CN202593677U - Six-wheel-foot type series-parallel mixed combination robot - Google Patents
Six-wheel-foot type series-parallel mixed combination robot Download PDFInfo
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- CN202593677U CN202593677U CN 201220147192 CN201220147192U CN202593677U CN 202593677 U CN202593677 U CN 202593677U CN 201220147192 CN201220147192 CN 201220147192 CN 201220147192 U CN201220147192 U CN 201220147192U CN 202593677 U CN202593677 U CN 202593677U
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Abstract
Provided is a six-wheel-foot type series-parallel mixed combination robot. The six-wheel-foot type series-parallel mixed combination robot comprises a carry platform, a battery, a control system, a camera and three wheel-foot-combined type motion branched chains of six degrees of freedom (DOF), wherein the battery, the control system and the camera are installed on the carry platform, and the wheel-foot-combined type motion branched chains are arranged below the carry platform. Each wheel-foot-combined type motion branched chain comprises a yaw joint, a yaw joint support frame, an upper pitching joint, a thigh, a middle pitching joint, a middle pitching joint support frame, an upper roll joint, a shank, a lower pitching joint, a lower pitching joint support frame, a lower roll joint, a power wheel support frame and a power wheel. The six-wheel-foot type series-parallel mixed combination robot has the advantages of being simplified in structure, and good in flexibility and rapidity.
Description
Technical field
The utility model belongs to polypody walking robot field, especially relates to a kind of six and takes turns sufficient formula string and series-parallel robot mechanism.
Technical background
At present both at home and abroad the traveling gear of robot can be divided into wheeled, leg formula, crawler type etc. by move mode.Yet they all exist corresponding defects separately, and wheeled construction speed is fast, and control is flexible, but obstacle climbing ability is limited.Leg formula structure adaptive capacity is strong, sight might as well, but energy consumption is big, control is complicated, and is inappropriate for alerting ability, occasion that rapidity requirement is high.Caterpillar mobile robot weight is big, and energy consumption is high.
Summary of the invention
Can not take into account the deficiency of simple in structure, alerting ability and rapidity in order to overcome the robot that is movably walking, the utility model provides a kind ofly in simplified structure, have six of good alerting ability and rapidity and take turns sufficient formula string and series-parallel robot.
For the technical scheme that solves the problems of the technologies described above proposition is:
A kind of six take turns sufficient formula string and series-parallel robot; Said six take turns the wheel foot combined type movement side chain that sufficient formula string and series-parallel robot comprise carrying platform, battery, control system, camera and 6 6DOFs; Battery, control system and camera are installed on the said carrying platform, the said sufficient combined type movement side chain of taking turns is installed below said carrying platform, saidly take turns sufficient combined type movement side chain and comprise driftage joint, driftage knuckle support, go up pitching joint, thigh, middle pitching joint, middle pitching knuckle support; Last roll joint, shank, following pitching joint, following pitching knuckle support, following roll joint, power wheel support and power wheel; Captive joint with said carrying platform below in said driftage joint, said driftage joint is installed in driftage knuckle support top, and said driftage knuckle support side is installed the pitching joint; Captive joint with the thigh upper end in last pitching joint; Said thigh lower end is connected with middle pitching joint, and on the pitching knuckle support, said middle pitching knuckle support was connected with following roll joint during said middle pitching joint was installed in; Said roll joint down is connected with the shank upper end; Said shank lower end is connected with following pitching joint, and said pitching joint down is installed in down on the pitching knuckle support, and said pitching knuckle support down is connected with following roll joint; Said roll joint down is connected with the power wheel support, on the said power wheel support power wheel is installed.
Further; Said driftage joint, go up pitching joint, middle pitching joint, go up the roll joint, down the pitching joint, rotary joint is all adopted in the roll joint down, said rotary joint comprises that joint shell, left end output bearing, left end cap, absolute encoder fixed muffle, absolute encoder, output flange, the oval plug of wave producer, wave producer bearing, flexbile gear, steel wheel, fixed mount, key, input flange, planetary gear, sleeve, DC servo motor, drg, incremental encoder, incremental encoder fixed muffle, right-hand member export bearing and right end cap; Absolute encoder is positioned the absolute encoder base through the absolute encoder fixed muffle; The joint shell is rotatably connected through left end output bearing and absolute encoder base; The joint shell is affixed through screw and fixed mount simultaneously; Fixed mount is through the steel wheel of the affixed harmonic speed reducer of bolt, and the flexbile gear of harmonic speed reducer is fixed together through bolt and input flange, and the oval plug of output flange and wave producer joins with screw; And the output shaft of planetary gear is connected with output flange through key; Sleeve is captiveed joint with the incremental encoder base with input flange respectively through bolt, and said planetary gear, DC servo motor, drg and incremental encoder are positioned at sleeve, and drg is connected with incremental encoder; DC servo motor output shaft one end is connected with drg; The DC servo motor output shaft other end is connected with planetary gear, and joint shell and right end cap are forwarded through the right-hand member output shaft and be dynamically connected, and incremental encoder is located and is fixed in the right end cap through the incremental encoder fixed muffle.
