CN215749151U - Three-degree-of-freedom self-balancing robot based on parallel mechanism - Google Patents
Three-degree-of-freedom self-balancing robot based on parallel mechanism Download PDFInfo
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- CN215749151U CN215749151U CN202122193207.3U CN202122193207U CN215749151U CN 215749151 U CN215749151 U CN 215749151U CN 202122193207 U CN202122193207 U CN 202122193207U CN 215749151 U CN215749151 U CN 215749151U
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- 238000002955 isolation Methods 0.000 claims description 7
- 230000005855 radiation Effects 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 abstract description 3
- 238000001816 cooling Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
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Abstract
The utility model belongs to the technical field of parallel robots, and particularly relates to a three-degree-of-freedom self-balancing robot based on a parallel mechanism, which comprises: a base; a lower platform placed on the base; the upper platform is positioned above the lower platform; the three support kinematic chains are uniformly distributed between the upper platform and the lower platform along the circumference; wherein the support kinematic chain comprises: the main rocker arm, the cross shaft, the supporting arm, the extension arm and the connecting arm are connected in sequence; the main rocker arm is mounted on the lower platform through a motor, and the connecting arm is fixedly connected with the upper platform; the motor drives the main rocker arm to move so as to drive the upper platform, and the motor drives the main rocker arm to move so as to drive the upper platform to realize three-degree-of-freedom movement. The three-degree-of-freedom self-balancing robot based on the parallel mechanism has the advantages of reasonable and reliable structure, small size, convenience in driving and use, and capability of realizing adjustment of three degrees of freedom, namely pitching rotation, rolling rotation and vertical linear movement.
Description
Technical Field
The utility model belongs to the technical field of parallel robots, and particularly relates to a three-degree-of-freedom self-balancing robot based on a parallel mechanism.
Background
On autonomous mobile robots such as unmanned vehicles and unmanned aerial vehicles, precision sensors such as laser radars and binocular cameras are often carried, and the motion of the robot can lead to the sensor to vibrate, thereby leading to the frequent change of the posture of the sensor, increasing the calibration difficulty of the sensor and the workload of data processing, also accelerating the loss of the sensor, and leading to the increase of the maintenance cost of the sensor. The existing parallel platform is composed of an electric cylinder or a stepping motor and a screw rod to form power input, and is large in size and high in cost.
In view of the above problems, an object of the present invention is to provide a three-degree-of-freedom self-balancing robot based on a parallel mechanism, which has a small size and a low cost, and can maintain the posture of an upper platform, greatly reduce the vibration caused by the movement of a lower platform, and achieve the effects of stabilizing and protecting the articles carried by the upper platform.
SUMMERY OF THE UTILITY MODEL
The utility model provides a three-degree-of-freedom self-balancing robot based on a parallel mechanism, which is used for realizing the adjustment of three degrees of freedom of pitching rotation, rolling rotation and vertical linear movement of an upper platform through three supporting kinematic chains.
In order to solve the above technical problem, the present invention provides a three-degree-of-freedom self-balancing robot based on a parallel mechanism, comprising: a base; a lower platform placed on the base; the upper platform is positioned above the lower platform; the three support kinematic chains are uniformly distributed between the upper platform and the lower platform along the circumference; wherein the support kinematic chain comprises: the main rocker arm, the cross shaft, the supporting arm, the extension arm and the connecting arm are connected in sequence; the main rocker arm is mounted on the lower platform through a motor, and the connecting arm is fixedly connected with the upper platform; the motor drives the main rocker arm to move so as to drive the upper platform to realize three-degree-of-freedom movement.
Further, the primary rocker arm includes: the first main rocker arm plate and the second main rocker arm plate are arranged in parallel at intervals; the supporting frame is positioned between the middle part of the first main rocker arm plate and the middle part of the second main rocker arm plate; an isolation post positioned between the first end of the first primary rocker arm plate and the first end of the second primary rocker arm plate; a flange located outside the first end of the first primary rocker arm plate for mounting the primary rocker arm on the motor; and the plurality of screws sequentially penetrate through the second main rocker plate, the isolation column, the first main rocker plate and the flange plate so as to fix the flange plate on the main rocker.
