can adapt to various terrain environments, and has multiple movement modes or multiple operation modes.
The parallel robot mechanism has the characteristics of simple structure, large rigidity-weight ratio, small movement inertia, strong bearing capacity and the like, and is widely applied to the technical fields of simulation equipment, numerical control machines, sensors and the like. However, the mobile parallel robot is a new robot which combines the parallel robot technology with the mobile robot technology and can realize a few-rod multi-degree of freedom.
The invention content is as follows:
the invention aims to overcome the defect that a robot cannot change modes and continuously moves under an unstructured terrain environment, and provides a reconfigurable multi-mode parallel mobile robot which is suitable for the unstructured terrain environment. The invention avoids the limitation of a single movement mode, and has the characteristics of high bearing capacity, high rigidity and precision, improved structural utilization rate and the like.
In order to achieve the purpose, the invention provides the following technical scheme: a reconfigurable multi-mode mobile parallel robot, comprising a first platform, a second platform and a kinematic chain arranged between the two platforms, characterized in that: the first platform is a closed polygon formed by sequentially connecting a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, the second platform is a closed polygon formed by sequentially connecting a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, a tenth connecting rod, an eleventh connecting rod and a twelfth connecting rod, the first platform and the second platform are arranged in parallel at intervals, a kinematic chain is arranged between the connecting rods corresponding to the first platform and the second platform, and the kinematic chain comprises an upper rod, a lower rod and a revolute pair connected between the upper rod and the lower rod; one end of the upper rod is connected with the connecting rod of the first platform through a revolute pair, and one end of the lower rod is connected with the connecting rod of the second platform through a revolute pair; a first rotating pair between the first connecting rod and the second connecting rod is driven by a first steering engine, a second rotating pair between the third connecting rod and the fourth connecting rod is driven by a second steering engine, a third rotating pair between the fifth connecting rod and the sixth connecting rod is driven by a third steering engine, and a rotating pair on any moving chain is driven by a fourth steering engine.
In one embodiment, the multiple modes include a fold-out mode, a hexagonal scroll mode, and a caterpillar-like scroll mode.
In one embodiment, in the folded and unfolded mode, the first platform and the second platform are arranged in a hexagonal and vertical mode, the first steering engine, the second steering engine, the third steering engine and the fourth steering engine are driven, and the upper rod and the lower rod of the kinematic chain are folded inwards or unfolded outwards at the same time.
In one embodiment, in the hexagonal rolling mode, the first platform and the second platform are arranged horizontally and in a hexagonal shape, and the kinematic chain is vertically arranged between the first platform and the second platform to drive the first steering engine, the second steering engine and the third steering engine and lock the fourth steering engine.
In one embodiment, in the similar caterpillar rolling mode, the first platform and the second platform are arranged in a quadrilateral and horizontal mode, the kinematic chain is vertically arranged between the first platform and the second platform to drive the first steering engine, and the second steering engine, the third steering engine and the fourth steering engine are locked.
In one embodiment, in the folded and unfolded mode, the initial state is the unfolded state of the robot, after the first, second, third and fourth steering engines are driven, the kinematic chain deforms with the first and second platforms at the same time, the axis of a revolute pair of the kinematic chain changes, the fourth steering engine drives the kinematic chain to move inwards to a specified position to stop, and at the moment, the robot is in the folded state.
In one embodiment, in the hexagonal rolling mode, initially, the sixth connecting rod of the first platform contacts with the twelfth connecting rod of the second platform, the first, second and third steering engines are driven, the fourth steering engine is locked, the connecting rods on the first platform move together to drive the branch kinematic chain to rotate with the second platform, so that the center of gravity of the whole robot is shifted, when the robot is shifted to a certain position, the whole robot is tilted, that is, the robot rolls, and when the sixth connecting rod of the first platform and the twelfth connecting rod of the second platform contact with the ground again, the robot rolls for one period.
