CN115367147A

CN115367147A - Parallel manipulator mars car

Info

Publication number: CN115367147A
Application number: CN202210919095.1A
Authority: CN
Inventors: 于翰文; 蔡东航; 张振中; 姜洪奎; 倪鹤鹏
Original assignee: Shandong Jianzhu University
Current assignee: Shandong Jianzhu University
Priority date: 2022-08-02
Filing date: 2022-08-02
Publication date: 2022-11-22

Abstract

The technical problem to be solved by the invention is to provide a parallel manipulator mars vehicle which is compact in structure, light in overall weight and flexible to operate, and comprises a moving vehicle body, wherein a lifting device is arranged on the moving vehicle body, and a manipulator base is arranged at the top of the lifting device; the top of the manipulator base is rotatably provided with two driving arms distributed left and right, and the rear end of each driving arm is driven to rotate by a main driving mechanism; the front ends of the two driving arms are rotatably connected with driven arms, the front ends of the two driven arms are hinged to form a manipulator tail end, the bottom of the manipulator tail end is rotatably connected with a Z-direction telescopic arm, and the Z-direction telescopic arm is driven to rotate by a Z-direction rotation driving mechanism; and the lower end of the Z-direction telescopic arm is provided with a mechanical claw.

Description

Parallel manipulator mars car

Technical Field

The invention relates to the field of manipulators of robots, in particular to the field of manipulators of aerospace detection equipment, and specifically relates to a parallel manipulator mars vehicle.

Background

When the planet surface detection operation is carried out, the mechanical arm is used as an effective carrier for operating scientific instruments, is researched by a plurality of foreign institutions, is widely applied to planet detection operation, and is used for finishing operating effective loads such as a spectrometer, a micro-imager, a shovel and the like, so that the operation tasks such as positioning, detection, sampling, grabbing, carrying and the like are finished in an auxiliary mode. Countries and institutions such as the United states, japan, russia, and the European Bureau adopt a rover to carry a mechanical arm to detect the planet surface at different periods. According to different scientific detection targets and task requirements, the degrees of freedom of mechanical arms carried by the roaming vehicles are different and are usually 2 to 7. On day 2 and 13 of 2004, the defense department committee formally announced that China started the moon exploration project of "Chang E", and some units in China started the development work of the model machine of the lunar rover in sequence, including the development of a mechanical arm system of the lunar rover. From the current research situation of vehicle-mounted mechanical arms at home and abroad, the vehicle-mounted mechanical arm technology has wide prospect in the aspect of space application.

The detection of planet surface scientific targets such as mars and the like by adopting the mechanical arm to carry a certain effective load is a hotspot of domestic and foreign research and application. The constraint conditions for the design of the train-mounted mechanical arm mainly come from three aspects: the Mars environment is the first, the Mars vehicle structure is the second, and the third is the operation task. In the prior art, the mechanical arm of the mars vehicle is formed by connecting a plurality of arms in series, and each arm is controlled by a motor, so that the mechanical arm is heavy integrally, slow in action response, inaccurate in positioning and complex in structure. The development and design of a set of light and heavy-load vehicle-mounted mechanical arm operating system suitable for the space environment are design difficulties, and the challenge is also to design a light, small, compact and flexible mechanical arm according to an operation task target.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a parallel manipulator mars vehicle which is compact in structure, light in overall weight and flexible to operate.

The invention is realized by the following technical scheme:

a parallel manipulator Mars vehicle comprises a moving vehicle body, wherein a lifting device is arranged on the moving vehicle body, and a manipulator base is arranged at the top of the lifting device;

the top of the manipulator base is rotatably provided with two driving arms distributed left and right, and the rear end of each driving arm is driven to rotate by a main driving mechanism;

the front ends of the two driving arms are rotatably connected with driven arms, the front ends of the two driven arms are hinged with each other to form a manipulator tail end, the bottom of the manipulator tail end is rotatably connected with a Z-direction telescopic arm, and the Z-direction telescopic arm is driven to rotate by a Z-direction rotation driving mechanism;

and the lower end of the Z-direction telescopic arm is provided with a mechanical claw.