Further, the cross includes: two ends of the cross shaft are respectively arranged at the second end part of the first main rocker arm plate and the second end part of the second main rocker arm plate through a cross shaft first bearing and a cross shaft second bearing; the first end of the first cross shaft is provided with a first cross shaft bearing and is arranged between the middle part of the first main rocker arm plate and the middle part of the second main rocker arm plate through a first cross shaft connecting piece; the first end of the cross shaft second vertical shaft is provided with a cross shaft second bearing and is arranged on the supporting arm through a cross shaft second connecting piece; wherein the second end of the first cross-axis and the second end of the second cross-axis are collinear and intersect at the cross-axis center.
Further, the support arm includes: a support arm body; the first fixing piece of the supporting arm is positioned at the first end of the main body of the supporting arm and is connected with the second connecting piece of the cross shaft through the second fixing piece of the supporting arm; the support arm bearing is positioned at the second end of the support arm main body, and a first fixing sleeve and a second fixing sleeve are respectively arranged on two sides of the support arm bearing; and the support arm bearing cover is fixed with the support arm main body through screws.
Further, the extension arm includes: the first extension plate and the second extension plate are arranged in parallel at intervals; a connecting member between the first end of the first extension board and the first end of the second extension board to connect with the connecting arm; the bolt passes through the second extension plate, the first fixing sleeve, the support arm bearing, the second fixing sleeve and the first extension plate in sequence so that the support arm is connected with the extension arm.
Further, the connecting arm includes: connecting a bearing seat; the connecting arm bearing is positioned on the connecting bearing seat, and a third fixing sleeve and a fourth fixing sleeve are arranged on the two sides of the connecting arm bearing; the connecting arm bearing cover is fixed with the connecting bearing seat through a screw; the bolt sequentially penetrates through the fourth fixing sleeve, the connecting arm bearing, the third fixing sleeve and the connecting piece so as to enable the extension arm to be connected with the connecting arm; wherein said fourth harness is adapted to be attached to the upper platform by screws.
Further, the upper platform includes: an upper flat plate; and the IMU sensor is arranged at the lower center of the upper flat plate through a sensor fixing piece.
Further, the lower platform includes: a lower flat plate; the motor is placed on the lower flat plate through the motor fixing piece; the laser ranging frame is positioned on the lower flat plate, and a laser ranging sensor is arranged on the laser ranging frame; the fixed column is positioned at the hole position of the laser ranging frame and used for limiting the laser ranging sensor; wherein the motor fixing piece is connected with the main rocker arm through a screw.
Further, the base includes: the top of the base shell is used for placing a lower platform; a battery located inside the base housing; the control panel is positioned inside the base shell; a protection plate located inside the base housing; the heat radiation fan is positioned outside the base shell; and a function button located outside the base housing.
The three-degree-of-freedom self-balancing robot based on the parallel mechanism has the beneficial effects that three supporting kinematic chains are uniformly distributed between the upper platform and the lower platform along the circumference; the motor drives the main rocker arm, the cross shaft, the supporting arm, the extension arm and the connecting arm which are sequentially connected in the supporting motion chain to move, so that three-degree-of-freedom motion of the upper platform is realized. The adjustable three-freedom-degree vertical linear movement mechanism has the advantages of reasonable and reliable structure, small size, convenience in driving and use and the like, and can realize adjustment of three degrees of freedom of pitching rotation, rolling rotation and vertical linear movement.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural diagram of a three-degree-of-freedom self-balancing robot of the present invention;
FIG. 2 is a schematic structural view of the upper platform of the present invention;
FIG. 3 is a schematic diagram of the structure of the support kinematics chain of the present invention;
FIG. 4 is a cross-sectional view of the support kinematics chain of the present invention after being flattened;
FIG. 5 is an exploded view of the structure of the support kinematics chain of the present invention;
