CN115781659A - Posture-adjustable six-foot ground moving operation device with stewart mechanism - Google Patents
Posture-adjustable six-foot ground moving operation device with stewart mechanism Download PDFInfo
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- CN115781659A CN115781659A CN202111675682.2A CN202111675682A CN115781659A CN 115781659 A CN115781659 A CN 115781659A CN 202111675682 A CN202111675682 A CN 202111675682A CN 115781659 A CN115781659 A CN 115781659A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 53
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 210000002414 leg Anatomy 0.000 claims description 119
- 230000005540 biological transmission Effects 0.000 claims description 89
- 230000003068 static effect Effects 0.000 claims description 21
- 230000000087 stabilizing effect Effects 0.000 claims description 19
- 210000000689 upper leg Anatomy 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 8
- 241000238631 Hexapoda Species 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 4
- 208000032370 Secondary transmission Diseases 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
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Abstract
The invention discloses a novel series-parallel six-foot ground movement motion robot device, and particularly relates to a six-foot ground movement motion robot device which takes a novel series-parallel six-foot moving device as a moving platform and a UPU-stewart platform parallel mechanism as an operating arm. The series mechanical leg group and the parallel mechanical leg group form a series-parallel mechanism through the device body, mutual interference is avoided, the series mechanical leg group and the parallel mechanical leg group have respective working spaces, a triangular stable structure is formed between the series mechanical leg group and the parallel mechanical leg group, and the series mechanical leg group and the parallel mechanical leg group have stable states. The device has the characteristics of novel structure, strong stability, wide application range, high freedom degree of the operating arm, high rigidity, strong bearing capacity, non-accumulative position error and the like.
Description
Technical Field
The invention relates to the field of six-foot mobile devices, in particular to a six-foot ground mobile action robot device which takes a novel series-parallel connection type six-foot device as a mobile platform and a UPU-stewart platform parallel mechanism as an operating arm.
Background
Nowadays, the ground mobile operation device has a mature theoretical system, and a novel intelligent mobile robot system with an operating arm additionally arranged on a mobile platform combines the advantages of the two. Ground moving working devices are nowadays mainly divided into wheeled, caterpillar and foot types. The wheel-type and crawler-type ground moving operation device is relatively simple, can move at a high speed, but has poor adaptability on complex terrains and strong dependence on road conditions. The foot type moving platform is based on simulating an upright walking animal, only walking characteristics of foot points need to be dispersed, the obstacle crossing capability of the foot type moving motion robot is higher than that of a wheel type and crawler type moving motion robot under a complex terrain, and the inherent suspension characteristics of the structure enable the foot type moving platform to effectively adjust the force application direction through adjusting the body posture in contact operation, so that higher bearing capacity, working speed and working efficiency are obtained, and the foot type ground moving operation device can be better applied to the complex environment. The device can be used as a ground moving operation device when the lock catch is opened; when the lock catch locks the foot type mechanical leg, the mechanical leg can be used as a stable and horizontal fixed base operating arm for operation. Based on the above, the invention adopts series-parallel connection type mechanical legs. The operating arm adopts a UPU-stewart platform parallel mechanism, so that the operating arm can move in multiple directions with six degrees of freedom, and the operating arm is more flexible and convenient.
In summary, the invention designs an attitude-adjustable six-legged ground moving operation device carrying a stewart mechanism, and the device adopts a series mechanical leg, a parallel mechanical leg group and a connection stabilizing device so as to ensure that the moving operation device has the advantages of higher precision, higher stability, larger bearing capacity and the like.
Disclosure of Invention
The invention aims to solve the problems that the ground moving action robot in the current market has low obstacle crossing capability, poor stability, large structural error, low precision and weaker bearing capacity in a complex terrain environment; the novel series-parallel connection type six-foot ground moving action robot device has the advantages that the two series-parallel mechanical legs, the four parallel mechanical legs, the stabilizing device and the UPU-stewart platform parallel mechanism operating arm are adopted, and the ground moving action robot has the advantages of being high in precision, stability, freedom degree, bearing capacity and the like.
