CN206717856U - A kind of imitative snake-shaped robot based on Delta parallel mechanism - Google Patents
A kind of imitative snake-shaped robot based on Delta parallel mechanism Download PDFInfo
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- CN206717856U CN206717856U CN201720249348.3U CN201720249348U CN206717856U CN 206717856 U CN206717856 U CN 206717856U CN 201720249348 U CN201720249348 U CN 201720249348U CN 206717856 U CN206717856 U CN 206717856U
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- follower lever
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Abstract
The utility model discloses a kind of imitative snake-shaped robot based on Delta parallel mechanism, it is in series by multiple structure identical motion modules, the motion module uses the Delta parallel mechanism with three degree of freedom, including three structure identical RSS series connection side chains, silent flatform and moving platform, every the RSS series connection side chain includes drive device, driving lever and follower lever, the input of the driving lever is connected with the drive device, the drive device is fixed on the silent flatform, the output end of the driving lever is connected by typed ball bearing pair I with the input of the follower lever, the output end of the follower lever is connected by typed ball bearing pair II with the moving platform, two adjacent motion modules, the moving platform of one of them motion module and the silent flatform of motion module another described are affixed.The utility model bearing capacity is strong, movement velocity is fast, motion mode is various, kinematic accuracy is high.
Description
Technical field
The invention belongs to theory of mechanisms and robotics technical field, it is related to that a kind of multiple degrees of freedom, bearing capacity be strong, motion speed
Degree is fast, kinematic accuracy is high, can realize that the Delta parallel mechanism of Various Complex motion imitates snake-shaped robot.
Background technology
Snake possesses a variety of unique forms of motion because of its soft changeable body, and it is more to adapt to that it can carry out multi-motion
The different living environment (desert, pond, land, forest etc.) of kind, have very strong adaptive capacity to environment and ground motion stable
Ability, it is considered to be one of most strong animal of obstacle climbing ability.
Imitative snake-shaped robot is a kind of new bio-robot, is just received much concern at the beginning of its birth, is had numerous excellent
Point and extensive utilization prospect, but most of imitative snake-shaped robots have as a drawback that：1) due to the limitation of mechanism structure form,
Its bearing capacity is poor；2) movement velocity of snake-shaped robot is compared slower with ratcheting mechanism；3) forms of motion is single, does not possess more
The ability of kind motion mode；4) multivariant control is difficult.
After Clavel in 1985 has invented Delta parallel mechanism, particularly after Patent expiry, Delta parallel mechanism
Found broad application in multiple industry fields such as industry, medical treatment, Delta parallel mechanism is referred to as " most successful parallel robot
Design ".Delta parallel mechanism has the following advantages that：1) parallel closed loop linkage mechanism is used, more bar stress, rigidity mass ratio is big,
Make it have very high bearing capacity；2) dynamic property is superior, and inertia is low, can obtain very high velocity and acceleration；3) structure
Compact flexibility is strong, is coupled by moving, it is possible to achieve the motion of Various Complex；4) Delta parallel mechanism is tired out in the absence of error
Product, and the error of each bar kinematic chain can have an averaging effect cancelled out each other, kinematic accuracy height in end；5)
All comparative maturity, its analysis, control have had great mass of data can for Delta parallel mechanism robot motion analysis and control theory
Look into, its is relatively easy；6) easy assembling and modularization.
To make imitative snake-shaped robot in more areas practice, make up the deficiency for imitating snake-shaped robot at present, more early
More needs remove breakthrough and innovation on mechanism design.
The content of the invention
The utility model for solve technical problem present in known technology provide it is a kind of based on Delta parallel mechanism
Imitative snake-shaped robot, the robot bearing capacity is strong, movement velocity is fast, motion mode is various, kinematic accuracy is high.
The utility model is adopted the technical scheme that to solve technical problem present in known technology：One kind is based on
The imitative snake-shaped robot of Delta parallel mechanism, it is in series by multiple structure identical motion modules, the motion module uses
Delta parallel mechanism with three degree of freedom, including three structure identical RSS series connection side chains, silent flatform and moving platform, often
RSS series connection side chain includes drive device, driving lever and follower lever, the input of the driving lever and the drive device described in bar
Connection, the drive device are fixed on the silent flatform, and the output end of the driving lever passes through typed ball bearing pair I and the follower lever
Input connection, the output end of the follower lever is connected by typed ball bearing pair II with the moving platform, adjacent two fortune
Dynamic model block, the moving platform of one of them motion module and the silent flatform of motion module another described are affixed.
The follower lever is made up of the follower lever I and follower lever II being parallel to each other, the follower lever I and the follower lever II
Input is respectively connected using a typed ball bearing pair I with the output end of the driving lever, the follower lever I and the follower lever II
Output end is respectively connected using a typed ball bearing pair II with the moving platform, the follower lever I and the follower lever II with it is described
Driving lever and the moving platform form parallelogram sturcutre.
Perpendicular spring is socketed between the follower lever I and the follower lever II, the both ends of the spring are each
It is connected by a fixture with the follower lever I or the follower lever II.