FIG. 6 is a schematic structural view of the lower platform of the present invention;
FIG. 7 is a schematic structural view of the base of the present invention;
in the figure:
the device comprises an upper platform 1, an upper flat plate 11, a sensor fixing part 12 and an IMU sensor 13;
a support kinematic chain 2, a main rocker arm 21, a flange plate 211, a first main rocker arm plate 212, a second main rocker arm plate 213, a support frame 214, an isolation column 215, a cross 22, a cross center 221, a cross lateral shaft 222, a cross first vertical shaft 223, a cross second vertical shaft 224, a cross vertical shaft first bearing 225, a cross vertical shaft second bearing 226, a cross lateral shaft first bearing 227, a cross lateral shaft second bearing 228, a support arm 23, a cross first connecting member 231, a cross second connecting member 232, a support arm first fixing member 233, a support arm second fixing member 234, a support arm main body 235, a support arm bearing 236, a support arm bearing cover 237, a first fixing sleeve 238, a second fixing sleeve 239, an extension arm 24, a first extension plate 241, a second extension plate 242, a connecting member 243, a connecting arm 25, a third fixing sleeve 251, a bearing connecting shaft 252, a connecting arm bearing 253, a connecting arm bearing cap 254, a fourth fixing sleeve 255;
the device comprises a lower platform 3, a lower flat plate 31, a motor fixing piece 32, a motor 33, a laser ranging frame 34, a laser ranging sensor 35 and a fixing column 36;
the base 4, the base housing 41, the battery 42, the cooling fan 43, the control panel 44, the protective panel 45, the function button 46, the power switch 461, the mode control switch 462, and the control button 463.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 7, the three-degree-of-freedom self-balancing robot based on the parallel mechanism of the present embodiment includes: the three-dimensional support structure comprises an upper platform 1, three support kinematic chains 2, a lower platform 3 and a base 4, wherein the three same support kinematic chains 2 are uniformly distributed between the upper platform 1 and the lower platform 3 in a circumferential array mode and are connected with the upper platform 1 and the lower platform 3, and the lower platform 3 is placed on the base 4.
In this example, see fig. 2, the upper platform 1 includes an upper plate 11, a sensor mount 12, and an IMU sensor 13, the IMU sensor 13 being connected to the sensor mount 12, the sensor mount 12 being mounted centrally below the upper plate 11.
In the present example, see fig. 3-5, the supporting kinematic chain 2 comprises a main rocker 21, a cross 22, a supporting arm 23, an extension arm 24 and a connecting arm 25. The main rocker arm 21 is connected with the support arm 23 through a cross shaft 22, the extension arm 24 is connected with the support arm 23, and the connecting arm 25 is connected with the extension arm 24. Specifically, the components and connections of the support kinematic chain 2 are as follows:
optionally, referring to fig. 4 and 5, the primary rocker arm 21 includes a flange 211, a first primary rocker arm plate 212, a second primary rocker arm plate 213, a support frame 214, and an isolation column 215. Specifically, the screw passes through the second main rocker plate 213, the isolation column 215, the first main rocker plate 212 and the flange 211 to be matched; the flange plate 211 is disposed outside the first primary rocker arm plate 212, and the support frame 214 is disposed between the first primary rocker arm plate 212 and the second primary rocker arm plate 213 and fixed by bolts.
Optionally, referring to fig. 4 and 5, the cross 22 includes a cross center 221, a cross lateral axis 222, a cross first vertical axis 223, a cross second vertical axis 224, a cross vertical axis first bearing 225, a cross vertical axis second bearing 226, a cross lateral axis first bearing 227, and a cross lateral axis second bearing 228. The cross shaft 222 passes through the center 221 of the cross shaft, and a first cross shaft bearing 227 and a second cross shaft bearing 228 are sleeved on two sides of the cross shaft; a cross-shaft first bearing 227 is disposed in the slot of the first primary rocker arm plate 212 and a cross-shaft second bearing 228 is disposed in the slot of the second primary rocker arm plate 213; the first cross shaft vertical shaft 223 and the second cross shaft 224 are inserted into the center 221 of the cross shaft and embedded into the corresponding groove of the cross shaft 222, and are fixed by screws; cross shaft vertical shaft first bearing 225 is sleeved on cross shaft first vertical shaft 223 and placed in a groove of cross shaft first connector 231, cross shaft vertical shaft second bearing 226 is sleeved on cross shaft second vertical shaft 224 and placed in a groove of cross shaft second connector 232, and cross shaft first connector 231 and cross shaft second connector 232 are fixed through screws.
