CN207564460U - Intelligent mobile equipment with executing agency - Google Patents
Intelligent mobile equipment with executing agency Download PDFInfo
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- CN207564460U CN207564460U CN201721594896.6U CN201721594896U CN207564460U CN 207564460 U CN207564460 U CN 207564460U CN 201721594896 U CN201721594896 U CN 201721594896U CN 207564460 U CN207564460 U CN 207564460U
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Abstract
The utility model discloses a kind of Intelligent mobile equipments with executing agency, including mobile platform, bogey in parallel and manipulator, there is mobile platform wheel to carry out mapping device, bogey in parallel couples with mobile platform, manipulator is fixed in the revolution mounting base of bogey in parallel, and rigidity supporting rod is provided between the upper mounting plate and lower platform of bogey in parallel.The Intelligent mobile equipment of the utility model, based on parallel institution and the advantages of serial mechanism, rigidity is high, working space is big, stable structure, operating flexibility, carrying out mapping device by wheel can realize that the motor pattern of mobile platform under different road surface operating modes is chosen, the utility model can match ground grading, ground of jolting, slope ground movement environment, always in optimum state.
Description
Technical field
The utility model is related to mobile robot field more particularly to a kind of series parallel type movements with terrain match
Manipulator, the specially Intelligent mobile equipment with executing agency.
Background technology
Intelligent mobile equipment is widely applied to the every field such as production and processing, Transportation Service, with working efficiency height, again
The advantages that precision is good, powerful again has height self planning, self-organizing, adaptive ability, is suitble in the unstructured of complexity
It works in environment, integrates the multiple functions such as environment sensing, dynamic decision and planning, motion control and execution, therefore it should
It is all greatly expanded and improved with range and function, be used widely in military, civilian and scientific research, including space flight, sea
Ocean, military affairs, building, medical treatment and nursing, agricultural, commerce services and disaster relief etc..
However, existing Intelligent mobile equipment is mostly only to have bearing function, lack operating function, therefore, it is difficult to realize big model
The operation operation enclosed.In terms of operating mechanism, stationary machine hand since its working space is extremely limited, greatlys restrict
The expansion of manipulator function.Mobile manipulator is that manipulator is mounted in mobile robot, is integrated with mobile platform and machinery
Hand two subsystems, this structure make it possess the motion redundancy of virtually limitless big working space and height, have simultaneously
Mobile and operating function, can within the shorter time, with the task of more preferably pose completion in larger scope, better than biography
The manipulator and mobile robot of system.Article《The development of all directionally movable robot with mechanical arm》Using all-around mobile
Mechanism devises a kind of all-around mobile mechanical arm, but its rigidity and stability are relatively low.Patent CN201510206946.8 is public
Opened a kind of heavy duty and carried assembling mobile robot, using mobile platform and Stewart parallel connection platforms, realize system carrying,
Assembling work, but the working space of its system and operating flexibility are considerably restricted.As can be seen that it moves in the prior art
The mobile platform of manipulator is mostly the mechanical arm generally use the carried thereon series connection joint arm as motion carrier, this presence
Problems with：The simple mobile manipulator based on serial mechanism, the rigidity and stability of total system are relatively low, it is difficult to complete high
The transport operation of intensity especially easily causes to lose in load variation or the crawl of execution heavy load and heavily loaded transport operation
Surely, only have the function of that the mobile platform of motion carrier is difficult to effective feedback regulation and is matched at this time, thus hold
Vehicle capsizing case is easily caused, influences the efficient stable operation of mobile manipulator, increases the possibility of operation failure.It is and simple
Parallel institution its system working space and operating flexibility be considerably restricted.With the continuous expansion of field of operation, move
Dynamic manipulator is gradually applied to the operation of the more areas such as field, mountain area hills, and system, which needs to have, at this time adapts to different works
The ability of industry environment and ground operating mode especially in rugged ground and sloping floor when driving, is encouraged in topography variation and ground
Under effect, it should be able to ensure the moving equilibrium of system and good dynamic property.
Utility model content
In view of the problems of the existing technology, the utility model provides the Intelligent mobile equipment with executing agency.It is described
Intelligent mobile equipment is the mobile platform having from walking function, and executing agency includes but not limited to series parallel type mobile manipulator,
The utility model takes into account the advantages of parallel institution and serial mechanism, be a kind of rigidity is high, working space is big, stable structure, operation
Flexible Novel movable manipulator, while can ensure that the moving equilibrium of system is good when operating environment and ground operating mode change
Good dynamic property.