The drive device uses steering wheel, and the steering wheel is connected by steering wheel with the input of the driving lever, the master
Lever is connected with the steering wheel by revolute pair, and the steering wheel is fixed on the silent flatform by support.
The utility model has the advantages and positive effects of：By using Delta parallel mechanism, Delta is made full use of
The advantages of parallel institution, make imitative snake-shaped robot that there are many merits：1) bearing capacity is strong, movement velocity is fast, kinematic accuracy is high；
2) compact-sized flexibility is strong, the forward travel of the various ways such as sinuous, swing, contraction can not only be realized, by moving coupling
Close, it is possible to achieve the compound movement form such as avoidance, winding, climbing, wriggling and jump；3) Delta parallel mechanism motion analysis
And all comparative maturity, its analysis, control have had great mass of data to look into control theory, analyze, control imitative snake-shaped robot relative
Simply；4) amount of parts is few, and cost is low, easily assembles and realize that modularization imitates the design of snake-shaped robot.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is one of motion module structural representation of the present utility model；
Fig. 3 is the two of motion module structural representation of the present utility model；
Fig. 4 is RSS branched structures schematic diagram of the present utility model.
In figure：101st, silent flatform, 102, support, 103, steering wheel, 104, steering wheel, 105, driving lever, 106, follower lever,
106A, follower lever I, 106B, driving lever II, 107, fixture, 108, spring, 109, moving platform, 201, revolute pair, 202, ball pivot
Pair I, 203, typed ball bearing pair II.
Embodiment
For invention, features and effects of the present utility model can be further appreciated that, following examples are hereby enumerated, and coordinate
Accompanying drawing describes in detail as follows：
Fig. 1~Fig. 4 is referred to, a kind of imitative snake-shaped robot based on Delta parallel mechanism, is transported by multiple structure identicals
Dynamic model block is in series, and the motion module is identical using the Delta parallel mechanism with three degree of freedom, including three structures
RSS series connection side chain, silent flatform 101 and moving platform 109, every RSS series connection side chain includes drive device, driving lever 105
With follower lever 106, the input of the driving lever 105 is connected with the drive device, and the drive device is fixed on described quiet
On platform 101, the output end of the driving lever 105 is connected by typed ball bearing pair I 202 with the input of the follower lever 106, described
The output end of follower lever 106 is connected by typed ball bearing pair II 203 with the moving platform 109, adjacent two motion modules, its
In a motion module the moving platform 109 and the silent flatform 101 of motion module another described it is affixed.
Above-mentioned Delta parallel mechanism uses three completely identical in structure side chains, its bearing capacity is strong, movement velocity is fast,
Kinematic accuracy is high.And single motion module length is variable, when needing snakelike length variable to complete different task, can both pass through
Single motion module adjusts length, can add or reduce again motion mould on the silent flatform 101 or the moving platform 109
Block, all motion module structures are identical, and the combination of varying number motion module can change the shape of imitative snake-shaped robot structure
And size, to adapt to the demand of different operating, make imitative snake-shaped robot that there are three distinguishing features of modular reconfigurable robot,
Versatility, robustness and economy.
In the present embodiment, in order to further improve the robustness of robot, the follower lever 106 by be parallel to each other from
The 106A of the lever I and 106B of follower lever II compositions, the 106A of follower lever I and the 106B inputs of the follower lever II respectively use one
The typed ball bearing pair I 202 is connected with the output end of the driving lever 105, and the 106A of follower lever I and the 106B of the follower lever II are defeated
Go out to hold one typed ball bearing pair II 203 of each use to be connected with the moving platform 109, the 106A of follower lever I and the follower lever
II 106B forms parallelogram sturcutre with the driving lever 105 and the moving platform 109.In order to improve the firm of robot
Property, prevent that two stocks are around own axis in parallelogram sturcutre, in the 106A of follower lever I and the follower lever II
Socket perpendicular spring 108 between 106B, the both ends of the spring 108 respectively by a fixture 107 with it is described from
The 106B connections of the 106A of lever I or described follower levers II.In order to reduce manufacturing cost, the drive device uses steering wheel 103, described
Steering wheel 103 is connected by steering wheel 104 with the input of the driving lever 105, and the driving lever 105 passes through with the steering wheel 103
Revolute pair 201 is connected, and the steering wheel 103 is fixed on the silent flatform 101 by support 102.
Operation principle of the present utility model：
When snake-shaped robot moves, the steering wheel 103 drives the driving lever 105 to rotate, and the driving lever 105 passes through
Typed ball bearing pair drives the follower lever 106 to move, and the follower lever 106 drives the moving platform being connected with it by typed ball bearing pair
109 motions, when the follower lever 106 pulls the moving platform 109, single motion module length shortens, when the follower lever
During the 106 promotion moving platform 109, single motion module length.When imitative snake-shaped robot is in horizontality, work as branch
When three velocities of rotation of steering wheel 103 on chain are identical, it is possible to achieve wriggle, can when three velocities of rotation of steering wheel 103 differ
To realize that the swing of multiple directions, avoidance and winding etc. are moved.When imitative snake-shaped robot is in vertical state, when on side chain
When three velocities of rotation of steering wheel 103 are identical, it is possible to achieve jump, while there is multi-motion form, enable imitative snake-shaped robot
Different landform is enough adapted to, and imitative snake-shaped robot is not required to distinguish head and afterbody, and turning is not required in long and narrow pipeline
Realization moves forward and backward.
