CN105539786B - Wheel leg combined shunt leg mechanism and underwater robot - Google Patents
Wheel leg combined shunt leg mechanism and underwater robot Download PDFInfo
- Publication number
- CN105539786B CN105539786B CN201610070877.7A CN201610070877A CN105539786B CN 105539786 B CN105539786 B CN 105539786B CN 201610070877 A CN201610070877 A CN 201610070877A CN 105539786 B CN105539786 B CN 105539786B
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- Prior art keywords
- wheel
- leg
- robot
- silent flatform
- moving platform
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses one kind wheel leg combined shunt leg mechanism and underwater robot, belong to robot field.The wheel leg combined shunt leg mechanism includes silent flatform and moving platform, and RUPU movement branched chains, RPRU movement branched chains and RUR intermediary movementses transmission side chain are provided between the silent flatform and moving platform.In the present invention, a kind of Lun Tui combined shunts mechanism of new spherical surface two-freedom is together constituted positioned at the RUPU movement branched chains and RPRU movement branched chains of both sides and positioned at middle RUR intermediary movementses transmission side chain.The present invention changes the spatial movement attitude of wheel using new spherical parallel institution, it is achieved thereby that the pose adjustment action of the steering and obstacle detouring when underwater robot is walked.The present invention has simple structure, installs facility, easy to control, turns to, the features such as obstacle performance is good.
Description
Technical field
The present invention relates to robot field, a kind of wheel-leg combined shunt leg mechanism and the water with the mechanism are particularly related to
Lower robot.
Background technology
Landform ravines and guillies criss-cross, is uneven, and there is barrier, therefore the mobile robot with simple function is (for example
The sufficient formula of wheeled, leg and shoe formula) cannot also meet the marine environment with multiple characteristics.The compound move mode of wheel-leg has concurrently
The good obstacle performance of high efficiency and leg the formula movement of wheel type mobile, is more one kind of research in the middle of combined type.But sorry
It is that the compound move mode of existing wheel-leg only realizes the simple combination between wheel and leg foot functionally, and both have been in structure
It is complete independent, do not combine together, therefore they realize the conversion between different move modes, one under different terrain conditions
As must also increase special auxiliary body, so that leg mechanism is more complicated and underaction.
More seriously, most of wheel-leg combined leg mechanisms use serial mechanism, so not only make joint drive electricity
Machine enclosed package is difficult, and there is the weak points such as radius of turn is small, deadweight duty ratio is big and attitude is dull.With general wheel-
The compound move mode of leg is different, and the compound move mode of wheel-leg of many leg foot pose adjustments in parallel drives except that can provide wheel rotation
It is dynamic outer, moreover it is possible to be produced the wheel spatial attitude on other multi-dimensional directions to adjust motion according to robot mobile operating mission requirements,
So that ocean mobile robot can be to come in every shape wheel spatial attitude self adaptation marine environment, which greatly improves machine
The landform of device people is adapted to and avoidance ability.Minority carrier generation lifetime has that the free degree is few, stiffness/weight ratio is big, athletic posture is rich
The advantages of rich, dynamic property and strong bearing capacity, propose to be set based on lower-mobility wheel-leg combined parallel leg mechanics innovation for this
Meter theory.
The content of the invention
The technical problem to be solved in the present invention be to provide a kind of wheel-leg combined shunt leg mechanism and with the mechanism under water
Robot, its sphere working space that can realize taking turns leg multi-pose improves underwater robot and turns to and obstacle climbing ability.
In order to solve the above technical problems, present invention offer technical scheme is as follows：
On the one hand, there is provided a kind of wheel-leg combined shunt leg mechanism, including silent flatform and moving platform, wherein：
The silent flatform is the strip of horizontally set, and the moving platform is box-shaped；
The first rotation is disposed between one end of one end of the silent flatform and the moving platform secondary, first universal
Section, the first prismatic pair and the second universal joint, so that RUPU movement branched chains are formed, wherein described first rotates secondary described by being arranged on
Parallel institution motor on silent flatform drives；
The second rotation pair, the second shifting are disposed between the other end of the other end of the silent flatform and the moving platform
Dynamic secondary, the 3rd rotation pair and the 3rd universal joint, so that RPRU movement branched chains are formed, wherein the secondary one end of second rotation is fixed
It is arranged on the silent flatform；
The first power transmission shaft is provided with the middle part of the silent flatform, second driving shaft, institute are provided with the middle part of the moving platform
State and the 4th universal joint is provided between the first power transmission shaft and second driving shaft, so that RUR intermediary movementses transmission side chain is formed, it is described
The end of second driving shaft is provided with wheel.
