CN210189787U - Mobile platform parallel robot - Google Patents
Mobile platform parallel robot Download PDFInfo
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- CN210189787U CN210189787U CN201921170595.XU CN201921170595U CN210189787U CN 210189787 U CN210189787 U CN 210189787U CN 201921170595 U CN201921170595 U CN 201921170595U CN 210189787 U CN210189787 U CN 210189787U
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Abstract
The utility model discloses a moving platform parallel robot. The utility model discloses a center workstation, main track mobile robot and vice track mobile robot, center workstation be connected respectively through stranded rope and main track mobile robot, vice track mobile robot, center workstation have external equipment flange. The utility model discloses a hoist engine can be on a large scale drive parallel robot work to receiving and releasing of rope. Through the mode that the rope robot was carried on to track mobile robot, can survey the unable investigation of manpower or high danger area.
Description
Technical Field
The utility model relates to a disaster investigation mobile platform parallel robot through three and above rocking arm formula crawler robot, pulls parallel robot and accomplishes disaster investigation operation, eliminates the risk of artifical detection for disaster investigation evaluation efficiency.
Background
In recent years, with the continuous development of related technologies and the rapid increase of application requirements, the application of the robot technology in disaster detection and evaluation is more and more extensive. Typhoon frequently occurs in China, frequently invades by typhoon in coastal areas of south east, and frequently occurs mountain landslides, debris flows and other accompanying disasters. In the past, whether pre-disaster warning, emergency rescue during disaster or after disaster is over-good, great manpower, material resources and financial resources are consumed, and heavy loss caused by natural disasters can take a long time to delay. With the development of various high and new technologies and the appearance and application of robots, the corresponding means of people to disasters is greatly expanded.
At present, in China, disaster early warning work is carried out basically by manpower, the work load is large, the investigation speed is low, the investigation time is long, the working environment is severe, unexpected disasters can be met, the manual investigation cost is high, and the investigation and evaluation quality is difficult to guarantee. In addition, some disaster sites often have the collapse, and if an unmanned aerial vehicle is adopted to observe the disaster, the long-time observation cannot be maintained, so that the disaster surveying effect is not ideal.
Disclosure of Invention
The to-be-solved technical problem of the utility model is exactly to improve the safety problem of disaster investigation aassessment, improve the disaster investigation, the efficiency of disaster early warning especially exists the condition of collapsing to the scene, reduces the economic cost and the risk of manpower investigation simultaneously, adopts the parallel robot of disaster investigation mobile platform.
In order to solve the technical problem, the utility model discloses a realize through following technical scheme:
the utility model discloses a center workstation, main track mobile robot and vice track mobile robot, center workstation be connected respectively through stranded rope and main track mobile robot, vice track mobile robot, center workstation have external equipment flange.
The main track mobile robot comprises a main track moving structure, a main rocker arm, a main lifting rod, a main lifting platform, an electromagnet and a main winch; two pairs of main rocker arms for obstacle crossing are arranged on two sides of the main track moving structure, and the upper part of the main track moving structure is connected with a main lifting platform through a main lifting rod; an electromagnet for adsorbing the central workbench is arranged on the main lifting platform; the main winch is also arranged on the main lifting platform, and a rope on the main winch is fixed with one end of the central workbench.
The auxiliary track mobile robot comprises an auxiliary track moving structure, an auxiliary rocker arm, an auxiliary lifting rod, an auxiliary lifting platform, a torsion spring stretching device and an auxiliary winch; two pairs of auxiliary rocker arms for obstacle crossing are arranged on two sides of the auxiliary track moving structure, and the upper part of the auxiliary track moving structure is connected with an auxiliary lifting platform through an auxiliary lifting rod; the auxiliary winch is arranged on the auxiliary lifting platform and drives the torsion spring stretching device to rotate, a rope is arranged in the torsion spring stretching device and is fixed with the other end of the central workbench; and a rope can be wound on the periphery of the torsion spring stretching device.
Furthermore, a rope fixed on the main winch and one end of the central workbench is a towing cable.
Furthermore, the torsion spring stretching device is provided with a rope locking mechanism.
Further, the rope locking mechanism comprises a push rod motor and a clamp, the push rod motor and the clamp are installed at an outlet of the torsion spring stretching device, and the push rod motor drives the clamp to lock the rope at the outlet of the torsion spring stretching device.
Furthermore, the lifting rod can also rotate.
The utility model has the advantages that:
1. the lifting rod is connected with the caterpillar band to move the robot lifting platform, so that the height of the parallel robot can be freely adjusted within a certain range.
2. The working position of the parallel robot can be adjusted in a small range through the rotation of the lifting platform.
3. The parallel robot can be driven to work in a large range by winding and unwinding the rope through the winch.
4. Through the mode that the rope robot was carried on to track mobile robot, can survey the unable investigation of manpower or high danger area.