Although preferred embodiment of the present utility model is described above in conjunction with accompanying drawing, the utility model is not
Above-mentioned embodiment is confined to, above-mentioned embodiment is only schematical, is not restricted, ability
The those of ordinary skill in domain is not departing from the utility model aims and claimed under enlightenment of the present utility model
In the case of scope, many forms can also be made, these are belonged within the scope of protection of the utility model.
Claims (4)
1. a kind of imitative snake-shaped robot based on Delta parallel mechanism, is in series by multiple structure identical motion modules, its
It is characterised by, the motion module uses the Delta parallel mechanism with three degree of freedom, including three structure identical RSS
Series connection side chain, silent flatform and moving platform, every RSS series connection side chain include drive device, driving lever and follower lever, the master
The input of lever is connected with the drive device, and the drive device is fixed on the silent flatform, the driving lever it is defeated
Go out end to be connected with the input of the follower lever by typed ball bearing pair I, the output end of the follower lever by typed ball bearing pair II with it is described
Moving platform connects, adjacent two motion modules, the moving platform of one of them motion module and another institute
The silent flatform for stating motion module is affixed.
2. the imitative snake-shaped robot according to claim 1 based on Delta parallel mechanism, it is characterised in that described driven
Bar is made up of the follower lever I and follower lever II being parallel to each other, and follower lever I and the follower lever II input respectively uses one
The typed ball bearing pair I is connected with the output end of the driving lever, and follower lever I and the follower lever II output end respectively uses one
The typed ball bearing pair II is connected with the moving platform, the follower lever I and the follower lever II and the driving lever and described dynamic
Platform forms parallelogram sturcutre.
3. the imitative snake-shaped robot according to claim 2 based on Delta parallel mechanism, it is characterised in that it is described from
Socket perpendicular spring between lever I and the follower lever II, the both ends of the spring respectively by a fixture with
The follower lever I or the follower lever II connect.
4. the imitative snake-shaped robot according to claim 1 based on Delta parallel mechanism, it is characterised in that the driving
Device uses steering wheel, and the steering wheel is connected by steering wheel with the input of the driving lever, and the driving lever leads to the steering wheel
Revolute pair connection is crossed, the steering wheel is fixed on the silent flatform by support.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720249348.3U CN206717856U (en) | 2017-03-15 | 2017-03-15 | A kind of imitative snake-shaped robot based on Delta parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720249348.3U CN206717856U (en) | 2017-03-15 | 2017-03-15 | A kind of imitative snake-shaped robot based on Delta parallel mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856758A (en) * | 2017-12-26 | 2018-03-30 | 燕山大学 | A kind of quadruped robot leg based on multistage coupling parallel institution |
| CN108436898A (en) * | 2018-03-22 | 2018-08-24 | 燕山大学 | A kind of controllable Grazing condition transformable robot of rigidity |
| CN108858144A (en) * | 2018-07-11 | 2018-11-23 | 天津大学 | A kind of six-degree-of-freedom parallel connection mechanism containing redundant drive |
| CN108942907A (en) * | 2018-09-12 | 2018-12-07 | 天津市大然科技有限公司 | Modularization snake-shaped robot based on parallel institution |
| CN111720663A (en) * | 2020-06-17 | 2020-09-29 | 山东大学 | Modularized pipeline robot based on tension entirety |
-
2017
- 2017-03-15 CN CN201720249348.3U patent/CN206717856U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856758A (en) * | 2017-12-26 | 2018-03-30 | 燕山大学 | A kind of quadruped robot leg based on multistage coupling parallel institution |
| CN108436898A (en) * | 2018-03-22 | 2018-08-24 | 燕山大学 | A kind of controllable Grazing condition transformable robot of rigidity |
| CN108858144A (en) * | 2018-07-11 | 2018-11-23 | 天津大学 | A kind of six-degree-of-freedom parallel connection mechanism containing redundant drive |
| CN108858144B (en) * | 2018-07-11 | 2024-03-15 | 天津大学 | Six-degree-of-freedom parallel mechanism with redundant drive |
| CN108942907A (en) * | 2018-09-12 | 2018-12-07 | 天津市大然科技有限公司 | Modularization snake-shaped robot based on parallel institution |
| CN108942907B (en) * | 2018-09-12 | 2023-04-04 | 天津市大然科技有限公司 | Modular snake-shaped robot based on parallel mechanism |
| CN111720663A (en) * | 2020-06-17 | 2020-09-29 | 山东大学 | Modularized pipeline robot based on tension entirety |
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Address after: 300350 District, Jinnan District, Tianjin Haihe Education Park, 135 beautiful road, Beiyang campus of Tianjin University Patentee after: Tianjin University Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92, Tianjin University Patentee before: Tianjin University |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171208 Termination date: 20180315 |