In order to solve the above technical problems, the technical solution of the utility model is：
Intelligent mobile equipment with executing agency, including mobile platform 1, bogey 3 in parallel, manipulator 2.In movement
Platform 1 is equipped with bogey 3 in parallel.Manipulator 2 is equipped on bogey 3 in parallel.
The mobile platform 1 is responsible for realizing the movement in smooth landform and/or rugged topography.At the bottom of mobile platform 1
Portion is equipped with tire.Furtherly, mobile platform 1 is made of a rectangular-shaped top plate and two side plates；In the inside of each side plate, length
The end in degree direction is equipped with tire；Wheel, which is equipped with, in the side of mobile platform 1 carries out mapping device 13.The wheel carries out mapping device 13
It is responsible for realizing that the motion mode of mobile platform 1 is converted between wheel type movement pattern and crawler type motor pattern.The wheel, which is carried out, to be become
Converting mechanism 13 contains crawler belt 134.Wheel carries out mapping device 13 and can rise or decline relative to the vertical direction of mobile platform 1.
Under the action of wheel carries out mapping device 13, contacted when crawler belt 134 declines with ground, it is mobile when tire drags ground away from
The motor pattern of platform 1 switchs to crawler type by wheeled.When crawler belt 134 rise reset, tire when being contacted with ground, mobile platform 1
Motor pattern switched to by crawler type it is wheeled.
The parallel connection bogey 3 is responsible for the adjustment of 2 posture of manipulator.Furtherly, the manipulator 2 have 3 with
On degree of freedom,
Furtherly, this Intelligent mobile equipment with executing agency, technical characteristic also reside in：
The middle part of upper mounting plate 31 is net radiation disk, and revolution mounting base 313 is provided centrally in net radiation disk,
Revolving support 3131 and roller gear 3132 are provided in revolution mounting base 313.The internal tooth and Cylinder Gear of revolving support 3131
The outer tooth engagement of wheel 3132, roller gear 3132 drive revolving support 3131 to realize rotation.
Stiffener plate 312, flexural pivot mounting base 311 and supporting rack 37 are provided in the bottom surface of upper mounting plate 31.Stiffener plate 312
It is 3 or more with flexural pivot mounting base 311, is symmetrically distributed in the bottom surface of upper mounting plate 31, supporting rack 37 is fixed on upper mounting plate 31
Bottom surface center.
The bottom of supporting rack 37 is connected with rigidity supporting rod 36 by connecting hinge 2 362.It will by connecting hinge 1
The top surface of lower platform 32 is connected with rigidity supporting rod 36.
Mobile platform 1 is in n shapes.Mobile platform 1 is made of a rectangular-shaped top plate and two side plates.In each side plate
Side, length direction end be equipped with tire.
Wheel carries out mapping device 13 and further includes driving wheel 131, driven wheel 132, vibration reduction and cushioning spring 133 and hydraulic cylinder 135.Its
In, driving wheel 131 and driven wheel 132 are equipped on the outside of each side plate.
Driving wheel 131 is fixedly connected with adjacent side wall.Vibration reduction and cushioning spring 133 is arranged on the outside of side plate, positioned at side
Between the hook 1331 of plate and the connecting plate 1332 of driven wheel 132.
Driving wheel 131 and driven wheel 132 are engaged with a crawler belt 134 on same side plate, and when work passes through master
Driving wheel 131 drives, and so as to which driven wheel 132 be driven to operate, realizes the crawler type movement of mobile platform 1.
Preferable scheme is that terrain match control system 4 is equipped on mobile platform 1.Terrain match control system 4 is distinguished
It is connected with mobile platform 1, the movement of manipulator 2, bogey 3 in parallel.
In order to more clearly explain the design feature of the utility model, first change an angle and illustrate that the structure of the utility model is special
Point：
The utility model includes mobile platform, bogey in parallel, manipulator：There is mobile platform wheel to carry out mapping device,
Wheel carries out the left and right sides that mapping device is located at mobile platform, and wheel, which carries out mapping device, has driving wheel and driven wheel, and driving wheel is fixed,
It takes turns and is equipped on the adjustment mechanism for carrying out mapping device with the movement slided up and down in the side that driven wheel carries out mapping device along wheel
Vibration reduction and cushioning spring.Bogey in parallel has upper mounting plate and lower platform, and the middle part of the upper mounting plate of bogey in parallel is netted
Disk is radiated, net radiation disk is provided centrally with revolution mounting base, turns round in mounting base and be provided with revolving support and cylinder
Gear, the bottom surface of upper mounting plate are provided with stiffener plate, flexural pivot mounting base and supporting rack, and the driving element of bogey in parallel passes through
Flexural pivot mounting base is mounted between the upper mounting plate and lower platform of bogey in parallel, and rigidity is provided between upper mounting plate and lower platform
Supporting rod, the lower platform of bogey in parallel are coupled with the upper surface of mobile platform by prismatic pair, and the pedestal of manipulator is fixed
In the revolution mounting base of the upper mounting plate of bogey in parallel, revolving support and roller gear, manipulator are provided in mounting base
The driving element in the first joint is mounted on inside the supporting rack of bogey in parallel.The utility model is further equipped with terrain match
Control system, terrain match control system include monitoring system, dynamic analysis system, wheel and carry out transform controller, motion controller,
Monitoring system includes visual sensor, attitude transducer and vibrating sensor, and monitoring system communicates with dynamic analysis system,
Dynamic analysis system carries out transform controller with wheel and motion controller communicates.