The invention realizes the purpose through the following technical scheme: the utility model provides a novel six sufficient ground of series-parallel connection formula move action robot device which characterized in that: the device comprises a platform main body, an UPU-Stewart platform parallel mechanism operating arm, a parallel mechanical leg group, a lifting and power device and a connection stabilizing device;
the platform main body comprises a positioning plate, an SPS moving mechanism and a main body plate; the positioning plates are in a ladder-shaped manner and are designed into two symmetrical positioning plates which are distributed in the middle of the main body plate, and the upper ends of the two positioning plates are vertically and fixedly connected with the lower end of the main body plate; the SPS moving mechanism comprises an upper moving rod and a lower moving rod, wherein the upper moving rod and the lower moving rod are connected in a moving pair mode; the upper moving rod is connected with the main body plate in a ball pair mode; the lower moving rod is connected with the lifting and power device in a ball pair mode; the SPS moving mechanism is arranged at the center of the main body plate;
the series mechanical leg group consists of two identical series mechanical legs, and the two series mechanical legs are arranged at the outer sides of the two hangers; the series mechanical leg comprises a series mechanical leg driving motor, a thigh, a shank and a foot, wherein the output end of the series mechanical leg driving motor penetrates through one end of the thigh to be connected with the suspension loop in a revolute pair mode, the other end of the thigh and one end of the shank penetrate through the output end of the series mechanical leg driving motor to be connected in a revolute pair mode, the other end of the shank is fixedly connected with the foot, and the foot is spherical and made of rubber;
the parallel mechanical leg group consists of four identical parallel mechanical legs, and the four parallel mechanical legs are centrally and symmetrically distributed at four corners of the main body plate; the parallel mechanical legs comprise motors, hooke hinge structures, upper mechanical leg rods and lower mechanical leg rods, the motors are fixedly mounted at the bottoms of the main body plates, the output ends of the motors are connected with the hooke hinge structures to provide power for the hooke hinge structures, each hooke hinge structure comprises a structural center frame, an upper U-shaped block and a lower U-shaped block, the structural center frame is in a cross shape and consists of a square hollow frame and identical cylindrical supports, each cylindrical support is fixed in the center of the side face of the square hollow frame and is in a symmetrical state, one end of one cylindrical support is connected with the output end of the motor, the upper U-shaped block and the lower U-shaped block are in a U-shaped design structure, through holes with the same size are formed in the two ends of the U-shaped block, the four cylindrical supports of the center frame penetrate through the through holes of the upper U-shaped block and the lower U-shaped block respectively to form a revolute pair connection, the bottom of the upper U-shaped block is fixedly connected with the main body plate, the bottom of the lower U-shaped block is fixedly connected with the upper mechanical leg rod, the upper mechanical leg rod consists of a lower U-shaped block seat and an upper mechanical leg rod push rod, the large end face of the U-shaped block seat is fixedly connected with the lower U-shaped block, the small end face of the lower U-shaped block seat is fixedly connected with the upper mechanical leg rod push rod, the upper mechanical leg rod push rod is connected with the lower mechanical leg rod push rod in a cylindrical surface moving pair, the lower mechanical leg rod consists of a lower mechanical leg rod push rod, a foot base, a lock catch and a power transmission piece, the bottom of the lower mechanical leg rod push rod is fixedly connected with the foot base, the lock catch and the power transmission piece are fixedly connected with the lower mechanical leg rod push rod and are perpendicular to the side face of the lower U-shaped block seat in the upper mechanical leg rod, the lock catch and the power transmission piece are provided with a circular through hole and a rectangular lock hole, the circular through hole is connected with the lifting and the power device, the rectangular lock hole is connected with the connection stabilizing device;
the lifting and power device comprises a bearing main body, a transmission rod, side wing plates and a deep groove ball bearing, wherein the bearing main body is integrally designed into a cuboid thin body, the front and the back of the bearing main body are through, a circular through hole is designed at the top of the bearing main body, an SPS moving mechanism passes through and is fixedly connected with the inner and the bottom surfaces of the bearing main body, four power transmission plates are symmetrically arranged at the bottom of the bearing main body, the outer sides of the power transmission plates are connected with the transmission rod, two side wing plates are symmetrically designed at two side surfaces of the bearing main body, the top of the bearing main body is abutted against a step at the lower end of a positioning plate in a platform main body to form non-fixed connection, and the transmission rod comprises a transmission inner rod and a transmission outer rod, the center of the transmission rod is symmetrically distributed at four corners outside the bearing main body and is fixedly connected with the power transmission plate, one end of the inner transmission rod is a sphere and is connected with the outside of the power transmission plate of the bearing main body in a sphere pair mode, the other end of the inner transmission rod is a long cylinder and is in contact with the cylindrical surface of the outer transmission rod so as to be connected with a moving pair, one end of the outer transmission rod is a U-shaped frame and is connected with the lock catch and a circular through hole in the power transmission part in a rotating pair mode through a pin key, the side wing plate is a cuboid thin plate and is provided with two circular through holes, the side wing plate is connected with a connection stabilizing device through the circular through holes, the deep groove ball bearings are designed with two identical parts, the inner rings of the deep groove ball bearings are connected with the lower transmission rod, and the outer rings of the deep groove ball bearings are connected with the circular through holes of the side wing plates;
the connection stabilizing device consists of four belt transmission devices which are centrosymmetric on the side wing plate; the belt transmission device comprises a driving motor, a rubber belt, a lock catch and a link rod, wherein the driving motor is fixedly installed on the side face of a bearing body of the lifting and power device, the output end of the motor is in friction connection with the belt and provides driving force for the belt, the output end of the driving motor and one end of the link rod are sleeved together by the belt, the lock catch is in a J shape, one end of the lock catch is fixedly connected with a lock block and penetrates through rectangular through holes in the upper lock catch of the lower mechanical leg rod and the power transmission part to form non-fixed connection, the other end of the lock catch is provided with a circular through hole to be fixedly connected with one end of the link rod, the link rod consists of an upper transmission rod and a lower transmission rod, a groove is formed in the middle of the upper transmission rod to form friction connection with the rubber belt, the lower end of the upper transmission rod is fixedly connected with the lower transmission rod, and the lower transmission rod is fixedly connected with the circular through hole at the other end of the lock catch and connected with an inner ring of a deep groove ball bearing.