Furthermore, two main driving mechanisms are arranged inside the manipulator base, each main driving mechanism comprises a first stepping motor, a first small belt wheel, a first middle belt wheel and a first large belt wheel, the first middle belt wheel and the first large belt wheel are rotatably connected to the manipulator base through a bearing assembly, the first stepping motor is connected to the first small belt wheel through synchronous belt transmission, the first small belt wheel is connected to the first middle belt wheel through synchronous belt transmission, the first middle belt wheel is connected to the first large belt wheel through synchronous belt transmission, and a rotating table at the rear end of the driving arm is fixed to the top of the first large belt wheel.

Furthermore, the bottom of the tail end of the manipulator is rotatably connected with a wrist connecting disc, the Z-direction telescopic arm is a multi-section telescopic cylinder, the Z-direction rotary driving mechanism is arranged in one driven arm and comprises a second stepping motor, a second small belt wheel, a second middle belt wheel and a second large belt wheel, and the second middle belt wheel and the second large belt wheel are rotatably connected in the driven arm through bearing assemblies;

the second stepping motor is fixed at the rear end of the driven arm, an output shaft of the second stepping motor is connected with the second small belt wheel, the second small belt wheel is connected with the second middle belt wheel through synchronous belt transmission, the second middle belt wheel is connected with the second large belt wheel through synchronous belt transmission, and the bottom of the second large belt wheel is fixedly connected with the wrist connecting disc.

Furthermore, the lifting device comprises a third stepping motor, a third small belt wheel, a third large belt wheel, a bottom sliding groove, a bidirectional screw and a shearing fork rod piece;

the third step motor and the bottom chute are arranged on the moving vehicle body, the left end and the right end of the bidirectional screw rod are rotatably connected to the left end and the right end of the bottom chute, the third large belt wheel is fixed at the end part of the bidirectional screw rod, an output shaft of the third step motor is connected with the third small belt wheel, and the third small belt wheel is connected with the third large belt wheel through a synchronous belt;

two sections of reverse threads of the bidirectional screw are respectively connected with screw sliders matched in the bottom sliding grooves, the scissor rod piece is formed by crossed distribution of two lifting plates, and two bottom ends of the scissor rod piece are respectively and correspondingly hinged on the two screw sliders;

the bottom of manipulator base is equipped with the top spout, cut two bottoms of fork member respectively through sliding block sliding connection in the top spout.

Furthermore, the mechanical claw comprises a claw shell, a steering engine, a steering wheel and two side sliding blocks, wherein the steering engine is installed on the front side wall of the claw shell, and the steering wheel is located in the claw shell and connected with an output shaft of the steering wheel;

the upper end and the lower end of the claw hand shell are respectively provided with a sliding rod which is transversely distributed left and right, the two side sliding blocks are respectively connected to the left end and the right end of the sliding rod in a sliding manner, and the bottom of each side sliding block is provided with a fingertip;

the left side and the right side of the rudder disk are respectively hinged with a connecting rod, and the other end of the connecting rod is hinged on the inner wall of the side sliding block at the same side.

Furthermore, a porous disc is fixed at the bottom of the Z-direction telescopic arm and fixed on a connecting plate at the top of the claw shell through a bolt.

Further, the driving arm and the driven arm are both of long hollow structures.

Compared with the prior art, the invention has the following beneficial effects:

1. the top of the manipulator base is rotatably provided with two driving arms distributed left and right, the front ends of the two driving arms are rotatably connected with driven arms, the front ends of the two driven arms are hinged with each other to form a manipulator tail end, and the bottom of the manipulator tail end is rotatably connected with a Z-direction telescopic arm;

the manipulator has four degrees of freedom, and can realize translation along three coordinate axis directions and rotation around one coordinate axis on a plane. Compared with the traditional SCARA robot, the invention reduces the weight of the tail end moving part of the manipulator on the whole, reduces the rotational inertia of the whole manipulator to the rotating shaft, and ensures that the robot has higher moving speed and positioning accuracy; the manipulator has compact integral structure, light weight, flexible operation and high positioning precision;

2. the lifting device comprises a third stepping motor, a third small belt wheel, a third large belt wheel, a bottom sliding chute, a bidirectional screw and a scissor rod piece, so that the whole mechanical arm of the mechanical arm can ascend and descend, the working range of the mechanical arm is greatly increased, and the mechanical arm can be stably kept in the lifting process;

3. the Z-direction rotation driving mechanism comprises a second stepping motor, a second small belt wheel, a second middle belt wheel and a second large belt wheel, and the second stepping motor is fixed at the rear end position of the driven arm, so that the weight of the tail end of the manipulator is reduced, and the flexibility of the tail end of the manipulator is improved;

4. the mechanical claw comprises a claw shell, a steering engine, a steering wheel and two side sliders, the steering engine controls the steering wheel to enable the two side sliders to move relatively, the grabbing and sampling functions are achieved, the structure is compact, and the work is stable;

5. every main drive mechanism all includes first step motor, first little band pulley, first middle band pulley and first big band pulley, and Z is to rotatory actuating mechanism including second step motor, second little band pulley, second middle band pulley and the big band pulley of second, and the effect of middle band pulley can play transition driven effort, makes each actuating mechanism can rationally arrange.