Visual sensor, attitude transducer and the vibrating sensor is fixed on a mobile platform.
The bottom surface of the lower platform of the bogey in parallel is provided with moving guide rail and transmission nut, the surface of lower platform
It is provided with the connecting hinge one of rigidity supporting rod.
The upper surface of the mobile platform is provided with guide-track groove, and one end of guide-track groove is straight slot, and the other end is blind slot, is moved
The upper surface of moving platform is coupled with the lower platform of bogey in parallel using guideway.
The bottom surface arrangement in a center of symmetry of upper mounting plate of the stiffener plate and flexural pivot mounting base in bogey in parallel.
The stiffener plate and flexural pivot mounting base is 3, and each flexural pivot mounting base is respectively provided with two ball-and-sockets.
The bottom surface of the supporting rack is provided with the connecting hinge two of rigidity supporting rod.
The driving element that the wheel carries out mapping device is hydraulic cylinder, is symmetrically mounted on the inside that wheel carries out mapping device.
The driving element of the bogey in parallel drives for motor.
The driving element of the manipulator drives for motor, has single or multiple degree of freedom.
The utility model has the advantage of：
Intelligent mobile with the executing agency equipment of the utility model can integrate mobile and operating function, comprehensive
The two-fold advantage of parallel institution and serial mechanism has been closed, has improved rigidity, working space, structural stability and the operation spirit of system
Activity.Parallel connection bogey can realize the adjustment of posture used by the utility model, be conducive to increase manipulator and operation
Position coordination between object increases working space and the flexibility of system, and system is made almost to possess infinitely great working space.
The mechanical structure that the utility model has, stability is strong and vibrational energy is small, so as to be held with optimal movement speed and parallel connection
Carry the optimum posture put, matching of the realization system to ground grading, ground of jolting, slope ground so that this product is moving
When be in optimum state.
Description of the drawings
The structure chart of the Intelligent mobile equipment of Fig. 1 the utility model.
The wheel of the mobile platform of Fig. 2 the utility model carries out mapping device structure chart.
The wheel of the mobile platform of Fig. 3 the utility model carries out the Local map of mapping device.
The wheel type movement pattern of the mobile platform of Fig. 4 the utility model.
The hydraulic cylinder of Fig. 5 the utility model and the Mating graph of side plate.
The structure chart of the mobile platform upper surface of Fig. 6 the utility model.
The vertical view of the bogey in parallel of the Intelligent mobile equipment of Fig. 7 the utility model.
The vertical view of the bogey upper mounting plate in parallel of Fig. 8 the utility model.
The chart at the bottom of of the bogey upper mounting plate in parallel of Fig. 9 the utility model.
The structure chart of the supporting rack of the bogey in parallel of Figure 10 the utility model.
The structure chart of the bogey lower platform in parallel of Figure 11 the utility model.
The control system figure of the Intelligent mobile equipment of Figure 12 the utility model.
Figure 13 is another angle schematic diagram of Fig. 4 structures.
Label in above-mentioned figure for：Mobile platform 1, guide rail groove 12, wheel carry out mapping device 13, driving wheel 131, driven wheel
132nd, vibration reduction and cushioning spring 133, crawler belt 134, hydraulic cylinder 135, manipulator 2, manipulator base 21, robot drives motor 22,
Bogey 3 in parallel, the upper mounting plate 31 of bogey in parallel, flexural pivot mounting base 311, stiffener plate 312, revolution mounting base 313,
Revolving support 3131, roller gear 3132, the lower platform 32 of bogey in parallel, the driving element 33 of bogey in parallel, shifting
Dynamic guide rail 34, transmission nut 35, rigidity supporting rod 36, connecting hinge 1, connecting hinge 2 362, supporting rack 37, terrain match control
System 4 processed, monitoring system 41, visual sensor 411, attitude transducer 412, vibrating sensor 413, dynamic analysis system 5, wheel
Carry out transform controller 6, motion controller 7.