Further again, the angle on the every limit of described carrying platform is 120 °, and carrying platform is the regular hexagon shape.
The technical conceive of the utility model is: because existing wheeled, leg formula, crawler type mechanism all have merits and faults; If will be wherein 2 kinds or multiple structure combines; Performance advantage separately remedies deficiency each other, just can make the walking performance of robot obtain very big improvement.
Six take turns that sufficient formula string and series-parallel robot have that rigidity is big, load-carrying capacity is strong, mode of motion is flexible, the volume magnification ratio big, obstacle detouring and characteristics such as the climb very steep slopes ability is strong, multi-function operation.This makes this robot have wide military affairs and space operation purposes, is adapted in the complex environments such as the moon or martian surface, and assistance even alternative cosmonaut carry out space exploration task.Therefore, research six is taken turns sufficient formula string and series-parallel robot for exploitation new construction polypody walking robot, and the application of widening the polypody walking robot has important theory and engineering significance.
The useful effect that the utlity model has is:
1. the utility model provides novel six takes turns that the working space of sufficient formula string and series-parallel robot mechanism is more wheeled than mono-, leg formula, crawler type mechanism big many, can accomplish the large space scope obstacle detouring, cross abrupt slope and other tasks;
Novel six of the utility model take turns each movement branched chain of sufficient formula string and series-parallel robot mechanism " shank " can fold advance " thigh " lining; " thigh " then arranged along each edge direction of carrying platform regular hexagon; This structure makes the entire machine people all be contracted within the carrying platform regular hexagon scope; Though this volumetric shrinkage makes six to take turns sufficient formula string and series-parallel robot joint component One's name is legion than big characteristics; But the volume after shrinking is little, is easy to carry very much, is particularly suitable for parking and delivering of the limited spacecraft in inner space;
3. novel six take turns sufficient formula string and series-parallel robot mechanism also has other multiple functions.Carrying platform installed inside battery and computer controller, may command robot motion, and to each joint motor power supply of robot.
4. camera is installed in the carrying platform regular hexagon outside, can make this robot execution walking, obstacle detouring, keep away multitasks such as barrier, target extracting, boring, detection, transportation, maintenance, assembling, automatic butt, autonomous charging, multimachine co-ordination through visual processes and motion control;
Novel six of the utility model take turns sufficient formula string and series-parallel robot simple in structure, rationally distributed;
6. novel six of the utility model take turns sufficient formula string and series-parallel robot has characteristics such as rigidity is big, mode of motion is flexible.
Description of drawings
Fig. 1 six takes turns sufficient formula string and series-parallel robot schematic three dimensional views.
Fig. 2 is the sufficient formula movement branched chain schematic three dimensional views of wheel.
Fig. 3 is the joint cutaway view.
Fig. 1: 1, the sufficient formula movement branched chain of wheel, 2, camera, 3, battery unit, 4, control system, 5, carrying platform;
Fig. 2: 6, power wheel, 7, the power wheel support, 8, roll joint down, 9, pitching knuckle support down; 10, following pitching joint, 11, shank, 12, go up the roll joint; 13, middle pitching knuckle support, 14, middle pitching joint, 15, thigh; 16, go up the pitching joint, 17, the driftage knuckle support, 18, the driftage joint;
Fig. 3: 19, joint shell, 20, left end output bearing, 21, left end cap, 22, the absolute encoder fixed muffle, 23, absolute encoder; 24, output flange, 25, the oval plug of wave producer, 26, the wave producer bearing, 27, flexbile gear; 28, steel wheel, 29, fixed mount, 30, key, 31, input flange; 32, planetary gear, 33, sleeve, 34, DC servo motor, 35, drg; 36, incremental encoder, 37, the incremental encoder fixed muffle, 38, right-hand member output bearing, 39, right end cap.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further specified.