The UPU-stewart platform parallel mechanism operating arm consists of a movable platform, six identical UPU operating arm branched chains and a static platform; the movable platform is structurally designed into a hexagon with regularly distributed internal angles, and six movable platform chain seats are uniformly and fixedly installed on the lower portion of the movable platform and connected to the UPU operating arm branched chain. The UPU operating arm branched chain structure is designed to be two rod pieces matched with each other by a sliding pair and comprises an upper push rod, a lower push rod, a movable platform chain seat, a static platform chain seat, a push rod chain seat and a hooke hinge frame, the upper push rod structure is integrally designed to be a similar cylindrical rod piece, one end of the upper push rod is matched and connected with one end of the lower push rod to form the sliding pair, the other end of the upper push rod structure is connected with the movable platform by the hooke hinge, namely a 'U' kinematic pair, through the movable platform chain seat, the lower push rod structure is integrally designed to be a similar cylindrical rod piece, the other end of the lower push rod structure is connected with the lower platform by a universal hinge, and the transition radius is prevented from being concentrated by stress; the movable platform chain seat, the static platform chain seat and the push rod chain seat are of U-shaped structures, the bases are formed by a cuboid thin platform and a circular thin platform, through holes are formed in two ends of the bases respectively, the U-shaped structures are symmetrical in position, the hooke hinge frame is of a cross shape, the hooke hinge frame is vertically and fixedly connected through identical cylinders, and the hooke hinge frame is geometrically and symmetrically distributed and fixedly installed on the edges of the movable platform and the static platform. The hooke hinge frame structure is formed by vertically penetrating two equal cylinders, and four cylindrical surfaces respectively penetrate through the through holes of the chain seat, so that the chain seat is connected with a revolute pair in two directions; the shape of the static platform is similar to that of the movable platform, the static platform is internally connected with the movable platform and fixedly connected to the center of the main body plate through a bolt fastener.
Further, the main part board on the platform main part passes through bolt fixed connection with the bottom of last U type piece.
Furthermore, circular through holes with different sizes for reducing weight are arranged on thighs and shanks in the serial mechanical legs.
Furthermore, the chamfers of the side wing plates on the lifting and power device are 10 mm.
Furthermore, the top of the bearing main body and the step at the lower end of the positioning plate in the platform main body form non-fixed connecting fingers which are attached and in non-friction contact.
Furthermore, the contact surface of the lock catch and the side wing plate is in non-friction contact.
Furthermore, the inner ring of the deep groove ball bearing is connected with the transmission lower rod, and the outer ring of the deep groove ball bearing is connected with the circular through hole of the side wing plate in an interference connection mode.
Furthermore, the bottom of the static platform of the operating arm of the UPU-stewart platform parallel mechanism is fixedly connected with the main body plate on the platform main body through bolts.
Furthermore, an upper push rod and a lower push rod in an operating arm of the UPU-stewart platform parallel mechanism are in interference connection to form a moving pair.
Furthermore, the movable platform chain seat and the push rod chain seat rotate around the center line of the hooke hinge frame when rotating, and the center lines are perpendicular to each other.
Furthermore, the push rod chain seat is coaxially and fixedly connected with the bottom of the upper push rod and the bottom of the lower push rod respectively, and the fixing mode is welding.
The invention has the beneficial effects that: the platform comprises a platform main body, an operating arm of a UPU-Stewart platform parallel mechanism, a parallel mechanical leg group, a lifting and power device and a connection stabilizing device, wherein the platform main body can bear large load, the four parallel mechanical legs and the connection stabilizing device can form a stable parallel structure and locking capability, and the lifting and power device can connect the four parallel mechanical legs together and has high precision, high stability and large bearing capability. The operating arm of the parallel UPU-stewart platform mechanism is formed by connecting six identical UPU mechanism arms in parallel, so that the operating arm has multi-directional movement with six degrees of freedom, and is more flexible and convenient.
Therefore, the invention has reasonable structural design, can adapt to various complex environments, and greatly improves the moving efficiency and the degree of freedom of the operating arm.
Drawings
Fig. 1 is a structural schematic diagram of a six-legged ground mobile action robot device with a novel series-parallel connection type six-legged device as a mobile platform and a UPU-stewart platform parallel mechanism as an operating arm.
Fig. 2 is a front view of the platform body of the present invention.
Fig. 3 is a schematic structural diagram of the tandem mechanical leg of the present invention.
Fig. 4 is a schematic structural diagram of the parallel mechanical leg of the present invention.
Fig. 5 is a schematic structural diagram of the lifting and power device of the present invention.
Fig. 6 is a schematic structural view of the coupling stabilization device of the present invention.
Fig. 7 is a schematic view of the structure of the transmission rod of the present invention.
FIG. 8 is a schematic structural diagram of an operating arm of a parallel mechanism of a UPU-stewart platform.
FIG. 9 is a schematic structural diagram of an operating arm branched chain of a parallel mechanism of a UPU-stewart platform.