Specific embodiment
The concrete structure of the utility model is described further with advantage below in conjunction with the accompanying drawings：
Intelligent mobile equipment with executing agency, including mobile platform 1, bogey 3 in parallel and manipulator 2.It is moving
Moving platform 1 is equipped with bogey 3 in parallel.Manipulator 2 is equipped on bogey 3 in parallel.
The mobile platform 1 is responsible for realizing the movement in smooth landform and/or rugged topography.At the bottom of mobile platform 1
Portion is equipped with tire.Furtherly, mobile platform 1 is in n shapes.Mobile platform 1 is made of a rectangular-shaped top plate and two side plates.Every
The inside of a side plate, the end of length direction are equipped with tire.Wheel, which is equipped with, in the side of mobile platform 1 carries out mapping device 13.Institute
It states wheel and carries out the responsible motion mode for realizing mobile platform 1 of mapping device 13 between wheel type movement pattern and crawler type motor pattern
Conversion.The wheel carries out mapping device 13 and contains crawler belt 134.Crawler belt 134 carries out mapping device 13 together with the wheel being attached thereto being capable of edge
Vertical direction to rise or decline.
Under the action of wheel carries out mapping device 13, when crawler belt 134 declines and is contacted with ground, when tire drags ground away from, move
The motor pattern of moving platform 1 switchs to crawler type by wheeled.It is resetted when crawler belt 134 rises, enables tire when being contacted with ground, it is mobile flat
The motor pattern of platform 1 is switched to wheeled by crawler type.
The parallel connection bogey 3 is responsible for the adjustment of 2 posture of manipulator.The manipulator 2 has the freedom of 3 or more
Degree.
Furtherly, wheel carries out mapping device 13 and further includes driving wheel 131, driven wheel 132, vibration reduction and cushioning spring 133 and liquid
Cylinder pressure 135.Wherein, driving wheel 131 and driven wheel 132 are equipped on the outside of each side plate.
Driving wheel 131 is fixedly connected with adjacent side wall.Vibration reduction and cushioning spring 133 is provided on the outside of side plate.Subtract
The buffer spring 133 that shakes is located between the hook 1331 of side plate and the connecting plate 1332 of driven wheel 132.
Driving wheel 131 and driven wheel 132 are engaged with a crawler belt 134 on same side plate, and when work passes through master
Driving wheel 131 drives, and so as to which driven wheel 132 be driven to operate, realizes the crawler type movement of mobile platform 1.
Furtherly, hydraulic cylinder 135 is equipped on the inside of 1 each side plate of mobile platform, hydraulic cylinder 135 is located at side plate
Between inside and tire, the push-pull rod 1351 of hydraulic cylinder 135 couples with the inside of side plate, can by the push-and-pull of hydraulic cylinder 135
Realize the wheel type movement pattern of mobile platform 1 and the transformation of crawler type motor pattern.
Furtherly, manipulator 2 has six degree of freedom, and is driven using motor.
Furtherly, bogey 3 in parallel includes the lower platform of the upper mounting plate 31 of bogey in parallel, bogey in parallel
32nd, the driving element 33 of bogey in parallel, moving guide rail 34, transmission nut 35, rigidity supporting rod 36.Wherein,
The bottom of lower platform 32 is provided with moving guide rail 34 and transmission nut 35.The top of lower platform 32 is provided with 3
The driving element 33 of a above bogey in parallel.The driving element 33 of the parallel connection bogey is driven for motor or hydraulic pressure
Driving.Bottom surface of the top of the driving element 33 of bogey in parallel with upper mounting plate 31 is connected.It is put down in lower platform 32 with upper
Rigidity supporting rod 36 is equipped between platform 31.
Furtherly, the middle part of upper mounting plate 31 is net radiation disk, is provided centrally with turning round in net radiation disk
Mounting base 313 is provided with revolving support 3131 and roller gear 3132 in revolution mounting base 313.Revolving support 3131 it is interior
The outer tooth engagement of tooth and roller gear 3132, roller gear 3132 drive revolving support 3131 to realize rotation.
Stiffener plate 312, flexural pivot mounting base 311 and supporting rack 37 are provided in the bottom surface of upper mounting plate 31.Stiffener plate 312
It is 3 or more with flexural pivot mounting base 311, and is symmetrically distributed in the bottom surface of upper mounting plate 31, supporting rack 37 is fixed on upper mounting plate 31
Bottom surface center.