With reference to Fig. 1～Fig. 3, a kind of six take turns sufficient formula string and series-parallel robot, take turns sufficient formula movement branched chain 1 and form by carrying platform 5, camera 2, control unit 4, battery unit 3 and 6 structures are duplicate.
By visible described each movement branched chain of Fig. 2 by driftage joint 18, driftage knuckle support 17, go up pitching joint 16; Middle pitching joint 14; Following pitching joint 10, middle pitching knuckle support 13, middle pitching knuckle support 9, last roll joint 12, following roll joint 8, thigh 15, shank 11, power wheel 6, power wheel support 7 constitute.
The end cap in driftage joint 18 is fixed together through screw and carrying platform 5, and nothing relatively rotates, and the joint shell in the joint 18 of going off course simultaneously is connected with driftage knuckle support 17 through screw and drive 17 rotations of driftage knuckle support; Driftage knuckle support 17 is affixed through the end cap in screw and last pitching joint 16; Nothing relatively rotates, and the joint shell in last pitching joint 16 is connected with thigh 15 through screw and drives thigh 15 rotations, and thigh 15 is affixed through the end cap in screw and middle pitching joint 14; Nothing relatively rotates; In the joint shell in pitching joint 14 is connected with middle pitching knuckle support 13 through screw and drives pitching knuckle support 13 rotations, in face upward knuckle support 13 to pass through the end cap in screw and last roll joint 12 affixed, nothing relatively rotates; The joint shell in last roll joint 12 is connected with shank 11 through screw and drives shank 11 rotations; Shank 11 is affixed with the end cap in following pitching joint 10 through screw, and nothing relatively rotates, and the joint shell in following pitching joint 10 is connected with following pitching knuckle support 9 through screw and drives 9 rotations of pitching knuckle support; It is affixed with the end cap in following roll joint 8 through screw to face upward knuckle support 9 down; Nothing relatively rotates, and the joint shell in following roll joint 8 is connected with power wheel support 7 through screw and drives 7 rotations of power wheel support, and power wheel support 7 is connected with power wheel 6.
As shown in Figure 3, described joint is made up of joint shell 19, left end output bearing 20, left end cap 21, absolute encoder fixed muffle 22, absolute encoder 23, output flange 24, wave producer ellipse plug 25, wave producer bearing 26, flexbile gear 27, steel wheel 28, fixed mount 29, key 30, input flange 31, planetary gear 32, sleeve 33, DC servo motor 34, drg 35, incremental encoder 36, incremental encoder fixed muffle 37, right-hand member output bearing 38, right end cap 39.
The principle of work that the utility model said six is taken turns sufficient formula string and series-parallel robot is to come shank and the rotation of thigh and the locking and the rotation of control power wheel in the controlled motion side chain through the rotation of controlling DC servo motor 34 in six movement branched chain; Thereby realize 2 kinds of motions of carrying platform 5, i.e. walking movement and rolling are advanced.
And the principle of work in each joint is that planetary gear 32 is through output flange 24 and the oval plug 25 of key 30 driving wave producers; The oval plug 25 of wave producer further drives steel wheel 28 through wave producer bearing 26 and flexbile gear 27; Joint shell 19 is affixed through fixed mount 29 and steel wheel 28, thereby the rotation of steel wheel 28 is delivered to joint shell 19.In this joint; Flexbile gear 27 connects firmly together with input flange 31, planetary gear 32, sleeve 33, DC servo motor 34, drg 35, incremental encoder 36, incremental encoder fixed muffle 37, right end cap 39; Do not relatively rotate between them; Event joint shell 19 is rotatably connected with left end cap 21 and right end cap 39 through left end output bearing 20 and right-hand member output bearing 38, reaches to exist between them to relatively rotate.Therefore when DC servo motor 34 rotates, relatively rotating after harmonic speed reducer slows down just arranged between joint shell 19 and left end cap 21 and the right end cap 39, joint shell 19 just can drive affixed thigh 15 and shank 11 above that and rotate.
Six of the utility model take turns sufficient formula string and series-parallel robot by wheel foot combined type movement side chain, carrying platform, battery, the control system of 6 6DOFs, shooting is first-class forms, and is as shown in Figure 1.Each movement branched chain is all identical, and can become the mechanical arm of independently connecting, and is as shown in Figure 2.Each is taken turns sufficient formula movement branched chain and contains driftage, pitching, pitching, roll, pitching, roll joint, pitching, driftage support and power wheel and power wheel support.The robot carrying platform is designed to regular hexagon, and each movement branched chain is installed in carrying platform regular hexagon vertex position through the driftage joint.The movement branched chain end is a power wheel.In said each movement branched chain; Last pitching joint is rotatably connected through driftage joint and carrying platform, and thigh and last pitching joint be for being rotationally connected, again with middle pitching joint for being rotationally connected; Last roll joint can be around middle pitching joint rotation; Shank and following pitching joint and last roll joint are for being rotationally connected, and following roll joint can be around following pitching joint rotation, and power wheel can be around following roll joint rotation.