On the other hand, there is provided a kind of underwater robot, including robot shells, the bottom of the robot shells are provided with
Above-mentioned wheel-leg combined shunt leg mechanism, is provided with spindle motor in the robot shells, the spindle motor is through differential mechanism
First power transmission shaft of wheel-leg combined shunt leg mechanism described in drive connection.
The invention has the advantages that：
In the present invention, positioned at the RUPU movement branched chains and RPRU movement branched chains and the fortune in the middle of middle RUR of both sides
Dynamic transmission side chain together constitutes a kind of wheel of new spherical surface two-freedom-leg combined shunt mechanism.The present invention is using new
Sphere parallel mechanism changes the spatial movement attitude of wheel, it is achieved thereby that the appearance of the steering and obstacle detouring when underwater robot is walked
State adjustment is acted；The parallel institution only has two frees degree, and simple structure is easy to control；Intermediary movements transmission side chain is realized
Rotary motion transmission between spindle motor and wheel.The sphere parallel mechanism is organically combined with wheel, realizes the mechanism colourful
The motor function of state, compared with traditional serial mechanism, eliminates many joints and driving, makes the wheel-leg of underwater robot multiple
Close structure compacter, while the mechanism can singly cover installing and using, there are modular applications, be easy to batch production；This
The sphere parallel mechanism of invention can realize precise control under the control of motor and hydraulic pressure, and fast response time makes wheel quick
Realize the adjustment of various attitudes.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram one of the underwater robot with wheel-leg combined shunt leg mechanism of the invention；
Fig. 2 is the general structure schematic diagram two of the underwater robot with wheel-leg combined shunt leg mechanism of the invention；
Fig. 3 is the general structure schematic diagram three of the underwater robot with wheel-leg combined shunt leg mechanism of the invention；
Fig. 4 is the structural representation of wheel of the invention-leg combined shunt leg mechanism；
Fig. 5 is the structure diagram of the differential mechanism employed in Fig. 1,2 and 3.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
On the one hand, the present invention provides a kind of wheel-leg combined shunt leg mechanism, as Figure 1-4, including silent flatform 24 and moves
Platform 15, wherein：
Silent flatform 24 is the strip of horizontally set, and moving platform 15 is box-shaped；
The first rotation pair 11, the first universal joint are disposed between one end of silent flatform 24 and one end of moving platform 15
12nd, the first prismatic pair 13 and the second universal joint 14, so that RUPU movement branched chains are formed, wherein the first rotation secondary 11 is quiet by being arranged on
Parallel institution motor 10 on platform 24 drives；
The second rotation pair 21, second is disposed between the other end of silent flatform 24 and the other end of moving platform 15 to move
Secondary 20, the 3rd rotates the universal joint 18 of pair 19 and the 3rd, so that RPRU movement branched chains are formed, wherein second one end for rotating secondary 21 is consolidated
Surely it is arranged on silent flatform 24 (driven without motor)；
The middle part of silent flatform 24 is provided with the first power transmission shaft 23, and the middle part of moving platform 24 is provided with second driving shaft 17, the
The 4th universal joint 22 is provided between one power transmission shaft 23 and second driving shaft 17, so that RUR intermediary movementses transmission side chain is formed, the
The end of two power transmission shafts 17 is provided with wheel 16.
In the present invention, positioned at the RUPU movement branched chains and RPRU movement branched chains and the fortune in the middle of middle RUR of both sides
Dynamic transmission side chain together constitutes a kind of wheel of new spherical surface two-freedom-leg combined shunt mechanism.RUPU movement branched chains institute
The parallel institution motor 10 of connection drives first to rotate secondary 11, moment of torsion by the first universal joint 12, the first prismatic pair 13,
Second universal joint 14 is delivered to moving platform 15, realizes the single-degree-of-freedom twisting to moving platform 15, and the first prismatic pair 13 realizes straight line
Motion, promotes moving platform 15 to realize vertical with above-mentioned torsional direction being twisted with the single-degree-of-freedom that the 4th universal joint 22 is the center of circle；
RPRU movement branched chains are passive bound side chain, and second rotates the rotational freedom of secondary 21 Z-directions for limiting moving platform, makes flat
Platform 15 can only be rotated around X, Y-axis, the second prismatic pair the 20, the 3rd rotate secondary 19, the 3rd universal joint 18 as RUPU movement branched chains and
Intermediary movements transmits the passive bound (equal passive delivery) of side chain, it is ensured that the overall stabilization of mechanism.Electricity is driven by parallel institution
The Bit andits control of the rotating speed of machine 10 and the first prismatic pair 13 many attitude required when realizing that wheel 16 advances.The present invention is quiet
RUR intermediary movements transmission side chain is increased between platform 24 and moving platform 15, for by the torque and motion of spindle motor
It is delivered on wheel 16.The new spherical parallel institution has spherical mechanism feature, and each branched positional layout is simple, is that wheel turns
Greatly facilitate to being provided with obstacle detouring.