In the figure, the position of the upper end of the main shaft,
1-a platform body; 11-positioning plate, 12-SPS moving mechanism, 121-upper moving rod, 122-lower moving rod and 13-main body plate;
2-series mechanical leg group; 21-mechanical legs connected in series, 211-mechanical leg driving motors connected in series, 212-thighs, 213-shanks and 214-feet;
3-parallel mechanical leg group; 31-parallel mechanical legs, 311-motors, 312-hooke structures, 3121-structural center frames, 3122-upper U-shaped blocks, 3123-lower U-shaped blocks, 313-mechanical leg upper rods, 3131-lower U-shaped block seats, 3132-mechanical leg upper rod push rods, 314-mechanical leg lower rods, 3141-mechanical leg lower rod push rods, 3142-foot bases, 3143-locks and power transmission parts;
4-lifting and power devices; 41-a bearing main body, 411-a power transmission plate, 42-a transmission rod, 421-a transmission inner rod, 422-a transmission outer rod, 43-a side wing plate and 44-a deep groove ball bearing;
5-coupling a stabilizing device; 51-belt transmission device, 511-driving motor, 512-rubber belt, 513-lock catch, 5131-lock block, 514-link rod, 5141-transmission upper rod and 5142-transmission lower rod;
6-UPU-stewart platform parallel mechanism operating arm; 61-moving platform, 62-UPU operating arm branched chain, 621-upper push rod, 622-lower push rod, 623-moving platform chain seat, 624-static platform chain seat, 625-push rod chain seat, 626-hooke hinge frame and 63-static platform;
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1 to 7, a six-foot ground mobile robot device using a novel series-parallel connection type six-foot device as a mobile platform and a UPU-stewart platform parallel mechanism as an operating arm is characterized in that: the device comprises a platform main body 1, a UPU-stewart platform parallel mechanism operating arm 2, a parallel mechanical leg group 3, a lifting and power device 4 and a connection stabilizing device 5;
the platform main body 1 comprises a positioning plate 11, an SPS moving mechanism 12 and a main body plate 13; the positioning plates 11 are in a ladder-shaped manner and are designed into two symmetrical positioning plates which are distributed in the middle of the main body plate 13, and the upper ends of the two positioning plates 11 are vertically and fixedly connected with the lower end of the main body plate 13; the SPS moving mechanism 12 includes an upper moving rod 121 and a lower moving rod 122, wherein the upper moving rod 121 and the lower moving rod 122 are connected in a moving pair; the upper moving rod 121 is connected with the main body plate 13 in a ball pair manner; the lower moving rod 122 is connected with the lifting and power device 4 in a ball pair manner; the main body plate 13 is designed into a cuboid thin platform, two positioning plates 11 are symmetrically arranged in the middle of the main body plate 13 around a central axis, and the SPS moving mechanism 12 is arranged at the center of the main body plate 13;
the series mechanical leg group 2 consists of two identical series mechanical legs 21, and the two series mechanical legs 21 are arranged at the outer sides of the two hangers 11; the tandem mechanical leg 21 comprises a tandem mechanical leg driving motor 211, a thigh 212, a lower leg 213 and a foot 214, wherein the output end of the tandem mechanical leg driving motor 211 penetrates through one end of the thigh 212 to be connected with the suspension loop 11 in a revolute pair mode, the other end of the thigh 212 and one end of the lower leg 213 penetrate through the output end of the tandem mechanical leg driving motor to be connected in a revolute pair mode, the other end of the lower leg 213 is fixedly connected with the foot 214, and the foot 214 is spherical and made of rubber;
the parallel mechanical leg group 3 is composed of four identical parallel mechanical legs 31, and the four parallel mechanical legs 31 are centrally and symmetrically distributed at four corners of the main body plate 13; the parallel mechanical leg 31 comprises a motor 311, a hooke hinge structure 312, an upper mechanical leg rod 313 and a lower mechanical leg rod 314, the motor 311 is fixedly installed at the bottom of the main body plate 13, the output end of the motor is connected with the hooke hinge structure 312 to provide power for the hooke hinge structure 312, the hooke hinge structure 312 comprises a structural center frame 3121, an upper U-shaped block 3122 and a lower U-shaped block 3123, the structural center frame 3121 is in a cross shape and consists of a square hollow frame and 4 identical cylindrical supports, each cylindrical support is fixed at the side center of the square hollow frame and is in a symmetrical state, one end of one cylindrical support is connected with the output end of the motor 311, the upper U-shaped block 3122 and the lower U-shaped block 3123 are in an identical structure and are in a U shape, two ends of the U shape are respectively provided with a through hole of the same size, wherein the four cylindrical supports of the center frame respectively pass through holes of the upper U-shaped block 3122 and the lower U-shaped block 3123 to form a rotation pair connection, the bottom of the upper U-shaped block 3122 is fixedly connected with the main body plate 13, the bottom of the lower U-shaped block 3123 is fixedly connected with the upper mechanical leg rod 313, the upper mechanical leg rod 313 is composed of a lower U-shaped block base 3131 and an upper mechanical leg rod push rod 3132, wherein the large end surface of the U-shaped block base 3131 is fixedly connected with the lower U-shaped block 3123, the small end surface of the lower U-shaped block base 3131 is fixedly connected with the upper mechanical leg rod push rod 3132, the upper mechanical leg rod push rod 3132 is connected with the lower mechanical leg rod push rod 3141 through a cylindrical surface moving pair, the lower mechanical leg rod 314 is composed of a lower mechanical leg rod push rod 3141, a sole base 3142 and a lock catch and a power transmission element 3143, the bottom of the lower mechanical leg rod push rod 3141 is fixedly connected with the sole base 3142, the lock catch and power transmission element 3143 are fixedly connected with the lower mechanical leg rod 3141 and are perpendicular to the side surface of the lower mechanical leg rod 3131 in the upper mechanical leg rod 313, the lock catch and power transmission piece 3143 is provided with a circular through hole and a rectangular lock hole, the circular through hole is connected with the lifting and power device 4, and the rectangular lock hole is connected with the connection stabilizing device 5;
