CN207564460U - Intelligent mobile equipment with executing agency - Google Patents
Intelligent mobile equipment with executing agency Download PDFInfo
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- CN207564460U CN207564460U CN201721594896.6U CN201721594896U CN207564460U CN 207564460 U CN207564460 U CN 207564460U CN 201721594896 U CN201721594896 U CN 201721594896U CN 207564460 U CN207564460 U CN 207564460U
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Abstract
The utility model discloses a kind of Intelligent mobile equipments with executing agency, including mobile platform, bogey in parallel and manipulator, there is mobile platform wheel to carry out mapping device, bogey in parallel couples with mobile platform, manipulator is fixed in the revolution mounting base of bogey in parallel, and rigidity supporting rod is provided between the upper mounting plate and lower platform of bogey in parallel.The Intelligent mobile equipment of the utility model, based on parallel institution and the advantages of serial mechanism, rigidity is high, working space is big, stable structure, operating flexibility, carrying out mapping device by wheel can realize that the motor pattern of mobile platform under different road surface operating modes is chosen, the utility model can match ground grading, ground of jolting, slope ground movement environment, always in optimum state.
Description
Technical Field
The utility model relates to a mobile robot field especially relates to a series-parallel connection formula removes manipulator with topography matching function, specifically is intelligent Mobile device with actuating mechanism.
Background
The intelligent mobile equipment is widely applied to various fields such as production, processing, service and transportation, has the advantages of high working efficiency, good repetition precision, powerful functions and the like, has high self-planning, self-organization and self-adaption capabilities, is suitable for working in a complex unstructured environment, integrates multiple functions such as environment perception, dynamic decision and planning, motion control and execution and the like, greatly expands and improves the application range and functions, and is widely applied to military, civil and scientific research, including aerospace, marine, military, building, medical care, agriculture and forestry, commercial service, disaster rescue and the like.
However, many existing smart mobile devices only have a bearer function and lack an operation function, and thus it is difficult to implement a wide range of operation. In the aspect of an operating mechanism, the fixed manipulator has a very limited working space, so that the expansion of the functions of the manipulator is greatly restricted. The mobile manipulator is arranged on the mobile robot, and integrates a mobile platform and a manipulator subsystem, so that the mobile manipulator has almost infinite working space and high motion redundancy, and has the functions of movement and operation, so that the mobile manipulator can complete tasks in a wider range with better pose in a shorter time, and is superior to the traditional manipulator and mobile robot. The article "development of an omnidirectional mobile robot with a robot arm" designs an omnidirectional mobile robot arm by using an omnidirectional mobile mechanism, but the omnidirectional mobile robot arm is low in rigidity and stability. Patent CN201510206946.8 discloses a heavy-load carrying and assembling mobile robot, which uses a mobile platform and a Stewart parallel platform to carry and assemble a system, but the working space and the working flexibility of the system are obviously limited. It can be seen that, in the prior art, the moving platform of the moving manipulator is mostly used as a moving carrier, and the manipulator arm carried thereon usually adopts a serial articulated arm, which has the following problems: the rigidity and stability of the whole system are low due to the fact that the mobile manipulator based on the series mechanism is simple, high-strength carrying operation is difficult to complete, instability is easy to cause particularly when load changes or large-load grabbing and heavy-load carrying operation are carried out, and the mobile platform with the function of a moving carrier is difficult to effectively feed back and adjust for matching, so that overturning accidents of the whole vehicle are easy to cause, efficient and stable operation of the mobile manipulator is affected, and possibility of operation failure is increased. The working space and the operation flexibility of the system of the pure parallel mechanism are obviously limited. Along with the continuous expansion of operation field, the removal manipulator is progressively applied to the operation in more fields such as field, mountain area hills, and the system needs to possess the ability that adapts to different operational environment and ground operating mode this moment, especially when traveling on rugged ground and inclined ground, under the effect of terrain variation and ground excitation, should be able to guarantee the motion balance and the good dynamic behavior of system.
SUMMERY OF THE UTILITY MODEL
To the problem that prior art exists, the utility model provides an intelligent mobile device with actuating mechanism. The intelligent movement equipment has the moving platform from the walking function, and actuating mechanism includes but not limited to series-parallel connection formula mobile manipulator, the utility model discloses compromise parallel mechanism and serial connection mechanism's advantage, be a rigidity height, workspace is big, stable in structure, the nimble novel mobile manipulator of operation, can be when operation environment and ground operating mode change simultaneously, the dynamic behavior that the motion balance of assurance system is good.
In order to solve the technical problem, the utility model adopts the technical scheme that:
the intelligent mobile equipment with the executing mechanism comprises a mobile platform 1, a parallel bearing device 3 and a manipulator 2. A parallel bearing device 3 is arranged on the mobile platform 1. The parallel carrier 3 is provided with a manipulator 2.
The mobile platform 1 is responsible for effecting movements over flat and/or rough terrain. Tires are arranged at the bottom of the mobile platform 1. Further, the mobile platform 1 is composed of a rectangular top plate and two side plates; tires are arranged on the inner side of each side plate and at the end part in the length direction; a wheel-track changing mechanism 13 is provided on the side surface of the moving platform 1. The wheel-track transformation mechanism 13 is responsible for realizing the conversion of the motion mode of the mobile platform 1 between a wheel-type motion mode and a track-type motion mode. The wheel-track changing mechanism 13 includes a track 134. The wheel-track changing mechanism 13 can be raised or lowered with respect to the vertical direction of the mobile platform 1.