5. Through the rotation of the lifting rod, after the robot operation is finished, the mobile robot lifting platform can rotate to the body of the mobile robot, and the vehicle loading is facilitated.
6. The main crawler mobile robot is connected with the towing cable to supply power to the central workbench, so that the weight of the central workbench can be reduced, and the residual load is increased.
7. The auxiliary crawler mobile robot winch is connected with the torsion spring stretching device, so that the winch does not need to be operated when the auxiliary crawler mobile robot winch reaches the initial working position.
Drawings
The present invention will be further explained with reference to the accompanying drawings:
fig. 1 is the utility model discloses disaster investigation mobile platform parallel robot initialization operation's schematic structure.
Fig. 2 is the utility model discloses the structural schematic of track mobile robot part among disaster investigation moving platform parallel robot.
Fig. 3a and 3b are the utility model discloses disaster investigation mobile platform parallel robot torsional spring stretching device schematic structure.
Fig. 4 is the utility model discloses disaster investigation mobile platform parallel robot initial stage passive tensile motion state schematic diagram.
Fig. 5 is the utility model discloses situation of disaster reconnaissance moving platform parallel robot hoist engine drags down motion state schematic diagram.
Detailed Description
The utility model discloses a center workstation, main track mobile robot and vice track mobile robot, center workstation be connected respectively through stranded rope and main track mobile robot, vice track mobile robot, center workstation have external equipment flange.
The main track mobile robot comprises a main track moving structure, a main rocker arm, a main lifting rod, a main lifting platform, an electromagnet and a main winch; two pairs of main rocker arms for obstacle crossing are arranged on two sides of the main track moving structure, and the upper part of the main track moving structure is connected with a main lifting platform through a main lifting rod; an electromagnet for adsorbing the central workbench is arranged on the main lifting platform; the main winch is also arranged on the main lifting platform, and a rope on the main winch is fixed with one end of the central workbench.
The auxiliary track mobile robot comprises an auxiliary track moving structure, an auxiliary rocker arm, an auxiliary lifting rod, an auxiliary lifting platform, a torsion spring stretching device and an auxiliary winch; two pairs of auxiliary rocker arms for obstacle crossing are arranged on two sides of the auxiliary track moving structure, and the upper part of the auxiliary track moving structure is connected with an auxiliary lifting platform through an auxiliary lifting rod; the auxiliary winch is arranged on the auxiliary lifting platform and drives the torsion spring stretching device to rotate, a rope is arranged in the torsion spring stretching device and is fixed with the other end of the central workbench; and a rope can be wound on the periphery of the torsion spring stretching device.
Preferably, a novel disaster situation investigation mobile platform parallel robot is designed by adopting a mode of combining elements of the crawler mobile robot with the rope parallel robot, wherein the parallel connection refers to parallel connection of the ropes, namely one end of each rope is connected with the center workbench, and the other end of each rope is connected with the crawler mobile robot.
Preferably, the working space of the parallel robot is enlarged by adopting a lifting platform mode.
Preferably, the terrain adaptability of the mobile robot is enhanced by adopting a rocker arm obstacle crossing motion mode, so that the investigation and evaluation capability of the disaster investigation parallel robot on a high-risk area is enhanced.
Preferably, the parallel robot can be driven to work in a large range by winding and unwinding the rope by the winch.
Preferably, the lifting rod is connected with the crawler mobile robot lifting platform, so that the height of the parallel robot can be freely adjusted within a certain range.
Preferably, adopt the mode that the rope robot was carried on to track mobile robot, can survey the unable investigation of manpower or high danger area.
Preferably, the lifting rod can be additionally rotated, so that the lifting platform of the crawler mobile robot can rotate to the body of the crawler mobile robot after the robot finishes operation, and the robot is convenient to load by vehicles.
Preferably, the rocker arm type mobile robot chassis can counteract the overturning force of the parallel robot during operation, so that the robot is stable.
Example (b):
as shown in fig. 1 to 5, the main-track mobile robot in this embodiment includes a hoist 9, a lift table 7, a lift lever 6, and a swing arm 5. The hoist 9 is installed on the elevating platform 7, and the elevating platform 7 is installed on the lifting rod 6. The lifting platform 7 is connected with the crawler belt moving structure 4 through a lifting rod 6. The lifting rod 6 can drive the lifting platform 7 to move up and down, and can also rotate in a certain range, so that the lifting platform can rotate to a certain degree. The main track mobile robot and the auxiliary track mobile robot are basically similar in structure, and a torsion spring stretching device 11 is further installed on a winch 9 of the auxiliary track mobile robot.
In the initial working stage, the lifting platform 7 is positioned on the body of the crawler belt moving structure 4 and can be lifted to a proper position through the telescopic and rotary motion of the lifting rod 6 during the working process. The sensor is positioned on the body of the mobile robot, and when encountering an obstacle, the sensor can trigger the obstacle crossing mechanism of the robot, and the rocker arm 5 is started to cross the obstacle and continue working. The rocker arms 5 are arranged on two sides of the mobile robot respectively. Can resist the overturning force of the central workbench 2 during working within a certain range.