the lifting and power device 4 comprises a bearing main body 41, a transmission rod 42, side wing plates 43 and a deep groove ball bearing 44, wherein the bearing main body 41 is integrally designed into a cuboid thin body with a through front and back surface, a circular through hole is designed at the top of the bearing main body 41, the SPS moving mechanism 12 passes through and is fixedly connected with the inner and bottom surfaces of the bearing main body 41, four power transmission plates 411 are symmetrically arranged at the bottom of the bearing main body 41, wherein the outer sides of the power transmission plates are connected with the transmission rod 42, two side wing plates 43 are symmetrically designed at two side surfaces of the bearing main body 41, the top of the bearing main body 41 is abutted against a ladder at the lower end of a positioning plate 11 in the platform main body to form non-fixed connection, the transmission rod 42 comprises a transmission inner rod 421 and a transmission outer rod 422, the driving rods 42 are centrally and symmetrically distributed at four corners of the outer side of the bearing body 41 and fixedly connected with the power transmission plate 411, one end of the inner driving rod 421 is a sphere and is connected with the outer side of the power transmission plate 411 of the bearing body in a sphere pair mode, the other end of the inner driving rod 421 is a long cylinder and is in contact with the cylindrical surface of the outer driving rod 422 so as to be connected with a moving pair, one end of the outer driving rod 422 is a U-shaped frame and is connected with a circular through hole on the lock catch and the power transmission member 3143 in a revolute pair mode through a pin key, the side wing plates 43 are rectangular thin plates and are provided with two circular through holes, wherein the side wing plates 43 are connected with the stabilizing device 5 through the circular through holes, the deep groove ball bearings 44 are designed into two parts and are completely identical, the inner rings of the deep groove ball bearings are connected with the lower driving rods 5142, and the outer rings of the deep groove ball bearings are connected with the circular through holes of the side wing plates 43;
the connection stabilizing device 5 consists of four belt transmission devices 51, and the four belt transmission devices 51 are in central symmetry on the side wing plates 43; the belt transmission device 51 comprises a driving motor 511, a rubber belt 512, a lock 513 and a link rod 514, wherein the driving motor 511 is fixedly installed on the side surface of a bearing main body 41 of the lifting and power device 4, the output end of the motor 511 is in friction connection with the belt 512 to provide a driving force for the belt, the output end of the driving motor 511 and one end of the link rod 514 are sleeved together by the belt 512, the lock 513 is in a J shape, one end of the lock 513 is fixedly connected with a lock block 5131 and penetrates through a rectangular through hole in a mechanical leg lower rod upper lock catch and a power transmission part 3143 to form non-fixed connection, the other end of the lock 513 is provided with a circular through hole to be fixedly connected with one end of the link rod 514, the link rod 514 is composed of an upper transmission rod 5141 and a lower transmission rod 5142, a groove is arranged in the middle of the upper transmission rod 5141 to form friction connection with the rubber belt 512, the lower end of the upper transmission rod 5141 is fixedly connected with the lower transmission rod 5142, and the lower transmission rod 5142 is fixedly connected with the circular through hole at the other end of the lock 513 and connected with a deep groove 44.
The UPU-stewart platform parallel mechanism operating arm 6 consists of a movable platform 61, six identical UPU operating arm branched chains 62 and a static platform 63; the movable platform 61 is designed to be a hexagon with an internal angle of 120 degrees and in regular distribution, and six movable platform chain seats 623 are uniformly and fixedly mounted on the lower portion of the movable platform 61 and connected to the UPU operating arm branched chain 62. The UPU operating arm branched chain 62 is structurally designed into two rod pieces which are matched with each other by a moving pair, and comprises an upper push rod 621, a lower push rod 622, a movable platform chain seat 623, a static platform chain seat 624, a push rod chain seat 625 and a hooke hinge frame 626, wherein the upper push rod 621 is structurally designed into a similar cylindrical rod piece integrally, one end of the upper push rod 621 is matched and connected with one end of the lower push rod 622 to form the moving pair, the other end of the upper push rod 621 is connected with the movable platform 61 by a hooke hinge, namely a 'U' moving pair, through the movable platform chain seat 623, the lower push rod 622 is structurally designed into the similar cylindrical rod piece, the other end of the lower push rod 622 is connected with the lower platform 63 by a universal hinge, and the transition radius is designed to prevent stress concentration; the movable platform chain seat 623, the static platform chain seat 624 and the push rod chain seat 625 are structurally characterized in that the bases are U-shaped and are formed by a cuboid thin platform and a circular thin platform, through holes are formed in two ends of the bases respectively, the two ends of the bases are symmetrical in position, the hooke hinge frame 626 is structurally designed into a cross shape and is vertically and fixedly connected by 2 identical cylinders, and the bases are geometrically and symmetrically distributed and fixedly installed on the edges of the movable platform 61 and the static platform 63. The hooke hinge frame 626 is formed by two equal cylinders which vertically penetrate, and four cylindrical surfaces respectively penetrate through the through holes of the chain seat, so that the chain seat is connected with a revolute pair in two directions; the static platform 63 is similar to the movable platform 61 in shape and is internally connected with the movable platform and fixedly connected with the center of the main body plate 63 through a bolt fastener.
The main body plate 13 on the platform main body is fixedly connected with the bottom of the upper U-shaped block 3122 through bolts.
Circular through holes with different sizes are arranged on the upper leg 212 and the lower leg 213 of the serial mechanical legs for reducing weight.