The present invention changes the spatial movement attitude of wheel using new spherical parallel institution, it is achieved thereby that underwater robot
The pose adjustment action of steering and obstacle detouring during walking；The parallel institution only has two frees degree, and simple structure is easy to control；
Intermediary movements transmission side chain realizes the rotary motion transmission between spindle motor and wheel.The sphere parallel mechanism is organic with wheel
With reference to, the motor function of mechanism's multi-pose is realized, compared with traditional serial mechanism, many joints and driving are eliminated,
Make the wheel-leg composite construction of underwater robot compacter, while the mechanism can singly cover install and use, with modular applications,
It is easy to the advantage of batch production；Sphere parallel mechanism of the invention can realize precise control under the control of motor and hydraulic pressure,
Fast response time, makes wheel quickly realize the adjustment of various attitudes.
In order to preferably realize the binding function of RPRU movement branched chains, the axis of the second rotation secondary 21 is preferably vertically square
To the 3rd rotates the axis of pair 19 preferably along the moving direction of the second prismatic pair 20.And, the length of moving platform 15 is preferably smaller than
The length of silent flatform 24, the length of moving platform 15 is generally less than the diameter of wheel, and the length of silent flatform 24 is generally wheel diameter
2-3 times be preferred, certainly, those skilled in the art can also need the comprehensive moving platform 15 and quiet of flexibly setting according to actual conditions
The length of platform 24.
Control for convenience, RUPU movement branched chains and RPRU movement branched chains are preferably respectively positioned on horizontal plane.And, first moves
Dynamic secondary 13 can specifically use Driven by Hydraulic Cylinder.In addition, the first universal joint 12, the second universal joint 14, the 3rd universal joint 18 and
Four universal joint 20 may each comprise two orthogonal living hinges when being embodied.
On the other hand, the present invention provides a kind of underwater robot, as Figure 1-5, including robot shells 2, robot
The bottom of shell 2 is provided with above-mentioned wheel-leg combined shunt leg mechanism 1, robot shells 2 and is provided with spindle motor 7, main shaft
Motor 7 through the drive connection wheel of differential mechanism 6-leg combined shunt leg mechanism 1 the first power transmission shaft 23.
Preferably, the quantity of wheel-leg combined shunt leg mechanism is 4, symmetrically front and rear to be distributed in the two of robot shells 2
Side, forms quadruped robot.4 wheel-leg combined shunt leg mechanisms can be linked by differential mechanism between any two, to realize turning
To with obstacle detouring during two wheels realize different rotating speeds, with prevent skid and stuck situation.
Further, the top of robot shells 2 can be provided with elevating screw 3, to realize state of being moved about in water
The driving for making and steering (controlling two rotating speeds of propeller to realize), the rear portion of robot shells 2 can be provided with propulsion spiral shell
Rotation oar 4, is specifically as follows two, is responsible for lifting of the robot in water.
In the illustrated embodiment of Fig. 1,2 and 3,2 points of robot shells are upper and lower two parts, and top is mainly arranged propulsion and lifted
Road surface running gear is mainly arranged in mechanism, bottom；4 wheel-leg combined shunt leg mechanisms are fixed on robot by silent flatform 24
The both sides of shell 2, parallel institution motor 5,10 is fixed in robot shells 2, two wheel-leg combined shunt mechanism difference
Connected by a differential mechanism 6, driven with a spindle motor 7；Two propelling screws 4 are arranged on afterbody, are pushed away by two
Stepper motor 9 drives, for the propulsion in water and steering；One elevating screw 3 is arranged on the top of robot shells 2, by one
Lifting motor 8 drives.
Fig. 5 is the structure diagram of the differential mechanism employed in Fig. 1,2 and 3, wherein 25 is input shaft gear, 26 is differential mechanism
Framework, 27 is output shaft gear (symmetrical 2), and 28 is output shaft transmission gear, and 29 is tooth rest, and 30 is input shaft driving cog
Wheel.Herein, the structure of differential mechanism is only for example, and it can also be using various other structures common in this area.
