CN105563453A - Two-wheeled autonomous-moving platform with spring driving mechanical arm - Google Patents
Two-wheeled autonomous-moving platform with spring driving mechanical arm Download PDFInfo
- Publication number
- CN105563453A CN105563453A CN201610130783.4A CN201610130783A CN105563453A CN 105563453 A CN105563453 A CN 105563453A CN 201610130783 A CN201610130783 A CN 201610130783A CN 105563453 A CN105563453 A CN 105563453A
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- China
- Prior art keywords
- mechanical arm
- spring driving
- handset
- mobile platform
- autonomous mobile
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a two-wheeled autonomous-moving platform with a spring driving mechanical arm. The mechanical arm mainly comprises a plurality of mechanical sub-arms movably connected through joints, and the multiple mechanical sub-arms form the mechanical arm stretchable in the vertical direction. A torsion spring is arranged in each joint. Every two adjacent mechanical sub-arms are provided with oppositely arranged suction parts. In a folded state, the suction parts work, and every two adjacent mechanical sub-arms are attached to each other under the action of the suction parts, so that the mechanical arm is folded. In an unfolded state, the suction parts stop working, and every two adjacent mechanical sub-arms are unfolded and form an angle under the elasticity function of the torsion springs. The two-wheeled autonomous-moving platform comprises a cart body and a rotary base arranged on the upper portion of the cart body, and the rotary base is connected with a posture adjustment motor at the lower end of the spring driving mechanical arm. The two sides of the cart body are connected with electric wheels driven by a hub motor through connecting rods.
Description
Technical field
The present invention relates to a kind of two-wheeled autonomous mobile platform with Spring driving mechanical arm.Relate to Patent classificating number B25 hand-operated tools; Portable power tools; The handle of hand instrument; Workshop appliance; Manipulator B25J manipulator; The container of manipulation device is housed.
Background technology
In recent years; deepen continuously along with to the research of wheel type intelligent vehicle (wheeled mobile robot); its application constantly expands, and such unmanned autonomous exploration vehicle often can run in the course of the work working region narrow, need often to turn to, the extreme case such as climbing.People propose a kind of two wheel mobile robots or two-wheeled autonomous mobile platform as required for this reason, this two wheel mobile robot has compact structure, turn to flexibly, energy consumption is little, efficiency high, is adapted at performing autonomous exploration task in unstructured moving grids (as seismic ruins, nuclear radiation area arrange planetary surface etc.) complicated and changeable.Mechanical arm is a kind of automation equipment, and wide model is applied to the fields such as industry manufacture, therapeutic treatment, military affairs and space probation.Although they have different forms and different features and play this respective different effect separately, they have an identical point, can accept instruction exactly, and certain accurately navigating on three-dimensional or two-dimensional space a bit carries out operation.Mechanical arm of the prior art mainly customizes according to the demand of factory or specific occasion, and its locus is fixed, the action immobilization completed, and quality is large and be rarely used in vehicle-mounted or have mobility.Conventional machine mechanical arm adopts motor to drive simultaneously, and mechanism's quality is large, cost is high.
Summary of the invention
The present invention is directed to the proposition of above problem, and a kind of two-wheeled autonomous mobile platform with Spring driving mechanical arm of development, comprise the car body of multiple handset mechanical arm connected by joint motion and carrying mechanical arm; The mechanical arm that described multiple handset mechanical arm compositions stretch at vertical direction;
Described intra articular is provided with torsionspring;
Two adjacent handset mechanical arm are respectively equipped with the adhesive portion be oppositely arranged;
Under folded state: described adhesive portion work, two adjacent handset mechanical arm are fitted under the effect in adhesive portion, complete the folding of mechanical arm;
Under deployed condition: described adhesive portion quits work, two adjacent handset mechanical arm are expanded to predetermined angle under the effect of torsionspring elastic force.
As preferred embodiment, when mechanical arm is in folded state, the suction-combining force Fp in described adhesive portion and the elastic force Fe of described torsionspring meets following relational expression:
F
p+mg≥F
e
Wherein, m is the quality of the handset mechanical arm being in top.
As preferred embodiment, when mechanical arm is in deployed condition, adjacent handset mechanical arm meets following relation:
Wherein,
for torsionspring 26 is in the anglec of rotation
time moment of torsion, l represents the distance of barycenter to joint pivot of superposed handset mechanical arm, and θ is the half of adjacent two handset mechanical arm subtended angles.