Furthermore, the chamfers of the side wing plates 43 on the lifting and power device are 10 mm.
Further, the top of the bearing body 41 forms a non-fixed connection finger with the step at the lower end of the positioning plate 11 in the platform body to abut against and make non-friction contact.
Further, the contact surface of the lock 513 and the side wing plate 43 is in non-friction contact.
Further, the inner ring of the deep groove ball bearing 44 is connected with the transmission lower rod 5142, and the outer ring of the deep groove ball bearing 44 is connected with the circular through hole of the side wing plate 43 in an interference connection mode.
Further, the bottom of the static platform 63 of the operating arm of the UPU-stewart platform parallel mechanism is fixedly connected with the main body plate 63 on the platform main body through bolts.
Further, the upper push rod 621 and the lower push rod 622 in the operating arm of the parallel mechanism of the UPU-stewart platform are connected in an interference manner to form a moving pair.
Further, the movable platform chain base 223 and the push rod chain base 625 rotate about the center line of the hooke hinge frame 626 while rotating, and the center lines are perpendicular to each other.
Further, the push rod chain seat 625 is coaxially and fixedly connected to the bottoms of the upper push rod 621 and the lower push rod 622 respectively, and the fixing manner is welding.
The specific working process of the invention is as follows:
during movement, firstly, the connection stabilizing device 5 is controlled to close the lock catch 513, the lock catch is separated from the parallel mechanical leg group 3, the lifting and power device 4 is lowered, the motor 311 and the serial mechanical leg driving motor 211 are opened, the output end of the serial mechanical leg driving motor 211 drives the thigh 212, the thigh 212 drives the walking action of the shank 213, the motor 311 of the parallel mechanical leg controls the hooke hinge structure 312 to enable the parallel mechanical leg group 3 to move coordinately, and an operator only needs to control the operator to move to a required place; the operating arm of the UPU-stewart platform parallel mechanism drives the lower push rod 222, and the lower push rod 222 drives the upper push rod 221 to control the motion of the movable platform 21.
When the platform is stopped, the motor 311 and the driving motor 211 of the serial mechanical leg are turned off, the lifting and power device 4 is lifted to be attached to the positioning plate 11 on the platform main body, then the stabilizing device 5 is controlled to open the lock catch 513 to be tightly fastened with the parallel mechanical leg group 3, finally the moving device is stopped to move in a stable posture, and meanwhile the operating arm 2 of the parallel mechanism of the UPU-stewart platform and the parallel mechanical leg group 3 are stopped to move.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solution of the present invention, as long as the present invention belongs to the field of modifying the parallel mechanism structure on the basis of the hexapod ground moving robot device or adding other devices to the device for operation, etc., and the present invention shall be considered to fall within the protection scope of the patent of the present invention.
Claims (10)
1. The utility model provides a carry stewart mechanism's six sufficient ground mobile operation devices of adjustable appearance which characterized in that: comprises a platform main body (1), a series mechanical leg group (2), a parallel mechanical leg group (3), a lifting and power device (4), a connection stabilizing device (5) and an operating arm (6) of a UPU-Stewart platform parallel mechanism;
the platform main body (1) comprises a positioning plate (11), an SPS moving mechanism (12) and a main body plate (13); the positioning plates (11) are in a ladder-shaped manner and are designed into two symmetrical positioning plates which are distributed in the middle of the main body plate (13), and the upper ends of the two positioning plates (11) are vertically and fixedly connected with the lower end of the main body plate (13); the SPS moving mechanism (12) comprises an upper moving rod (121) and a lower moving rod (122), wherein the upper moving rod (121) is connected with the lower moving rod (122) in a moving pair mode; the upper moving rod (121) is connected with the main body plate (13) in a ball pair mode; the lower moving rod (122) is connected with the lifting and power device (4) in a ball pair mode; the main body plate (13) is designed to be a cuboid thin platform, two positioning plates (11) are symmetrically designed and mounted in the middle of the main body plate (13) relative to a central axis, and the SPS moving mechanism (12) is arranged at the center of the main body plate (13);
the series mechanical leg group (2) consists of two identical series mechanical legs (21), and the two series mechanical legs (21) are arranged at the outer sides of the two hangers (11); the series mechanical leg (21) comprises a series mechanical leg driving motor (211), a thigh (212), a shank (213) and a foot (214), the output end of the series mechanical leg driving motor (211) penetrates through one end of the thigh (212) to be connected with the suspension loop (11) in a revolute pair mode, the other end of the thigh (212) and one end of the shank (213) penetrate through the output end of the series mechanical leg driving motor to be connected in a revolute pair mode, the other end of the shank (213) is fixedly connected with the foot (214), and the foot (214) is spherical and made of rubber;