Drawings

Fig. 1 is a schematic structural view of a parallel manipulator mars vehicle according to the present invention;

FIG. 2 is a schematic view of the driving arm and the driven arm in accordance with the present invention;

FIG. 3 is a schematic structural view of the main driving mechanism and the Z-direction rotation driving mechanism of the present invention;

FIG. 4 is a schematic view of the lifting device of the present invention;

FIG. 5 is a schematic view of a mechanical gripper according to the present invention;

FIG. 6 is a schematic view of the interior of the gripper of the present invention;

in the figure: 1. the device comprises a movable vehicle body, 2, a lifting device, 21, a third step motor, 22, a third small belt wheel, 23, a third large belt wheel, 24, a bottom sliding groove, 25, a bidirectional screw, 26, a scissor rod piece, 27, a top sliding groove, 28, a screw slider, 3, a manipulator base, 31, a first step motor, 32, a first small belt wheel, 33, a first middle belt wheel, 34, a first large belt wheel, 35, a rotating platform, 4 and Z-direction telescopic arms, 5, a mechanical claw hand, 51, a claw hand shell, 52, a steering engine, 53, a steering wheel, 54, a side slider, 55, a sliding rod, 56, fingertips, 57, a connecting rod, 6, a driving arm, 7, a driven arm, 71, a second step motor, 72, a second small belt wheel, 73, a second middle belt wheel, 74, a second large belt wheel, 8, a connecting disc, 9 and a porous disc.

Detailed Description

The invention will be further explained with reference to the following drawings and examples

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the components or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and should not be construed as limiting the present invention.

As shown in fig. 1-2, the present embodiment discloses a parallel manipulator mars vehicle, which mainly includes a moving vehicle body 1, a lifting device 2, a manipulator base 3, a Z-direction telescopic arm 4, a Z-direction rotation driving mechanism, a manipulator claw 5, two main driving mechanisms, two main driving arms 6, and two driven arms 7. The moving vehicle body 1 is a conventional detection vehicle body suitable for mars ground surface operation, and in terms of overall design, the lifting device 2 is installed on a base of the moving vehicle body 1, and the manipulator base 3 is installed on the top of the lifting device 2.

Wherein, manipulator base 3 is the box structure, all sets up two main drive mechanism inside manipulator base 3, and every main drive mechanism all includes first step motor 31, first little band pulley 32, first middle band pulley 33 and first big band pulley 34. First middle belt pulley 33 and first big belt pulley 34 all rotate through the bearing assembly and connect on manipulator base 3, the first little belt pulley 32 of output shaft of first step motor 31, first little belt pulley 32 passes through synchronous belt drive and connects first middle belt pulley 33, first middle belt pulley 33 passes through synchronous belt drive and connects first big belt pulley 34, revolving stage 35 is installed through the back shaft in the top of first big belt pulley 34, revolving stage 35 is as an organic whole with the rear end fixed connection of driving arm 6. So designed, the first stepping motor 31 can drive the driving arm 6 to rotate through the first small belt pulley 32, the first middle belt pulley 33 and the first large belt pulley 34.

As shown in fig. 3, in order to reduce the weight of the robot arm, the driving arm 6 and the driven arm 7 are each designed as an elongated hollow structure. The front ends of the two driving arms 6 are rotatably connected with the rear ends of the driven arms 7 through rotating shafts, the front ends of the two driven arms 7 are mutually hinged through the rotating shafts to form the tail end of a manipulator, the bottom of the tail end of the manipulator is rotatably connected with a wrist connecting disc 8, the wrist connecting disc 8 is fixedly connected with the top end of the Z-direction telescopic arm 4, and in the embodiment, the Z-direction telescopic arm 4 selects multiple sections of telescopic cylinders. The air source equipment of the multiple sections of telescopic cylinders is arranged in the movable vehicle body 1, the multiple sections of telescopic cylinders avoid the influence of a screw pair on the space pose of the mechanical claw 5, the driving difficulty is reduced, the control is simpler, and the precision of the traditional multiple sections of cylinders completely meets the precision requirement of the design.