As preferred embodiment, described adhesive portion is electromagnet.
Further, in described mechanical arm, the top is provided with and drives by motor the coupling rotated; The mechanical arm tail end of bottom is connected with the pose adjustment motor that mechanical arm stretches to direction initialization.
Further, be provided with rotating basis above described car body, the pose adjustment motor activity of the Spring driving mechanical arm lower end described in described rotating basis connects;
Described car body both sides connect by the Electric Motor Wheel of In-wheel motor driving respectively by connecting rod.
As preferred embodiment, two described Electric Motor Wheel are symmetricly set on car body both sides.
Owing to have employed above-mentioned technical scheme, Spring driving mechanical arm disclosed by the invention and the two-wheeled autonomous mobile platform being provided with this mechanical arm possess following advantage.
1, two-wheeled autonomous mobile platform combines with mechanical arm by the present invention, can while giving full play to the turning to flexibly of two wheel mobile robots, energy consumption is little, efficiency is high feature, make mechanical arm job area not by the constraint of locus, better play the effect of mechanical arm.
2, the present invention adopts torsionspring to carry out driving machine mechanical arm, makes mechanical arm have structure simple, the features such as quality is little, and load impacting is little, and volume is little.
3, the two-wheeled mobile platform with Spring driving mechanical arm designed by the present invention is adapted at detecting in unstructured moving grids (seismic ruins, planetary surface etc.), and reliability is high.
Accompanying drawing explanation
In order to the technical scheme of clearer explanation embodiments of the invention or prior art, introduce doing one to the accompanying drawing used required in embodiment or description of the prior art simply below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is structural representation of the present invention
Detailed description of the invention
For making the object of embodiments of the invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, clear complete description is carried out to the technical scheme in the embodiment of the present invention:
Embodiment 1, as shown in Figure 1, in order to reflect the structure of mobile platform intuitively, mechanical arm only adopts and comprises 2 sub-mechanical arms, represents with mechanical arm one and mechanical arm two.
The present invention includes a two-wheeled autonomous mobile platform 1 and the pedestal 2 being arranged on mobile platform 1 upper surface, two-wheeled autonomous mobile platform is by revolver 11 and rightly take turns 12 drivings, revolver 11 and rightly take turns 12 respectively by the left wheel hub motor 13 and right wheel hub motor 14 drive that are positioned at wheel hub, revolver 11 is taken turns 12 be connected with car body 17 with connecting rod 16 respectively by connecting rod 15 with right.
Pedestal 21 can rotate at car body 17 upper surface, and upper end is connected with mechanical arm 1 by joint 1; Mechanical arm 1 other end is connected with mechanical arm 2 29 by joint 2 28, and mechanical arm 2 29 other end is connected with coupling 212 by joint 3 211.
Joint 1 is driven by pose adjustment motor 22, is carried out the angle of adjusting mechanical arm 1 by pose adjustment motor 22.Joint 2 28 is built with torsionspring 26, torsionspring 26 is enclosed within axle 27, mechanical arm 1 is connected with axle 27 with one end of mechanical arm 2 29 simultaneously, and the two-arm of torsionspring 26 is overlapped on mechanical arm 1 and mechanical arm 2 29, carrys out driving machine mechanical arm 2 29 by the elastic force of torsionspring 26.Pose adjustment motor 2 213 regulates the angle of coupling 212 by joint 3 211.
Owing to have employed torsionspring, when performing the vibrations such as such as drill tasks and the larger operation of impact thinks, power suffered by drill bit is conducted to vehicle body via mechanical arm, may cause in the process some components of machine vibration, the normal time can affect component movement precision, can cause damage of components time serious.Torsionspring, due to the design feature of self, has the effect of very strong energy-absorbing, and make mechanical arm when performing this type of operation, the load impacting be subject to greatly reduces, and enhances the working life of mechanical arm.
Mechanical arm 1 and mechanical arm 2 29 are equipped with electromagnet 1 and electromagnet 2 210 respectively.In a non-operative state, electromagnet 1 and electromagnet 2 210 internal cause are alived and phase adhesive, if the suction-combining force between electromagnet 1 and electromagnet 2 210 is F
p, the elastic force F of torsionspring 26
e, mechanical arm 1 and mechanical arm 2 29 be made not to flick under electromagnet 1 and electromagnet 2 210 act on, then will ensure to set up with lower inequality:
F
p+mg≥F
e
Wherein, m is the quality of mechanical arm 2 29 and annex thereof.Make the center of gravity of mechanical arm 1 and mechanical arm 2 29 reduce like this, the overall height of mechanism reduces, and makes two-wheeled autonomous mobile platform can implement detected event by narrow space in unstructured moving grids.