Shank is rotatable until folding in thigh around the pitching joint in the above-mentioned movement branched chain; And thigh can be in the pitching joint rotation folds into the carrying platform regular hexagon; And it is arranged along each edge direction of carrying platform regular hexagon, thereby makes the whole piece movement branched chain all be contracted within the carrying platform regular hexagon scope.
In the described joint; As shown in Figure 3, absolute encoder is positioned the absolute encoder base through the absolute encoder fixed muffle, and the joint shell is rotatably connected through left end output bearing and absolute encoder base; Affixed through screw and fixed mount simultaneously; Fixed mount is through the steel wheel of the affixed harmonic speed reducer of bolt, and the flexbile gear of harmonic speed reducer is fixed together through bolt and input flange, and the oval plug of output flange and wave producer joins with screw; And the output shaft of planetary gear is connected with output flange through key; Sleeve is captiveed joint with the incremental encoder base with input flange respectively through bolt, and said planetary gear, DC servo motor, drg and incremental encoder are positioned at sleeve, and drg is connected with incremental encoder; DC servo motor output shaft one end is connected with drg; The other end is connected with planetary gear, and joint shell and incremental encoder base are forwarded through the right-hand member output shaft and be dynamically connected, and incremental encoder is located and is fixed in the incremental encoder base through the incremental encoder fixed muffle.
The steel wheel of the harmonic speed reducer in the above-mentioned joint is fixed together through bolt and fixed mount, and the joint shell is affixed through screw and fixed mount, rotates together so when steel wheel rotates, can drive the joint shell.The wave producer of harmonic speed reducer has been removed coupler, directly leans on output flange to connect the oval plug of drive wave producer through screw and rotates, and designs escapable cost like this and alleviates joint weight.
Claims (3)
1. take turns sufficient formula string and series-parallel robot for one kind six; It is characterized in that: said six take turns the wheel foot combined type movement side chain that sufficient formula string and series-parallel robot comprise carrying platform, battery, control system, camera and 6 6DOFs; Battery, control system and camera are installed on the said carrying platform, the said sufficient combined type movement side chain of taking turns is installed below said carrying platform, saidly take turns sufficient combined type movement side chain and comprise driftage joint, driftage knuckle support, go up pitching joint, thigh, middle pitching joint, middle pitching knuckle support; Last roll joint, shank, following pitching joint, following pitching knuckle support, following roll joint, power wheel support and power wheel; Captive joint with said carrying platform below in said driftage joint, said driftage joint is installed in driftage knuckle support top, and said driftage knuckle support side is installed the pitching joint; Captive joint with the thigh upper end in last pitching joint; Said thigh lower end is connected with middle pitching joint, and on the pitching knuckle support, said middle pitching knuckle support was connected with following roll joint during said middle pitching joint was installed in; Said roll joint down is connected with the shank upper end; Said shank lower end is connected with following pitching joint, and said pitching joint down is installed in down on the pitching knuckle support, and said pitching knuckle support down is connected with following roll joint; Said roll joint down is connected with the power wheel support, on the said power wheel support power wheel is installed.
2. as claimed in claim 1 six take turns sufficient formula string and series-parallel robot; It is characterized in that: said driftage joint, go up pitching joint, middle pitching joint, go up the roll joint, down the pitching joint, rotary joint is all adopted in the roll joint down, said rotary joint comprises that joint shell, left end output bearing, left end cap, absolute encoder fixed muffle, absolute encoder, output flange, the oval plug of wave producer, wave producer bearing, flexbile gear, steel wheel, fixed mount, key, input flange, planetary gear, sleeve, DC servo motor, drg, incremental encoder, incremental encoder fixed muffle, right-hand member export bearing and right end cap; Absolute encoder is positioned the absolute encoder base through the absolute encoder fixed muffle; The joint shell is rotatably connected through left end output bearing and absolute encoder base; The joint shell is affixed through screw and fixed mount simultaneously, and fixed mount is through the steel wheel of the affixed harmonic speed reducer of bolt, and the steel wheel of said harmonic speed reducer and the flexbile gear of harmonic speed reducer mesh; The flexbile gear of harmonic speed reducer is fixed together through bolt and input flange; The oval plug of output flange and wave producer joins with screw, and the output shaft of planetary gear is connected with output flange through key, and sleeve is captiveed joint with the incremental encoder base with input flange respectively through bolt; Said planetary gear, DC servo motor, drg and incremental encoder are positioned at sleeve; Drg is connected with incremental encoder, and DC servo motor output shaft one end is connected with drg, and the DC servo motor output shaft other end is connected with planetary gear; Joint shell and right end cap are forwarded through the right-hand member output shaft and are dynamically connected, and incremental encoder is located and is fixed in the right end cap through the incremental encoder fixed muffle.