Furtherly, the bottom of supporting rack 37 is connected with rigidity supporting rod 36 by connecting hinge 2 362.Pass through connection
It cuts with scissors 1 the top surface of lower platform 32 is connected with rigidity supporting rod 36.
The preferred embodiment of the utility model is：Intelligent mobile equipment with executing agency, including mobile platform 1, parallel connection
Bogey 3, manipulator 2.Bogey 3 in parallel is equipped on mobile platform 1.Manipulator is equipped on bogey 3 in parallel
2。
The mobile platform 1 is responsible for realizing the movement in smooth landform and/or rugged topography.At the bottom of mobile platform 1
Portion is equipped with tire.Wheel, which is equipped with, in the side of mobile platform 1 carries out mapping device 13.The wheel carries out mapping device 13 and is responsible for realizing movement
The motion mode of platform 1 is converted between wheel type movement pattern and crawler type motor pattern.The wheel is carried out mapping device 13 and is contained
Crawler belt 134.Crawler belt 134 and entire wheel carry out mapping device 13 and can rise or decline relative to 1 vertical direction of mobile platform.
Under the action of wheel carries out mapping device 13, when crawler belt 134 declines and when being contacted with ground, tire is dragged away from ground,
The motor pattern of mobile platform 1 switchs to crawler type by wheeled.It is resetted when crawler belt 134 rises, tire is when being contacted with ground, mobile flat
The motor pattern of platform 1 is switched to wheeled by crawler type.
The parallel connection bogey 3 is responsible for the adjustment of 2 posture of manipulator.The manipulator 2 has the freedom of 3 or more
Degree.
The middle part of upper mounting plate 31 is net radiation disk, and revolution mounting base 313 is provided centrally in net radiation disk,
Revolving support 3131 and roller gear 3132 are provided in revolution mounting base 313.The internal tooth and Cylinder Gear of revolving support 3131
The outer tooth engagement of wheel 3132, roller gear 3132 drive revolving support 3131 to realize rotation.
Stiffener plate 312, flexural pivot mounting base 311 and supporting rack 37 are provided in the bottom surface of upper mounting plate 31.Stiffener plate 312
It is 3 or more with flexural pivot mounting base 311, and is symmetrically distributed in the bottom surface of upper mounting plate 31, supporting rack 37 is fixed on upper mounting plate 31
Bottom surface center.
The bottom of supporting rack 37 is connected with rigidity supporting rod 36 by connecting hinge 2 362.It will by connecting hinge 1
The top surface of lower platform 32 is connected with rigidity supporting rod 36.
Mobile platform 1 is in n shapes.Mobile platform 1 is made of a rectangular-shaped top plate and two side plates.In each side plate
Side, length direction end be equipped with tire.
Wheel carries out mapping device 13 and further includes driving wheel 131, driven wheel 132, vibration reduction and cushioning spring 133 and hydraulic cylinder 135.Its
In, driving wheel 131 and driven wheel 132 are equipped on the outside of each side plate.
Driving wheel 131 is fixedly connected with adjacent side wall.Vibration reduction and cushioning spring 133 is arranged on the outside of side plate, positioned at side
Between the hook 1331 of plate and the connecting plate 1332 of driven wheel 132.
Driving wheel 131 and driven wheel 132 are engaged with the crawler belt of homonymy 134 on same side plate, and when work passes through
Driving wheel 131 drives, and so as to which driven wheel 132 be driven to operate, realizes the crawler type movement of mobile platform 1.
Preferable scheme is that terrain match control system 4 is equipped on mobile platform 1.The terrain match control system 4
The Geography monitor being responsible in mobile platform 1 motion process and performance evaluation and with mobile platform 1, manipulator 2 and carrying in parallel
The feedback control of device 3.Terrain match control system 4 is connected respectively with mobile platform 1, manipulator 2, bogey 3 in parallel.
Furtherly, terrain match control system 4 includes monitoring system 41, dynamic analysis system 5, wheel shoe transform controller
6 and motion controller 7.Wherein,
Monitoring system 41 is made of visual sensor 411, attitude transducer 412 and vibrating sensor 413.Visual sensor
411st, attitude transducer 412 and vibrating sensor 413 are each attached on mobile platform 1.
Dynamic analysis system 5, wheel carry out transform controller 6 and motion controller 7 is separately mounted on mobile platform 1.
Monitoring system 41 communicates with dynamic analysis system 5, and dynamic analysis system 5 carries out transform controller 6 and fortune with wheel
Movement controller 7 communicates.