the parallel mechanical leg group (3) consists of four identical parallel mechanical legs (31), and the centers of the four parallel mechanical legs (31) are symmetrically distributed at four corners of the main body plate (13); the parallel mechanical leg (31) comprises a motor (311), a hooke hinge structure (312), an upper mechanical leg rod (313) and a lower mechanical leg rod (314), the motor (311) is fixedly installed at the bottom of the main body plate (13), the output end of the motor is connected with the hooke hinge structure (312) to provide power for the hooke hinge structure (312), the hooke hinge structure (312) comprises a structural center frame (3121), an upper U-shaped block (3122) and a lower U-shaped block (3123), the structural center frame (3121) is in a cross shape and consists of a square hollow frame and 4 identical cylindrical supports, each cylindrical support is fixed at the center of the side surface of the square hollow frame and is in a symmetrical state, one end of one cylindrical support is connected with the output end of the motor (311), the upper U-shaped block (3122) and the lower U-shaped block (3123) are in the same structural structure and are in a U-shaped shape, two ends of the U-shaped form, two ends of the U-shaped support are provided with a through hole with the same size, wherein the four cylindrical supports of the central frame pass through the upper U-shaped block (3122) and the lower U-shaped block (3123) respectively form, the upper mechanical leg rod (3132) is connected with the upper mechanical leg rod (3132) and the lower mechanical leg rod (3133), the upper mechanical leg rod (3132) is connected with the upper mechanical leg rod (3122), the lower block (3132) and the upper mechanical leg (3133), the lower block (3132) is connected with the upper mechanical leg, the upper mechanical leg rod (3132) and the lower block (3132) is connected with the upper mechanical leg, the upper mechanical leg (3132) and the lower block (3132), the small end face of the lower U-shaped block seat (3131) is fixedly connected with an upper mechanical leg rod push rod (3132), the upper mechanical leg rod push rod (3132) is connected with a lower mechanical leg rod push rod (3141) in a cylindrical surface moving pair mode, the lower mechanical leg rod (314) consists of a lower mechanical leg rod push rod (3141), a sole seat (3142) and a lock catch and power transmission piece (3143), the bottom of the lower mechanical leg rod push rod (3141) is fixedly connected with the sole seat (3142), the lock catch and power transmission piece (3143) is fixedly connected with the lower mechanical leg rod push rod (3141) and perpendicular to the side face of the lower U-shaped block seat (3131) in the upper mechanical leg rod (313), a circular through hole and a rectangular lock hole are formed in the lock catch and power transmission piece (3143), the circular through hole is connected with the lifting and power device (4), and the rectangular lock hole is connected with the connecting and stabilizing device (5);
the lifting and power device (4) comprises a bearing main body (41), a transmission rod (42), side wing plates (43) and deep groove ball bearings (44), the bearing main body (41) is integrally designed to be a cuboid thin body with through front and back surfaces, a circular through hole is designed at the top of the bearing main body (41), an SPS moving mechanism (12) penetrates through and is fixedly connected with the inner surface and the bottom surface of the bearing main body (41), four power transmission plates (411) are symmetrically arranged at the bottom of the bearing main body (41), wherein the outer sides of the power transmission plates are connected with the transmission rod (42), two side wing plates (43) are symmetrically designed at two side surfaces of the bearing main body (41), the top of the bearing main body (41) abuts against a step at the lower end of a positioning plate (11) in the platform main body to be in contact to form a non-fixed connection, the transmission rod (42) comprises an inner transmission rod (421) and an outer transmission rod (422), the centers of the bearing main body (41) are symmetrically distributed at four corners of the outer side of the bearing main body (41) and are fixedly connected with the power transmission plates (411), one end of the inner rod (421) is a ball body and is connected with the outer side of the power transmission plate (411) in a manner of a secondary transmission rod (422), one end of a ball lock catch, one end of the ball is connected with a transmission rod (31, and a transmission rod of a transmission pin support, and a transmission rod (422) in a transmission pin support is connected with a U-shaped transmission pin support in a U-shaped form of a round through hole (422), the side wing plates (43) are rectangular thin plates and are provided with two circular through holes, wherein the side wing plates (43) are connected with the stabilizing device (5) through the circular through holes, the deep groove ball bearings (44) are designed to be two and completely identical, the inner rings of the deep groove ball bearings are connected with the transmission lower rod (5142), and the outer rings of the deep groove ball bearings are connected with the circular through holes of the side wing plates (43);
the connection stabilizing device (5) consists of four belt transmission devices (51), and the four belt transmission devices (51) are centrosymmetric on the side wing plates (43); the belt transmission device (51) comprises a driving motor (511), a rubber belt (512), a lock catch (513) and a link rod (514), wherein the driving motor (511) is fixedly installed on the side face of a bearing main body (41) of the lifting and power device (4), the output end of the motor (511) is in friction connection with a belt (512) to provide driving force for the belt, the output end of the driving motor (511) and one end of the link rod (514) are sleeved together by the belt (512), the lock catch (513) is in a J shape, one end of the lock catch (513) is fixedly connected with a lock block (5131) and penetrates through a rectangular through hole in an upper lock catch of a lower mechanical leg rod and a rectangular through hole in a power transmission piece (3143) to form non-fixed connection, the other end of the lock catch (513) is provided with a circular through hole to be fixedly connected with one end of the link rod (514), the link rod (514) consists of an upper transmission rod (5141) and a lower transmission rod (5142), a groove is arranged in the middle of the upper transmission rod (5141) to form friction connection with the rubber belt (512), and the lower end of the upper transmission rod (5141) is connected with a fixed groove of a deep groove and a ball bearing (5142) and the other end of the lower lock catch (5142) is connected with a deep groove of the lower transmission rod (5142);