The Z-direction rotation driving mechanism is provided in one driven arm 7, and includes a second stepping motor 71, a second small pulley 72, a second intermediate pulley 73, and a second large pulley 74, and both the second intermediate pulley 73 and the second large pulley 74 are rotatably connected in the driven arm 7 by bearing assemblies. In order to reduce the rotational inertia of the driven arm 7, the second stepping motor 71 is fixed at the rear end of the driven arm 7, the output shaft of the second stepping motor is connected with a second small belt pulley 72, the second small belt pulley 72 is connected with a second intermediate belt pulley 73 through synchronous belt transmission, the second intermediate belt pulley 73 is connected with a second large belt pulley 74 through synchronous belt transmission, and the bottom of the second large belt pulley 74 is fixedly connected with the wrist connecting disc 8. With such a design, the second stepping motor 71 can drive the wrist connection disc 8 to rotate through the second small belt pulley 72, the second middle belt pulley 73 and the second large belt pulley 74, so as to rotate the Z-direction telescopic arm 4 around the Z-axis.

As shown in fig. 5-6, the mechanical paw 5 comprises a paw shell 51, a steering engine 52, a steering wheel 53 and two side sliders 54, wherein the steering engine 52 is installed on the front side wall of the paw shell 51, and the steering wheel 53 is located in the paw shell 51 and connected with an output shaft of the steering wheel 53, so that the steering engine 52 can control the steering wheel 53 to swing. Slide bars 55 transversely distributed left and right are fixedly mounted at the upper and lower ends of the claw shell 51 respectively, two side sliders 54 are slidably connected to the left and right ends of the slide bars 55 respectively, a fingertip 56 is arranged at the bottom of each side slider 54, connecting rods 57 are hinged to the left and right sides of the rudder disc 53 respectively, and the other ends of the connecting rods 57 are hinged to the inner walls of the side sliders 54 at the same side. When the steering wheel 53 rotates, the corresponding side slider 54 can be controlled by the connecting rod to slide on the sliding rod 55, so that the mechanical gripper 5 can be opened and closed. A porous disc 9 is fixed at the bottom of the Z-direction telescopic arm 4, and the porous disc 9 is fixed on a connecting plate at the top of the claw shell 51 through a bolt. By the design, the purpose of easily replacing the tail end executing mechanism can be achieved by integrally replacing the mechanical claw 5, so that different working requirements can be met.

As shown in fig. 4, the lifting device 2 includes a third stepping motor 21, a third small pulley 22, a third large pulley 23, a bottom chute 24, a bidirectional screw 25, and a scissor lever 26. The third step motor 21 and the bottom chute 24 are arranged on the base of the moving vehicle body 1, the left end and the right end of the bidirectional screw 25 are rotatably connected to the left end and the right end of the bottom chute 24, the third large belt wheel 23 is fixed at the end part of the bidirectional screw 25, the output shaft of the third step motor 21 is connected with the third small belt wheel 22, and the third small belt wheel 22 is connected with the third large belt wheel 23 through a synchronous belt. The body of the bidirectional screw 25 is provided with a left section and a right section of threads with opposite directions, two sections of reverse threads of the bidirectional screw 25 are respectively connected with a screw slider 28, and the screw sliders 28 can be matched with the bottom sliding groove 24 to slide back and forth. The scissor rod 26 is formed by two lifting plates which are distributed in a crossed manner, and two bottom ends of the scissor rod 26 are respectively and correspondingly hinged on two screw slide blocks. The bottom of the manipulator base 3 is provided with a top sliding groove 27, and two bottom ends of the scissors rod 26 are respectively connected in the top sliding groove 27 through sliding blocks in a sliding manner. The third step motor 21 controls the bidirectional screw 25 to rotate through the third small belt pulley 22 and the third large belt pulley 23, so that the scissor rod 26 is controlled to move, the lifting of the manipulator base 3 is realized, and the whole lifting process is kept stable.