Furtherly, the upper surface of mobile platform 1 is provided with guide-track groove 12.One end of guide-track groove 12 is straight slot, another
It holds as blind slot.The upper surface of mobile platform 1 is coupled with bogey 3 in parallel using guideway.
Manipulator 2 includes the driving element 22 in 21 and first joint of pedestal.Wherein, manipulator 2 is fixed on by pedestal 21
It turns round in mounting base 313, the driving element 22 in the first joint is mounted on the inside of bogey 3 in parallel.Embodiment 1
As depicted in figs. 1 and 2, a kind of intelligent mobile equipment with executing agency, including mobile platform 1, carrying in parallel
Device 3, manipulator 2, manipulator 2 have six degree of freedom, and manipulator 2 is driven using motor, and there is mobile platform 1 wheel to carry out transcriber
Structure 13, wheel carry out mapping device 13 and are located at the left and right sides of mobile platform 1, and wheel carries out mapping device 13 with driving wheel 131 and driven
Wheel 132, driving wheel 131 is fixed, and the side that driven wheel 132 carries out mapping device 13 along wheel is taken turns and carried out with the movement slided up and down
Vibration reduction and cushioning spring 33133 is installed on the adjustment mechanism of mapping device 13.As shown in figure 3, wheel carries out the driving of mapping device 13
Element hydraulic cylinder 35135 is symmetrically mounted on the inside that wheel carries out mapping device 13, and the hydraulic cylinder of mapping device 13 is carried out by control wheel
35135 can realize the transformation of the wheel type movement pattern of mobile platform 1 and crawler type motor pattern.
The crawler type motor pattern of mobile platform 1 is illustrated in figure 2, is illustrated in figure 4 the wheel type movement mould of mobile platform 1
Formula.
As shown in figure 5, bogey 3 in parallel has upper mounting plate 31 and lower platform 32.The lower platform 32 of bogey in parallel
Moving guide rail 34 and transmission nut 35 are provided with, the driving element 33 of bogey 3 in parallel is uniformly distributed mounted on carrying in parallel
Between the upper mounting plate 31 of device 3 and lower platform 32, rigidity supporting rod 36 is provided between upper mounting plate 31 and lower platform 32.Manipulator
2 are fixed on by pedestal 21 in the revolution mounting base 313 of the upper mounting plate 31 of bogey 3 in parallel, wherein the driving in the first joint
Element 22 is mounted on the inside of bogey 3 in parallel.
As shown in fig. 6, the upper surface of mobile platform 1 is provided with guide-track groove 12, one end of guide-track groove 12 is straight slot, the other end
For blind slot, the upper surface of mobile platform 1 is coupled with bogey 3 in parallel using guideway.
As shown in Figure 7, Figure 8 and Figure 9, the middle part of the upper mounting plate 31 of bogey in parallel be net radiation disk, netted spoke
That penetrates disk is provided centrally with revolution mounting base 313, turns round in mounting base 313 and is provided with revolving support 3131 and roller gear
3132.The bottom surface of upper mounting plate 31 is provided with stiffener plate 312, flexural pivot mounting base 311 and supporting rack 37.
As shown in Figure 10, the bottom surface of supporting rack 37 is provided with the connecting hinge 2 362 of rigidity supporting rod 36, as shown in figure 11,
The surface of lower platform 32 is provided with the connecting hinge 1 of rigidity supporting rod 36.
As shown in figure 12, the utility model is a kind of series parallel type mobile manipulator that can be taken action, on the utility model
Terrain match control system 4 is equipped with, monitoring system 41, dynamic analysis system 5, wheel is specifically included and carries out transform controller 6, movement
Controller 7, monitoring system 41 include visual sensor 411, attitude transducer 412 and vibrating sensor 413, are each attached to movement
On platform.Monitoring system 41 communicates with dynamic analysis system 5, and dynamic analysis system 5 carries out transform controller 6 and movement with wheel
Controller 7 communicates.
This product can adapt to the movement and operation of ground grading, ground of jolting, slope ground, injection volume and good operational stability, weight
The heart is steady, and movement speed is fast, and has wheeled and 2 kinds of motor patterns of crawler type
Intelligent mobile with the executing agency equipment of the utility model can integrate mobile and operating function, comprehensive
The two-fold advantage of parallel institution and serial mechanism has been closed, has improved rigidity, working space, structural stability and the operation spirit of system
Activity makes system almost possess infinitely great working space.By the way that different operation instruments is configured to manipulator, difference can perform
Operation task, can perform task occasion it is more extensive.This product has systematic stability height and vibrational energy is minimum
Advantage, mobile platform therein have optimal movement speed, and bogey in parallel has best operating attitude, realizes system pair
Ground grading, the matching on ground of jolting, slope ground so that system is in optimum state.