In one embodiment, in the similar track rolling mode, the first steering engine is driven, the second steering engine, the third steering engine and the fourth steering engine are locked, the first connecting rod and the second connecting rod which are in contact with the ground start to move to drive the moving chain to rotate with the rest of the connecting rods, the center of gravity of the whole robot deviates, when the robot deviates to a certain position, the whole robot tilts, the robot starts to roll, and when the first connecting rod and the second connecting rod are in contact with the ground again, the robot realizes the rolling of one period.
In one embodiment, the first, second, third and fourth steering engines are each provided with an angle encoder.
The invention has the main advantages or beneficial effects that:
first, the invention overcomes the defect that the robot cannot change modes to continue moving in an unstructured terrain environment, and provides a reconfigurable multi-mode parallel mobile robot which can adapt to the unstructured terrain environment.
Secondly, the reconfigurable multi-mode parallel mobile robot provided by the invention has two platforms, six branched chains and three motion modes: the three motion modes can be freely switched, so that the limitation of a single motion mode is avoided, the three motion modes have the characteristics of high bearing capacity, high rigidity and precision, improved structure utilization rate and the like, and a reference idea is provided for the design and analysis of the moving mechanism of other reconfigurable mobile robots.
Thirdly, compared with the traditional parallel robot, the robot has larger working space and stronger operation flexibility.
Description of the drawings:
FIG. 1 is a schematic perspective view of a reconfigurable multi-mode parallel mobile robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a state structure of a reconfigurable multi-mode folded/unfolded mode in a parallel mobile robot according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of another state of a reconfigurable multi-mode parallel mobile robot in a folded and unfolded mode according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram illustrating a hexagonal rolling mode in a reconfigurable multi-mode parallel mobile robot according to an embodiment of the present invention;
fig. 5 discloses a structural schematic diagram of a caterpillar rolling mode in a reconfigurable multi-mode parallel mobile robot in an embodiment of the invention.
In the illustration:
1-a first connecting rod, 2-a second connecting rod, 3-a third connecting rod, 4-a fourth connecting rod, 5-a fifth connecting rod, 6-a sixth connecting rod, 7-a seventh connecting rod, 8-an eighth connecting rod, 9-a ninth connecting rod, 10-a tenth connecting rod, 11-an eleventh connecting rod, 12-a twelfth connecting rod, 21-a kinematic chain, 211-an upper rod, 212-a lower rod, 213-a revolute pair, 101-a first revolute pair, 102-a second revolute pair and 103-a third revolute pair.
The specific implementation mode is as follows:
the following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention.
The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1, a reconfigurable multimode mobile parallel robot in the embodiment of fig. 1 includes a first platform, a second platform and a kinematic chain installed between the two platforms, characterized in that: the first platform is a closed polygon formed by sequentially connecting a first connecting rod 1, a second connecting rod 2, a third connecting rod 3, a fourth connecting rod 4, a fifth connecting rod 5 and a sixth connecting rod 6, the second platform is a closed polygon formed by sequentially connecting a seventh connecting rod 7, an eighth connecting rod 8, a ninth connecting rod 9, a tenth connecting rod 10, an eleventh connecting rod 11 and a twelfth connecting rod 12, the first platform and the second platform are arranged in parallel at intervals, a kinematic chain 21 is arranged between the connecting rods corresponding to the first platform and the second platform, and the kinematic chain 21 comprises an upper rod 211, a lower rod 212 and a revolute pair 213 connected between the upper rod and the lower rod; one end of the upper rod 211 is connected with the connecting rod of the first platform through a revolute pair, and one end of the lower rod 212 is connected with the connecting rod of the second platform through a revolute pair; a first rotating pair 101 between a first connecting rod 1 and a second connecting rod 2 is driven by a first steering engine, a second rotating pair 102 between a third connecting rod 3 and a fourth connecting rod 4 is driven by a second steering engine, a third rotating pair 103 between a fifth connecting rod 5 and a sixth connecting rod 6 is driven by a third steering engine, and a rotating pair 213 on any kinematic chain is driven by a fourth steering engine.