According to claim 1 or claim 2 six take turns sufficient formula string and series-parallel robot, it is characterized in that: the angle on the every limit of described carrying platform is 120 °, and carrying platform is the regular hexagon shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220147192 CN202593677U (en) | 2012-03-31 | 2012-03-31 | Six-wheel-foot type series-parallel mixed combination robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220147192 CN202593677U (en) | 2012-03-31 | 2012-03-31 | Six-wheel-foot type series-parallel mixed combination robot |
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| CN202593677U true CN202593677U (en) | 2012-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220147192 Expired - Lifetime CN202593677U (en) | 2012-03-31 | 2012-03-31 | Six-wheel-foot type series-parallel mixed combination robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616296A (en) * | 2012-03-31 | 2012-08-01 | 浙江工业大学 | Six-wheel-leg type serial-parallel hybrid robot |
| CN103786806A (en) * | 2014-01-20 | 2014-05-14 | 北京航空航天大学 | Multifunctional leg-and-wheel combination robot and multi-movement-mode intelligent switching method thereof |
| CN104552236A (en) * | 2014-12-31 | 2015-04-29 | 北京理工大学 | Foot wheel type auto-kinetic movement platform based on parallel-connection six-freedom-degree movement mechanism |
| CN105539628A (en) * | 2016-02-06 | 2016-05-04 | 吕先颖 | Wheeled leg type cockroach-shaped bio-robot |
| CN105923067A (en) * | 2016-04-21 | 2016-09-07 | 电子科技大学 | Small wheel-foot combined type hexapod robot |
| CN109018055A (en) * | 2018-07-16 | 2018-12-18 | 安徽工程大学 | Six wheel legged type robots |
| CN112572634A (en) * | 2020-11-16 | 2021-03-30 | 长春工业大学 | Wheel-foot hybrid walking robot structure and control system |
-
2012
- 2012-03-31 CN CN 201220147192 patent/CN202593677U/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616296A (en) * | 2012-03-31 | 2012-08-01 | 浙江工业大学 | Six-wheel-leg type serial-parallel hybrid robot |
| CN102616296B (en) * | 2012-03-31 | 2014-01-29 | 浙江工业大学 | Six-wheel-leg type serial-parallel hybrid robot |
| CN103786806A (en) * | 2014-01-20 | 2014-05-14 | 北京航空航天大学 | Multifunctional leg-and-wheel combination robot and multi-movement-mode intelligent switching method thereof |
| CN103786806B (en) * | 2014-01-20 | 2016-02-03 | 北京航空航天大学 | A kind of multi-functional leg wheel composite machine people and multi-locomotion mode intelligent switch method thereof |
| CN104552236A (en) * | 2014-12-31 | 2015-04-29 | 北京理工大学 | Foot wheel type auto-kinetic movement platform based on parallel-connection six-freedom-degree movement mechanism |
| CN105539628A (en) * | 2016-02-06 | 2016-05-04 | 吕先颖 | Wheeled leg type cockroach-shaped bio-robot |
| CN105923067A (en) * | 2016-04-21 | 2016-09-07 | 电子科技大学 | Small wheel-foot combined type hexapod robot |
| CN109018055A (en) * | 2018-07-16 | 2018-12-18 | 安徽工程大学 | Six wheel legged type robots |
| CN109018055B (en) * | 2018-07-16 | 2021-06-01 | 安徽工程大学 | Six-wheel foot type robot |
| CN112572634A (en) * | 2020-11-16 | 2021-03-30 | 长春工业大学 | Wheel-foot hybrid walking robot structure and control system |
| CN112572634B (en) * | 2020-11-16 | 2023-03-31 | 长春工业大学 | Wheel-foot hybrid walking robot structure and control system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20121212 Effective date of abandoning: 20140129 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20121212 Effective date of abandoning: 20140129 |
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| RGAV | Abandon patent right to avoid regrant |