Optionally, referring to fig. 4 and 5, the support arm 23 includes a first cross-shaft connector 231, a second cross-shaft connector 232, a first support-arm fastener 233, a second support-arm fastener 234, a support-arm main body 235, a support-arm bearing 236, a support-arm bearing cover 237, a first fixing sleeve 238, and a second fixing sleeve 239. Specifically, the support arm first fixing member 233 and the support arm second fixing member 234 are placed on the cross shaft second connecting member 232 and fixed by screws; the support arm main body 235 is placed between the support arm first fixing part 233 and the support arm second fixing part 234 and fixed by bolts; the support arm bearing 236 is disposed in the slot of the support arm main body 235, the support arm main body 235 and the support arm bearing cover 237 are fixed by screws, and the first fixing sleeve 238 and the second fixing sleeve 239 are disposed on both sides of the support arm bearing 236.
Optionally, referring to fig. 4 and 5, the extension arm 24 includes a first extension plate 241, a second extension plate 242, and a connecting member 243. Specifically, the fixing is performed by bolts passing through the second extension plate 242, the first fixing sleeve 238, the support arm bearing 236, the second fixing sleeve 239 and the first extension 241; the connecting member 243 is interposed between the first extension plate 241 and the second extension plate 242 and fixed by bolts.
Optionally, referring to fig. 4 and 5, the connecting arm 25 includes a third fixing sleeve 251, a connecting shaft bearing seat 252, a connecting arm bearing 253, a connecting arm bearing cover 254, and a fourth fixing sleeve 255. Specifically, the connecting arm bearing 253 is placed on the connecting bearing seat 252; the connecting arm bearing cover 254 is fixed with the connecting shaft bearing seat 252 through screws; the third fixing sleeve 251 and the fourth fixing sleeve 255 are placed on two sides of the connecting arm bearing 253; and is fixed by bolts through the fourth fixing sleeve 255, the connecting arm bearing 253, the third fixing sleeve 255 and the connecting member 243.
In this example, see fig. 6, the lower platform 3 includes a lower plate 31, a motor fixing member 32, a motor 33, a laser distance measuring frame 34, a laser distance measuring sensor 35, and a fixing column 36. Specifically, the motor 33 is placed on the motor fixing member 32 and fixed by bolts; the motor fixing member 322 is placed on the lower plate 31 and fixed by screws; the laser ranging sensor 35 is placed in the center of the laser ranging frame 34; the fixing posts 36 are placed at the hole sites of the laser distance measuring stand 34 and fixed by screws.
In this example, see fig. 7, the base 4 comprises a base housing 41, a battery 42, a cooling fan 43, a control board 44, a protective board 45, and function buttons 46. Wherein the function buttons 46 include: a power switch 461, a mode control switch 462 and a control button 463. The heat dissipation fan 43, the power switch 461, the control button 463 and the mode control switch 462 are disposed outside the base housing 41; the battery 42, the control board 44, and the protection board 45 are placed inside the base housing 41.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations can be made by the worker in the light of the above teachings without departing from the spirit of the utility model. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (9)
1. A three-degree-of-freedom self-balancing robot based on a parallel mechanism is characterized by comprising:
a base;
a lower platform placed on the base;
the upper platform is positioned above the lower platform;
the three support kinematic chains are uniformly distributed between the upper platform and the lower platform along the circumference; wherein
The support kinematic chain comprises: the main rocker arm, the cross shaft, the supporting arm, the extension arm and the connecting arm are connected in sequence;
the main rocker arm is mounted on the lower platform through a motor, and the connecting arm is fixedly connected with the upper platform;
the motor drives the main rocker arm to move so as to drive the upper platform to realize three-degree-of-freedom movement.
2. The three degree of freedom self-balancing robot of claim 1,
the main rocker arm includes:
the first main rocker arm plate and the second main rocker arm plate are arranged in parallel at intervals;
the supporting frame is positioned between the middle part of the first main rocker arm plate and the middle part of the second main rocker arm plate;
an isolation post positioned between the first end of the first primary rocker arm plate and the first end of the second primary rocker arm plate;
a flange located outside the first end of the first primary rocker arm plate for mounting the primary rocker arm on the motor;
and the plurality of screws sequentially penetrate through the second main rocker plate, the isolation column, the first main rocker plate and the flange plate so as to fix the flange plate on the main rocker.