Preferably, the multi-modes may include, but are not limited to, a folded mode, a hexagonal rolling mode, and a caterpillar-like rolling mode.
Referring to fig. 2 in combination with fig. 3, in the embodiment of fig. 2 and 3, in the folded and unfolded mode, the first platform and the second platform are arranged in a hexagonal shape and vertically, and drive the first steering engine, the second steering engine, the third steering engine and the fourth steering engine, and the upper rod and the lower rod of the moving chain are folded inwards or unfolded outwards at the same time.
Preferably, in the folding and unfolding mode, the initial state is the unfolding state of the robot, after the first steering engine, the second steering engine, the third steering engine and the fourth steering engine are driven, the kinematic chain, the first platform and the second platform deform simultaneously, the axis of a revolute pair of the kinematic chain changes, the fourth steering engine drives the kinematic chain to move inwards to a specified position to stop, and the robot is in a folding state at the moment.
Referring to fig. 4, in the embodiment of fig. 4, in the hexagonal rolling mode, the first platform and the second platform are arranged horizontally and hexagonally, and the kinematic chain is vertically arranged between the first platform and the second platform to drive the first steering engine, the second steering engine and the third steering engine, and lock the fourth steering engine.
Preferably, in a hexagonal rolling mode, initially, a sixth connecting rod of the first platform contacts with the ground through a twelfth connecting rod of the second platform to drive the first steering engine, the second steering engine and the third steering engine, the fourth steering engine is locked, all the connecting rods on the first platform move together to drive the moving chain to rotate with the second platform, so that the center of gravity of the whole robot is deviated, when the robot is deviated to a certain position, the robot is wholly inclined, namely, the robot rolls, and when the sixth connecting rod of the first platform and the twelfth connecting rod of the second platform contact with the ground again, the robot rolls for one period.
Referring to fig. 5, in the embodiment of fig. 5, in the similar track rolling mode, the first platform and the second platform are arranged horizontally and in a quadrilateral shape, and the kinematic chain is vertically arranged between the first platform and the second platform to drive the first steering engine and lock the second steering engine, the third steering engine and the fourth steering engine.
Preferably, in a similar track rolling mode, a first steering engine is driven, a second steering engine, a third steering engine and a fourth steering engine are locked, a first connecting rod and a second connecting rod which are in contact with the ground start to move, a moving chain is driven to rotate with the rest of the connecting rods, the center of gravity of the whole robot deviates, when the robot deviates to a certain position, the whole robot tilts, the robot starts to roll, and when the first connecting rod and the second connecting rod are in contact with the ground again, the robot realizes rolling in one period.
It will be appreciated that the initial shape of the platform and the size of the rods may be selected by the skilled person depending on the circumstances.
It can also be understood that the steering engines on the kinematic chain in the first platform are provided with angle encoders, so that the overall motion and position of the robot can be recorded, and information can be fed back to the system in time.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. A reconfigurable multi-mode mobile parallel robot, comprising a first platform, a second platform and a kinematic chain arranged between the two platforms, characterized in that: the first platform is a closed polygon formed by sequentially connecting a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, the second platform is a closed polygon formed by sequentially connecting a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, a tenth connecting rod, an eleventh connecting rod and a twelfth connecting rod, the first platform and the second platform are arranged in parallel at intervals, a kinematic chain is arranged between the connecting rods corresponding to the first platform and the second platform, and the kinematic chain comprises an upper rod, a lower rod and a revolute pair connected between the upper rod and the lower rod; one end of the upper rod is connected with the connecting rod of the first platform through a revolute pair, and one end of the lower rod is connected with the connecting rod of the second platform through a revolute pair; a first rotating pair between the first connecting rod and the second connecting rod is driven by a first steering engine, a second rotating pair between the third connecting rod and the fourth connecting rod is driven by a second steering engine, a third rotating pair between the fifth connecting rod and the sixth connecting rod is driven by a third steering engine, and a rotating pair on any moving chain is driven by a fourth steering engine.