To sum up, underwater robot of the invention is combined using wheel-leg combined shunt mechanism with propeller propulsion, elevating mechanism
Scheme, make the robot both to have leaned on propeller to be moved about in water, it is also possible to the obstacle detouring walking on complicated seabed road surface；This
Inventive structure is simple, and the side chain of both sides two is asymmetric side chain, and the parallel institution free degree is few, only two, and control is simple；This
Invention has simple structure, installs facility, easy to control, turns to, the features such as obstacle performance is good.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of wheel-leg combined shunt leg mechanism, it is characterised in that including silent flatform and moving platform, wherein：
The silent flatform is the strip of horizontally set, and the moving platform is box-shaped；
The first rotation pair, the first universal joint, are disposed between one end of one end of the silent flatform and the moving platform
One prismatic pair and the second universal joint, so that RUPU movement branched chains are formed, wherein described first rotates secondary described quiet flat by being arranged on
Parallel institution motor on platform drives；
The second rotation pair, the second movement are disposed between the other end of the other end of the silent flatform and the moving platform
Secondary, the 3rd rotation pair and the 3rd universal joint, so that RPRU movement branched chains are formed, wherein described second one end for rotating pair is fixed and is set
Put on the silent flatform；
The first power transmission shaft is provided with the middle part of the silent flatform, second driving shaft, described are provided with the middle part of the moving platform
The 4th universal joint is provided between one power transmission shaft and second driving shaft, so as to form RUR intermediary movementses transmission side chain, described second
Transmission the tip of the axis is provided with wheel.
2. wheel according to claim 1-leg combined shunt leg mechanism, it is characterised in that described second rotates secondary axis
Vertically direction, the described 3rd rotates moving direction of the secondary axis along second prismatic pair.
3. wheel according to claim 1-leg combined shunt leg mechanism, it is characterised in that the length of the moving platform is less than
The length of the silent flatform.
4. wheel according to claim 1-leg combined shunt leg mechanism, it is characterised in that the RUPU movement branched chains and
RPRU movement branched chains are respectively positioned on horizontal plane.
5. according to any described wheel-leg combined shunt leg mechanism in claim 1-4, it is characterised in that first movement
Pair uses Driven by Hydraulic Cylinder.
6. wheel according to claim 5-leg combined shunt leg mechanism, it is characterised in that first universal joint, the 20000th
Xiang Jie, the 3rd universal joint and the 4th universal joint include two orthogonal living hinges.
7. a kind of underwater robot, it is characterised in that including robot shells, two side lower parts of the robot shells are provided with
Any described wheel-leg combined shunt leg mechanism, is provided with spindle motor, institute in claim 1-6 in the robot shells
State first power transmission shaft of the spindle motor through wheel-leg combined shunt leg mechanism described in differential mechanism drive connection.
8. underwater robot according to claim 7, it is characterised in that the quantity of the wheel-leg combined shunt leg mechanism
It it is 4, the symmetrical front and rear both sides for being distributed in the robot shells form quadruped robot.
9. underwater robot according to claim 7, it is characterised in that the top of the robot shells is provided with lifting
Propeller, the rear portion of the robot shells is provided with propelling screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610070877.7A CN105539786B (en) | 2016-02-01 | 2016-02-01 | Wheel leg combined shunt leg mechanism and underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610070877.7A CN105539786B (en) | 2016-02-01 | 2016-02-01 | Wheel leg combined shunt leg mechanism and underwater robot |
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| Publication Number | Publication Date |
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| CN105539786A CN105539786A (en) | 2016-05-04 |
| CN105539786B true CN105539786B (en) | 2017-07-04 |
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| CN201610070877.7A Expired - Fee Related CN105539786B (en) | 2016-02-01 | 2016-02-01 | Wheel leg combined shunt leg mechanism and underwater robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563472B (en) * | 2016-03-07 | 2017-07-14 | 山东大学（威海） | Two degrees of freedom Lun Tui composite spheres mechanism and underwater robot |
| CN105583808B (en) * | 2016-03-07 | 2017-06-23 | 山东大学（威海） | One kind wheel leg composite sphere parallel institution |
| CN108340986A (en) * | 2018-04-18 | 2018-07-31 | 辽宁工业大学 | A kind of wheel leg bio-robot with parallel-connection structure |
| CN108858120B (en) * | 2018-07-12 | 2021-04-02 | 北京理工大学 | Parallel type compliant wheel foot device for wheel foot robot |
| CN111776106B (en) | 2020-08-12 | 2024-02-23 | 腾讯科技（深圳）有限公司 | Mechanical leg and wheeled mobile device |
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| CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
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