3. The three degree of freedom self-balancing robot of claim 2,
the cross shaft includes:
two ends of the cross shaft are respectively arranged at the second end part of the first main rocker arm plate and the second end part of the second main rocker arm plate through a cross shaft first bearing and a cross shaft second bearing;
the first end of the first cross shaft is provided with a first cross shaft bearing and is arranged between the middle part of the first main rocker arm plate and the middle part of the second main rocker arm plate through a first cross shaft connecting piece;
the first end of the cross shaft second vertical shaft is provided with a cross shaft second bearing and is arranged on the supporting arm through a cross shaft second connecting piece; wherein
The second end of the first vertical cross shaft and the second end of the second vertical cross shaft are collinear and intersect at the center of the cross shaft.
4. The three degree of freedom self-balancing robot of claim 3,
the support arm includes:
a support arm body;
the first fixing piece of the supporting arm is positioned at the first end of the main body of the supporting arm and is connected with the second connecting piece of the cross shaft through the second fixing piece of the supporting arm;
the support arm bearing is positioned at the second end of the support arm main body, and a first fixing sleeve and a second fixing sleeve are respectively arranged on two sides of the support arm bearing;
and the support arm bearing cover is fixed with the support arm main body through screws.
5. The three degree of freedom self-balancing robot of claim 4,
the extension arm includes:
the first extension plate and the second extension plate are arranged in parallel at intervals;
a connecting member between the first end of the first extension board and the first end of the second extension board to connect with the connecting arm;
the bolt passes through the second extension plate, the first fixing sleeve, the support arm bearing, the second fixing sleeve and the first extension plate in sequence so that the support arm is connected with the extension arm.
6. The three degree of freedom self-balancing robot of claim 5,
the connecting arm includes:
connecting a bearing seat;
the connecting arm bearing is positioned on the connecting bearing seat, and a third fixing sleeve and a fourth fixing sleeve are arranged on the two sides of the connecting arm bearing;
the connecting arm bearing cover is fixed with the connecting bearing seat through a screw;
the bolt sequentially penetrates through the fourth fixing sleeve, the connecting arm bearing, the third fixing sleeve and the connecting piece so as to enable the extension arm to be connected with the connecting arm; wherein
The fourth fixing sleeve is suitable for being connected with the upper platform through screws.
7. The three degree of freedom self-balancing robot of claim 1,
the upper platform includes:
an upper flat plate;
and the IMU sensor is arranged at the lower center of the upper flat plate through a sensor fixing piece.
8. The three degree of freedom self-balancing robot of claim 1,
the lower platform includes:
a lower flat plate;
the motor is placed on the lower flat plate through the motor fixing piece;
the laser ranging frame is positioned on the lower flat plate, and a laser ranging sensor is arranged on the laser ranging frame;
the fixed column is positioned at the hole position of the laser ranging frame and used for limiting the laser ranging sensor; wherein
The motor fixing piece is connected with the main rocker arm through a screw.
9. The three degree of freedom self-balancing robot of claim 1,
the base includes:
the top of the base shell is used for placing a lower platform;
a battery located inside the base housing;
the control panel is positioned inside the base shell;
a protection plate located inside the base housing;
the heat radiation fan is positioned outside the base shell; and
and the function button is positioned on the outer side of the base shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122193207.3U CN215749151U (en) | 2021-09-10 | 2021-09-10 | Three-degree-of-freedom self-balancing robot based on parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122193207.3U CN215749151U (en) | 2021-09-10 | 2021-09-10 | Three-degree-of-freedom self-balancing robot based on parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215749151U true CN215749151U (en) | 2022-02-08 |
Family
ID=80086977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122193207.3U Expired - Fee Related CN215749151U (en) | 2021-09-10 | 2021-09-10 | Three-degree-of-freedom self-balancing robot based on parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215749151U (en) |
-
2021
- 2021-09-10 CN CN202122193207.3U patent/CN215749151U/en not_active Expired - Fee Related
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Granted publication date: 20220208 |