One end of the rope 1 is connected to the central workbench 2, the other end of the rope is connected to the torsion spring stretching devices 11 of the caterpillar robots 12 and 13, and the central workbench 2 is controlled to operate together through the winch 9 and the mobile robot. The torsion spring stretching device 11 is installed on the output shaft of the winch 9 of the auxiliary track mobile robot. The torsion spring stretching device 11 is composed of four parts, namely a torsion spring 14, a shell 15, a clamp 16 and a push rod motor 17, and is shown in fig. 3a and 3 b.
Description of the working process: in an initial state, the main crawler mobile robot, the auxiliary crawler mobile robot and the auxiliary crawler mobile robot are in parallel positions as shown in fig. 1, the central workbench 2 is adsorbed on the lifting platform 7 through the electromagnet 8, after receiving a working instruction, the main crawler mobile robot plans, sends the instruction to the auxiliary crawler mobile robots 12 and 13, and pulls out a rope in the torsion spring stretching device 11 as shown in fig. 4; after the cable is moved to a planned position, the push rod motor 17 moves to drive the clamp 16 to lock the cable 1, then the electromagnet 8 is powered off, the central workbench 2 on the main crawler mobile robot operates through the winch 9 and simultaneously rotates in cooperation with the torsion spring stretching devices 11 on the auxiliary crawler robots 12 and 13, so that the tow cable 10 and the central workbench 2 are released to a disaster investigation area, and the cable between the central workbench 2 and the auxiliary crawler robots 12 or 13 is wound to the periphery of the torsion spring stretching devices 11; and then the central workbench 2 is controlled to move to a disaster site, particularly above a collapse area through the cooperation of the winch 9 and the three crawler mobile robots. The external equipment connecting flange 3 at the bottom of the central workbench 2 carries various tools required by disaster investigation, so that investigation operation of the collapse area is completed.
In addition to the preferred embodiments described above, other embodiments of the present invention are also possible, and those skilled in the art can make various changes and modifications according to the present invention without departing from the spirit of the present invention, which should fall within the scope of the present invention defined by the appended claims.
Claims (5)
1. The utility model provides a moving platform parallel robot, includes central workstation, main track mobile robot and vice track mobile robot, its characterized in that:
the central workbench is respectively connected with the main crawler mobile robot and the auxiliary crawler mobile robot through a plurality of ropes, and the central workbench is provided with an external equipment connecting flange;
the main track mobile robot comprises a main track moving structure, a main rocker arm, a main lifting rod, a main lifting platform, an electromagnet and a main winch; two pairs of main rocker arms for obstacle crossing are arranged on two sides of the main track moving structure, and the upper part of the main track moving structure is connected with a main lifting platform through a main lifting rod; an electromagnet for adsorbing the central workbench is arranged on the main lifting platform; the main winch is also arranged on the main lifting platform, and a rope on the main winch is fixed with one end of the central workbench;
the auxiliary track mobile robot comprises an auxiliary track moving structure, an auxiliary rocker arm, an auxiliary lifting rod, an auxiliary lifting platform, a torsion spring stretching device and an auxiliary winch; two pairs of auxiliary rocker arms for obstacle crossing are arranged on two sides of the auxiliary track moving structure, and the upper part of the auxiliary track moving structure is connected with an auxiliary lifting platform through an auxiliary lifting rod; the auxiliary winch is arranged on the auxiliary lifting platform and drives the torsion spring stretching device to rotate, a rope is arranged in the torsion spring stretching device and is fixed with the other end of the central workbench; and a rope can be wound on the periphery of the torsion spring stretching device.
2. The mobile platform parallel robot of claim 1, wherein: and a rope fixed on the main winch and one end of the central workbench is a towing cable.
3. The mobile platform parallel robot of claim 1, wherein: the torsion spring stretching device is provided with a rope locking mechanism.
4. A mobile platform parallel robot according to claim 3, wherein: the rope locking mechanism comprises a push rod motor and a clamp, the push rod motor and the clamp are installed at an outlet of the torsion spring stretching device, and the push rod motor drives the clamp to lock a rope at the outlet of the torsion spring stretching device.
5. A mobile platform parallel robot according to any of claims 1 to 4, wherein: the lifting rod can also rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921170595.XU CN210189787U (en) | 2019-07-24 | 2019-07-24 | Mobile platform parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921170595.XU CN210189787U (en) | 2019-07-24 | 2019-07-24 | Mobile platform parallel robot |
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| CN210189787U true CN210189787U (en) | 2020-03-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216660A (en) * | 2019-07-24 | 2019-09-10 | 中国计量大学 | Mobile platform parallel robot |
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2019
- 2019-07-24 CN CN201921170595.XU patent/CN210189787U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216660A (en) * | 2019-07-24 | 2019-09-10 | 中国计量大学 | Mobile platform parallel robot |
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