2. The reconfigurable multi-mode mobile parallel robot of claim 1, wherein: the multi-modes include a folded mode, a hexagonal rolling mode and a caterpillar-like rolling mode.
3. The reconfigurable multi-mode mobile parallel robot of claim 2, wherein: in the folding and unfolding mode, the first platform and the second platform are arranged in a hexagonal and vertical mode, the first steering engine, the second steering engine, the third steering engine and the fourth steering engine are driven, and the upper rod and the lower rod of the kinematic chain are folded inwards or unfolded outwards at the same time.
4. The reconfigurable multi-mode mobile parallel robot of claim 2, wherein: and under the hexagonal rolling mode, the first platform and the second platform are arranged in a hexagonal and horizontal mode, the moving chain is vertically arranged between the first platform and the second platform to drive the first steering engine, the second steering engine and the third steering engine, and the fourth steering engine is locked.
5. The reconfigurable multi-mode mobile parallel robot of claim 2, wherein: under the similar-track rolling mode, the first platform and the second platform are arranged in a quadrilateral and horizontal mode, the moving chain is vertically arranged between the first platform and the second platform to drive the first steering engine, and the second steering engine, the third steering engine and the fourth steering engine are locked.
6. A reconfigurable multimode mobile parallel robot according to claim 3, wherein: in the folding and unfolding mode, the initial state is the unfolding state of the robot, after the first, second, third and fourth steering engines are driven, the kinematic chain deforms with the first and second platforms at the same time, the axis of a revolute pair of the kinematic chain changes, the fourth steering engine drives the kinematic chain to move inwards to a specified position to stop, and the robot is in a folding state at the moment.
7. The reconfigurable multi-mode mobile parallel robot of claim 4, wherein: in the hexagonal rolling mode, initially, a sixth connecting rod of the first platform contacts with the twelfth connecting rod of the second platform to drive the first steering engine, the second steering engine and the third steering engine to lock the fourth steering engine, all the connecting rods on the first platform move together to drive the moving chain to rotate with the second platform, so that the center of gravity of the whole robot is deviated, when the robot is deviated to a certain position, the whole robot is inclined, namely the robot rolls, and when the sixth connecting rod of the first platform and the twelfth connecting rod in the second platform are contacted with the ground again, the robot rolls in one period.
8. The reconfigurable multi-mode mobile parallel robot of claim 5, wherein: under the class caterpillar rolling mode, drive first steering wheel, lock and die second steering wheel third steering wheel and fourth steering wheel, with ground contact first connecting rod with the second connecting rod begins to take place the motion, drives the kinematic chain rotates with other connecting rods, and the whole focus skew that takes place of robot, when squinting to a certain position, the whole emergence of robot is verted, and the robot begins to roll, works as first connecting rod with when the second connecting rod contacts with ground again, the robot has realized a periodic roll.
9. A reconfigurable multimode mobile parallel robot according to any of claims 1-8, wherein: the first steering engine, the second steering engine, the third steering engine and the fourth steering engine are provided with angle encoders.
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| CN113734312A (en) * | 2021-09-01 | 2021-12-03 | 中国石油大学(北京) | Closed chain rolling robot driven by shape memory alloy |
| CN114083553A (en) * | 2022-01-06 | 2022-02-25 | 上海工程技术大学 | Polymorphic mobile robot |
| CN114714378A (en) * | 2022-05-16 | 2022-07-08 | 上海工程技术大学 | Parallel type reconfigurable mountain forest mobile robot |
| CN115199914A (en) * | 2022-06-16 | 2022-10-18 | 上海工程技术大学 | Easily-concealed investigation equipment carrying platform |
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| CN114714378B (en) * | 2022-05-16 | 2023-05-26 | 上海工程技术大学 | Parallel reconfigurable mountain forest mobile robot |
| CN115199914A (en) * | 2022-06-16 | 2022-10-18 | 上海工程技术大学 | Easily-concealed investigation equipment carrying platform |
| CN115199914B (en) * | 2022-06-16 | 2023-06-02 | 上海工程技术大学 | Easily hidden investigation equipment carries on platform |
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