Claims (10)
1. the Intelligent mobile equipment with executing agency, it is characterised in that：Including mobile platform（1）, bogey in parallel（3）With
Manipulator（2）；In mobile platform（1）It is equipped with bogey in parallel（3）；In bogey in parallel（3）It is equipped with manipulator
（2）；Mobile platform（1）It is made of a rectangular-shaped top plate and two side plates；It is equal in the end of the inside of each side plate, length direction
Equipped with tire；In mobile platform（1）Side be equipped with wheel carry out mapping device（13）.
2. the Intelligent mobile equipment according to claim 1 with executing agency, it is characterised in that：Wheel carries out mapping device
（13）Further include driving wheel（131）, driven wheel（132）, vibration reduction and cushioning spring（133）And hydraulic cylinder（135）；Wherein, each
Driving wheel is equipped on the outside of side plate（131）And driven wheel（132）；
Driving wheel（131）It is fixedly connected with adjacent side wall；Vibration reduction and cushioning spring is provided on the outside of side plate（133）；It is located at
Driving wheel on same side plate（131）And driven wheel（132）With a crawler belt（134）Engagement, when work, pass through driving wheel
（131）Driving, so as to drive driven wheel（132）Mobile platform is realized in operating（1）Crawler type movement.
3. the Intelligent mobile equipment according to claim 1 with executing agency, it is characterised in that：Bogey in parallel
（3）Include the upper mounting plate of bogey in parallel（31）, bogey in parallel lower platform（32）, bogey in parallel driving member
Part（33）, moving guide rail（34）, transmission nut（35）, rigidity supporting rod（36）；Wherein, in lower platform（32）Bottom be provided with
Moving guide rail（34）And transmission nut（35）；In lower platform（32）Top be provided with 3 or more bogey in parallel drive
Dynamic element（33）；The driving element of bogey in parallel（33）Top and upper mounting plate（31）Bottom surface be connected；Lower flat
Platform（32）With upper mounting plate（31）Between be equipped with rigidity supporting rod（36）.
4. the Intelligent mobile equipment according to claim 3 with executing agency, it is characterised in that：Upper mounting plate（31）In
Portion is net radiation disk, and revolution mounting base is provided centrally in net radiation disk（313）, in revolution mounting base（313）
On be provided with revolving support（3131）And roller gear（3132）；Revolving support（3131）Internal tooth and roller gear（3132）'s
Outer tooth engagement, roller gear（3132）Drive revolving support（3131）Realize rotation.
5. the Intelligent mobile equipment according to claim 4 with executing agency, it is characterised in that：In upper mounting plate（31）'s
Bottom surface is provided with stiffener plate（312）, flexural pivot mounting base（311）And supporting rack（37）；Stiffener plate（312）With flexural pivot mounting base
（311）It is 3 or more, and is symmetrically distributed in upper mounting plate（31）Bottom surface, supporting rack（37）It is fixed on upper mounting plate（31）Bottom
The center in face.
6. the Intelligent mobile equipment according to claim 5 with executing agency, it is characterised in that：Pass through connecting hinge two
（362）By supporting rack（37）Bottom and rigidity supporting rod（36）It is connected；Pass through connecting hinge one（361）By lower platform（32）'s
Top surface and rigidity supporting rod（36）It is connected.
7. the Intelligent mobile equipment according to claim 3 with executing agency, it is characterised in that：Upper mounting plate（31）In
Portion is net radiation disk, and revolution mounting base is provided centrally in net radiation disk（313）, in revolution mounting base（313）
On be provided with revolving support（3131）And roller gear（3132）；Revolving support（3131）Internal tooth and roller gear（3132）'s
Outer tooth engagement, roller gear（3132）Drive revolving support（3131）Realize rotation；
In upper mounting plate（31）Bottom surface be provided with stiffener plate（312）, flexural pivot mounting base（311）And supporting rack（37）；Reinforcing rib
Plate（312）With flexural pivot mounting base（311）It is 3 or more, is symmetrically distributed in upper mounting plate（31）Bottom surface, supporting rack（37）Gu
It is scheduled on upper mounting plate（31）Bottom surface center；
Pass through connecting hinge two（362）By supporting rack（37）Bottom and rigidity supporting rod（36）It is connected；Pass through connecting hinge one
（361）By lower platform（32）Top surface and rigidity supporting rod（36）It is connected；
Mobile platform（1）In n shapes；Mobile platform（1）It is made of a rectangular-shaped top plate and two side plates；In each side plate
Side, length direction end be equipped with tire；
Wheel carries out mapping device（13）Further include driving wheel（131）, driven wheel（132）, vibration reduction and cushioning spring（133）And hydraulic cylinder
（135）；Wherein, it is equipped with driving wheel on the outside of each side plate（131）And driven wheel（132）；
Driving wheel（131）It is fixedly connected with adjacent side wall；Vibration reduction and cushioning spring（133）The outside of side plate is arranged on, positioned at side
The hook of plate（1331）And driven wheel（132）Connecting plate（1332）Between；
The driving wheel on same side plate（131）And driven wheel（132）With a crawler belt（134）Engagement, when work, pass through
Driving wheel（131）Driving, so as to drive driven wheel（132）Mobile platform is realized in operating（1）Crawler type movement.