In working order, the inner power-off of electromagnet 1 and electromagnet 2 210 internal cause and do not have adhesive effect, by the elastic force effect of torsionspring 26, between mechanical arm 1 and mechanical arm 2 29, open an angle, the relational expression of power will be met in the process:
Wherein,
for torsionspring 26 is in the anglec of rotation
time moment of torsion, l represents the distance of mechanical arm 2 29 barycenter to center, joint 2 28, and θ represents the half of subtended angle between mechanical arm 1 and mechanical arm 2 29.
Coupling 212 can be installed the utensil (as probe, manipulator, drill bit etc.) that detection needs, realize the functions such as the crawl of mechanical arm, visiting.
The above; be only the present invention's preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (7)
1., with a two-wheeled autonomous mobile platform for Spring driving mechanical arm, it is characterized in that the car body comprising multiple handset mechanical arm connected by joint motion and carrying mechanical arm; The mechanical arm that described multiple handset mechanical arm compositions stretch at vertical direction;
Described intra articular is provided with torsionspring;
Two adjacent handset mechanical arm are respectively equipped with the adhesive portion be oppositely arranged;
Under folded state: described adhesive portion work, two adjacent handset mechanical arm are fitted under the effect in adhesive portion, complete the folding of mechanical arm;
Under deployed condition: described adhesive portion quits work, two adjacent handset mechanical arm are expanded to predetermined angle under the effect of torsionspring elastic force.
2. a kind of two-wheeled autonomous mobile platform with Spring driving mechanical arm according to claim 1, is further characterized in that when mechanical arm is in folded state, the suction-combining force F in described adhesive portion
pwith the elastic force F of described torsionspring
emeet following relational expression:
F
p≤mg≥F
e
Wherein, m is the quality of the handset mechanical arm being in top.
3. a kind of two-wheeled autonomous mobile platform with Spring driving mechanical arm according to claim 1, be further characterized in that when mechanical arm is in deployed condition, adjacent handset mechanical arm meets following relation:
Wherein,
for torsionspring 26 is in the anglec of rotation
time moment of torsion, l represents the distance of barycenter to joint pivot of superposed handset mechanical arm, and θ is the half of adjacent two handset mechanical arm subtended angles.
4. a kind of two-wheeled autonomous mobile platform with Spring driving mechanical arm according to claim 1, is further characterized in that described adhesive portion is electromagnet.
5. a kind of two-wheeled autonomous mobile platform with Spring driving mechanical arm according to claim 1-4 any one, is further characterized in that in described mechanical arm, the top is provided with the coupling being driven rotation by motor; The mechanical arm tail end of bottom is connected with the pose adjustment motor that mechanical arm stretches to direction initialization.
6. a kind of two-wheeled autonomous mobile platform with Spring driving mechanical arm according to claim 5, be further characterized in that and be provided with rotating basis above described car body, the pose adjustment motor activity of the Spring driving mechanical arm lower end described in described rotating basis connects;
Described car body both sides connect by the Electric Motor Wheel of In-wheel motor driving respectively by connecting rod.
7. a kind of two-wheeled autonomous mobile platform with Spring driving mechanical arm according to claim 1, is further characterized in that Electric Motor Wheel described in two is symmetricly set on car body both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610130783.4A CN105563453A (en) | 2016-03-08 | 2016-03-08 | Two-wheeled autonomous-moving platform with spring driving mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610130783.4A CN105563453A (en) | 2016-03-08 | 2016-03-08 | Two-wheeled autonomous-moving platform with spring driving mechanical arm |
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| CN105563453A true CN105563453A (en) | 2016-05-11 |
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| CN201610130783.4A Pending CN105563453A (en) | 2016-03-08 | 2016-03-08 | Two-wheeled autonomous-moving platform with spring driving mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117182869A (en) * | 2023-11-08 | 2023-12-08 | 北京建工环境修复股份有限公司 | Hydraulic manipulator and application thereof in agricultural contaminated land |
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| US7967870B2 (en) * | 2007-07-19 | 2011-06-28 | Da-Yeh University | Device for retrieving data from a radio frequency identification tag |
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Application publication date: 20160511 |
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