the UPU-stewart platform parallel mechanism operating arm (6) consists of a movable platform (61), six identical UPU operating arm branched chains (62) and a static platform (63); the structure of the movable platform (61) is designed to be a hexagon with an internal angle of 120 degrees and in regular distribution, and six movable platform chain seats (623) are uniformly and fixedly installed at the lower part of the movable platform (61) and connected to the UPU operating arm branched chain (62); the UPU operating arm branched chain (62) is structurally designed to be two rod pieces matched with each other in a moving pair mode and comprises an upper push rod (621), a lower push rod (622), a moving platform chain seat (623), a static platform chain seat (624), a push rod chain seat (625) and a hooke hinge frame (626), wherein the upper push rod (621) is integrally designed to be a similar cylindrical rod piece, one end of the upper push rod is matched and connected with one end of the lower push rod (622) to form the moving pair, the other end of the upper push rod prevents stress from concentrating to design a transition radius, the upper push rod is connected with the moving platform (61) through the moving platform chain seat (623) in a hooke hinge mode, namely a U-shaped moving pair, the lower push rod (622) is integrally designed to be a similar cylindrical rod piece, the other end of the lower push rod prevents stress from concentrating to design the transition radius, and the lower push rod (63) is connected with the static platform chain seat (624) in a universal hinge mode; the structure of the movable platform chain seat (623), the structure of the static platform chain seat (624) and the structure of the push rod chain seat (625) are that the base is composed of a rectangular thin platform and a round thin platform and is U-shaped, two ends of the base are respectively provided with a through hole and are symmetrical in position, the structure of the hooke hinge frame (626) is designed to be cross-shaped and is vertically and fixedly connected by 2 identical cylinders, and the two cylinders are symmetrically and geometrically and fixedly arranged at the edges of the movable platform (61) and the static platform (63); the hooke hinge frame (626) is formed by two equal cylinders which vertically penetrate, and four cylindrical surfaces respectively penetrate through holes of the chain seat, so that the four cylindrical surfaces are connected by revolute pairs in two directions; the shape of the static platform (63) is similar to that of the movable platform (61), the static platform is internally connected with the movable platform and fixedly connected to the center of the main body plate (13) through a bolt fastener.
2. The posture-adjustable hexapod ground moving operation device with the stewart mechanism as claimed in claim 1, wherein: the main body plate (13) on the platform main body is fixedly connected with the bottom of the upper U-shaped block (3122) through a bolt.
3. The posture-adjustable six-legged ground moving operation device with the stewart mechanism as claimed in claim 1, wherein: circular through holes with different sizes for reducing weight are arranged on the upper leg (212) and the lower leg (213) of the serial mechanical leg.
4. The novel series-parallel connection type six-foot ground movement action robot device as claimed in claim 1, wherein: the chamfers of the side wing plates (43) on the lifting and power device are 10 mm.
5. The posture-adjustable hexapod ground moving operation device with the stewart mechanism as claimed in claim 1, wherein: the top of the bearing main body (41) is in non-fixed connection finger attachment and non-friction contact with the step at the lower end of the positioning plate (11) in the platform main body.
6. The posture-adjustable six-legged ground moving operation device with the stewart mechanism as claimed in claim 1, wherein: the contact surface of the lock catch (513) and the side wing plate (43) is in non-friction contact.
7. The posture-adjustable hexapod ground moving operation device with the stewart mechanism as claimed in claim 1, wherein: the inner ring of the deep groove ball bearing (44) is connected with the transmission lower rod (5142), the outer ring of the deep groove ball bearing (44) is connected with the circular through hole of the side wing plate (43), and the connection mode is interference connection.
8. An attitude-adjustable hexapod ground movement working device with a stewart mechanism as claimed in claim 1, wherein: the bottom of a static platform (63) of the UPU-stewart platform parallel mechanism operating arm is fixedly connected with a main body plate (13) on the platform main body through a bolt.
9. The posture-adjustable six-legged ground moving operation device with the stewart mechanism as claimed in claim 1, wherein: an upper push rod (621) and a lower push rod (622) in an operating arm of the parallel mechanism of the UPU-stewart platform are in interference connection to form a sliding pair.
10. The posture-adjustable hexapod ground moving operation device with the stewart mechanism as claimed in claim 1, wherein: the movable platform chain seat (623) and the push rod chain seat (625) rotate around the center line of the hooke hinge frame (626) when rotating, and the center lines are perpendicular to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111675682.2A CN115781659A (en) | 2021-12-31 | 2021-12-31 | Posture-adjustable six-foot ground moving operation device with stewart mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111675682.2A CN115781659A (en) | 2021-12-31 | 2021-12-31 | Posture-adjustable six-foot ground moving operation device with stewart mechanism |
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| Publication Number | Publication Date |
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| CN115781659A true CN115781659A (en) | 2023-03-14 |
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|---|---|---|---|
| CN202111675682.2A Withdrawn CN115781659A (en) | 2021-12-31 | 2021-12-31 | Posture-adjustable six-foot ground moving operation device with stewart mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116300667A (en) * | 2023-05-25 | 2023-06-23 | 中国科学院长春光学精密机械与物理研究所 | Modular combined adjusting platform and control method thereof |
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2021
- 2021-12-31 CN CN202111675682.2A patent/CN115781659A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116300667A (en) * | 2023-05-25 | 2023-06-23 | 中国科学院长春光学精密机械与物理研究所 | Modular combined adjusting platform and control method thereof |
| CN116300667B (en) * | 2023-05-25 | 2024-02-23 | 中国科学院长春光学精密机械与物理研究所 | Modular combined adjusting platform and control method thereof |
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