8. the Intelligent mobile equipment according to claim 7 with executing agency, it is characterised in that：In mobile platform（1）
It is equipped with terrain match control system（4）；Terrain match control system（4）Respectively with mobile platform（1）, manipulator（2）, simultaneously
Join bogey（3）It is connected.
9. the Intelligent mobile equipment according to claim 7 with executing agency, it is characterised in that：Terrain match control system
System（4）Including monitoring system（41）, dynamic analysis system（5）, wheel carry out transform controller（6）And motion controller（7）；Wherein,
Monitoring system（41）By visual sensor（411）, attitude transducer（412）And vibrating sensor（413）Composition；Vision passes
Sensor（411）, attitude transducer（412）And vibrating sensor（413）It is each attached to mobile platform（1）On；
Dynamic analysis system（5）, wheel carry out transform controller（6）And motion controller（7）It is separately mounted to mobile platform（1）On；
Monitoring system（41）With dynamic analysis system（5）It communicates, dynamic analysis system（5）Transform controller is carried out with wheel（6）And fortune
Movement controller（7）It communicates.
10. the Intelligent mobile equipment with executing agency described according to claim 6 or 7, it is characterised in that：In mobile platform
（1）Upper surface be provided with guide-track groove（12）；Guide-track groove（12）One end for straight slot, the other end is blind slot；Mobile platform（1）'s
Upper surface and bogey in parallel（3）Coupled using guideway；
Manipulator（2）Include pedestal（21）With the driving element in the first joint（22）；Wherein, manipulator（2）Pass through pedestal（21）
It is fixed on revolution mounting base（313）On, the driving element in the first joint（22）Mounted on bogey in parallel（3）Inside.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721594896.6U CN207564460U (en) | 2017-11-25 | 2017-11-25 | Intelligent mobile equipment with executing agency |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721594896.6U CN207564460U (en) | 2017-11-25 | 2017-11-25 | Intelligent mobile equipment with executing agency |
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| CN207564460U true CN207564460U (en) | 2018-07-03 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048942A (en) * | 2018-08-31 | 2018-12-21 | 浙江三星机电股份有限公司 | Quickly through the explosive-removal robot of complicated landform |
| CN109500814A (en) * | 2018-11-30 | 2019-03-22 | 北京精密机电控制设备研究所 | The full dimension ground physical verification system and method for space manipulator varying load situation |
| CN111993389A (en) * | 2020-08-24 | 2020-11-27 | 宁波大学 | Hybrid-driven movable multi-degree-of-freedom parallel motion platform |
| CN113844482A (en) * | 2020-06-28 | 2021-12-28 | 沈阳新松机器人自动化股份有限公司 | Double-track six-degree-of-freedom moving platform |
| CN116945124A (en) * | 2022-04-20 | 2023-10-27 | 深圳市普渡科技有限公司 | Robot and control method, equipment and medium thereof |
-
2017
- 2017-11-25 CN CN201721594896.6U patent/CN207564460U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048942A (en) * | 2018-08-31 | 2018-12-21 | 浙江三星机电股份有限公司 | Quickly through the explosive-removal robot of complicated landform |
| CN109500814A (en) * | 2018-11-30 | 2019-03-22 | 北京精密机电控制设备研究所 | The full dimension ground physical verification system and method for space manipulator varying load situation |
| CN113844482A (en) * | 2020-06-28 | 2021-12-28 | 沈阳新松机器人自动化股份有限公司 | Double-track six-degree-of-freedom moving platform |
| CN111993389A (en) * | 2020-08-24 | 2020-11-27 | 宁波大学 | Hybrid-driven movable multi-degree-of-freedom parallel motion platform |
| CN116945124A (en) * | 2022-04-20 | 2023-10-27 | 深圳市普渡科技有限公司 | Robot and control method, equipment and medium thereof |
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