The Mars vehicle with the parallel manipulator comprises the following specific working processes:

the vehicle body 1 is moved to drive the manipulator to a specific position, and the manipulator base 3 is driven to ascend to a proper position through the lifting device 2; the two main driving mechanisms independently control the driving arm 6 to rotate for a certain angle, the driving arm 6 and the driven arm 7 are connected in parallel to form a plane five-rod mechanism on the whole, so that the two driving mechanisms have two degrees of freedom, and the positions of the two driven arms 7 are controlled through the rotation of the two driving arms 6, so that the positioning of the tail end of the manipulator on an X-Y plane can be realized. The second stepping motor 71 can drive the wrist connection plate 8 to rotate through the second small belt wheel 72, the second middle belt wheel 73 and the second large belt wheel 74, so that the Z-direction telescopic arm 4 rotates around the Z-axis, and the Z-direction telescopic arm 4 controls the mechanical gripper 5 to extend and retract up and down. Finally, the gripper 5 is brought to a specified sampling position in the space, and the gripper 5 is opened and closed to perform sampling.

The manipulator has four degrees of freedom, and can realize translation on a plane along three coordinate axis directions and rotation around one coordinate axis. Compared with the traditional SCARA robot, the invention reduces the weight of the tail end moving part of the mechanical arm on the whole, reduces the rotational inertia of the whole mechanical arm to a rotating shaft, and ensures that the robot has higher moving speed and positioning accuracy; the manipulator has the advantages of compact integral structure, light weight, flexible operation and high positioning precision.

Claims

1. A parallel manipulator Mars vehicle comprises a moving vehicle body and is characterized in that a lifting device is arranged on the moving vehicle body, and a manipulator base is arranged at the top of the lifting device;

the front ends of the two driving arms are rotatably connected with driven arms, the front ends of the two driven arms are hinged to form a manipulator tail end, the bottom of the manipulator tail end is rotatably connected with a Z-direction telescopic arm, and the Z-direction telescopic arm is driven to rotate by a Z-direction rotation driving mechanism;

2. The parallel manipulator Mars vehicle according to claim 1, wherein two main driving mechanisms are arranged inside the manipulator base, each main driving mechanism comprises a first stepping motor, a first small belt pulley, a first middle belt pulley and a first large belt pulley, the first middle belt pulley and the first large belt pulley are rotatably connected to the manipulator base through a bearing assembly, an output shaft of the first stepping motor is connected with the first small belt pulley, the first small belt pulley is connected with the first middle belt pulley through synchronous belt transmission, the first middle belt pulley is connected with the first large belt pulley through synchronous belt transmission, and a rotating table for fixing the rear end of the driving arm is arranged at the top of the first large belt pulley.

3. The parallel manipulator mars vehicle as claimed in claim 1, wherein a wrist connection disc is rotatably connected to the bottom of the end of each manipulator, the Z-direction telescopic arm is a multi-section telescopic cylinder, the Z-direction rotary driving mechanism is disposed in one driven arm, the Z-direction rotary driving mechanism includes a second stepping motor, a second small belt pulley, a second middle belt pulley and a second large belt pulley, and the second middle belt pulley and the second large belt pulley are rotatably connected in the driven arm through a bearing assembly;

4. The parallel manipulator mars vehicle of claim 1, wherein the elevating device comprises a third stepper motor, a third small pulley, a third large pulley, a bottom chute, a bidirectional screw, and a scissor lever;

two sections of reverse threads of the bidirectional screw are respectively connected with screw slide blocks matched in the bottom sliding grooves, the scissor rod piece is formed by two lifting plates in a crossed distribution mode, and two bottom ends of the scissor rod piece are respectively and correspondingly hinged to the two screw slide blocks;

5. The parallel manipulator mars vehicle of claim 3, wherein the mechanical claw comprises a claw shell, a steering engine, a steering wheel and two side sliders, the steering engine is mounted on a front side wall of the claw shell, and the steering wheel is located in the claw shell and connected with an output shaft of the steering wheel;

the left and right sides of steering wheel articulates respectively has the connecting rod, the other end of connecting rod articulates on the side slider inner wall of homonymy.

6. The parallel manipulator Mars vehicle as claimed in claim 5, wherein a porous disc is fixed at the bottom of the Z-direction telescopic arm, and the porous disc is fixed on the top connecting plate of the claw shell through bolts.

7. A parallel manipulator mars carriage as claimed in any one of claims 1-6, wherein the master and slave arms are each an elongated hollow structure.