Under the action of the wheel-track changing mechanism 13, when the track 134 descends to contact with the ground and the tire drags off the ground, the motion mode of the mobile platform 1 is changed from a wheel type to a track type. When the crawler belt 134 is lifted and reset and the tires are in contact with the ground, the motion mode of the mobile platform 1 is changed from crawler type to wheeled type.
The parallel bearing device 3 is responsible for adjusting the posture of the manipulator 2. Further, the manipulator 2 has more than 3 degrees of freedom,
furthermore, the intelligent mobile device with the actuating mechanism is also characterized in that:
the middle part of the upper platform 31 is a net-shaped radiation disk surface, the center of the net-shaped radiation disk surface is provided with a rotary mounting seat 313, and a rotary support 3131 and a cylindrical gear 3132 are arranged on the rotary mounting seat 313. The inner teeth of rotary support 3131 are engaged with the outer teeth of cylindrical gear 3132, and cylindrical gear 3132 drives rotary support 3131 to rotate.
The bottom surface of the upper platform 31 is provided with a reinforcing rib plate 312, a spherical hinge mounting seat 311 and a support frame 37. The number of the reinforcing rib plates 312 and the number of the spherical hinge mounting seats 311 are more than 3, the reinforcing rib plates and the spherical hinge mounting seats are symmetrically distributed on the bottom surface of the upper platform 31, and the supporting frame 37 is fixed at the center of the bottom surface of the upper platform 31.
The bottom of the support bracket 37 is connected with the rigid support bar 36 through a second connecting hinge 362. The top surface of the lower platform 32 is connected to the stiffness support bar 36 by a connecting hinge 361.
The mobile platform 1 is n-shaped. The mobile platform 1 is composed of a rectangular top plate and two side plates. And a tire is arranged at the end part of the inner side and the length direction of each side plate.
The wheel-track changing mechanism 13 further includes a driving wheel 131, a driven wheel 132, a damper cushion spring 133, and a hydraulic cylinder 135. Wherein, a driving wheel 131 and a driven wheel 132 are arranged on the outer side of each side plate.
The driving wheel 131 is fixedly connected with the adjacent side wall. The damper cushion spring 133 is disposed outside the side plate between the hook 1331 of the side plate and the connection plate 1332 of the driven wheel 132.
The driving wheel 131 and the driven wheel 132 on the same side plate are both meshed with one crawler 134, and are driven by the driving wheel 131 during operation, so that the driven wheel 132 is driven to operate, and crawler-type motion of the mobile platform 1 is realized.
Preferably, a terrain matching control system 4 is provided on the mobile platform 1. The terrain matching control system 4 is respectively connected with the moving platform 1 and the moving and parallel bearing device 3 of the manipulator 2.
In order to explain the structure characteristics of the utility model more clearly, an angle is exchanged earlier and the structure characteristics of the utility model are explained:
the utility model discloses a moving platform, parallelly connected bear device, manipulator: the movable platform is provided with a wheel-track changing mechanism, the wheel-track changing mechanism is positioned on the left side and the right side of the movable platform and is provided with a driving wheel and a driven wheel, the driving wheel is fixed, the driven wheel can slide up and down along the side surface of the wheel-track changing mechanism, and an adjusting mechanism of the wheel-track changing mechanism is provided with a vibration damping buffer spring. The parallel bearing device is provided with an upper platform and a lower platform, the middle part of the upper platform of the parallel bearing device is a net-shaped radiation disc surface, the center of the net-shaped radiation disc surface is provided with a rotary mounting seat, a rotary support and a cylindrical gear are arranged on the rotary mounting seat, a reinforcing rib plate, a spherical hinge mounting seat and a supporting frame are arranged on the bottom surface of the upper platform, a driving element of the parallel bearing device is installed between the upper platform and the lower platform of the parallel bearing device through the spherical hinge mounting seat, a rigidity supporting rod is arranged between the upper platform and the lower platform, the lower platform of the parallel bearing device is connected with the upper surface of a movable platform through a movable pair, a base of a manipulator is fixed on the rotary mounting seat of the upper platform of the parallel bearing device, the rotary support and the cylindrical gear are arranged on the mounting seat, and a driving. The utility model discloses still can be equipped with topography matching control system, topography matching control system includes monitoring system, dynamic analysis system, wheel-track change controller, motion control ware, and monitoring system includes vision sensor, attitude sensor and vibration sensor, and monitoring system communicates with dynamic analysis system, and dynamic analysis system communicates with wheel-track change controller and motion control ware.
The vision sensor, the attitude sensor and the vibration sensor are fixed on the mobile platform.
The bottom surface of the lower platform of the parallel bearing device is provided with a movable guide rail and a transmission nut, and the surface of the lower platform is provided with a connecting hinge I of a rigidity support rod.
The upper surface of the movable platform is provided with a guide rail groove, one end of the guide rail groove is a through groove, the other end of the guide rail groove is a blind groove, and the upper surface of the movable platform is connected with the lower platform of the parallel bearing device through a guide rail pair.
The reinforcing rib plates and the spherical hinge mounting seats are arranged on the bottom surface of the upper platform of the parallel bearing device in a centrosymmetric manner.
The number of the reinforcing rib plates and the number of the spherical hinge mounting seats are 3, and each spherical hinge mounting seat is provided with two ball sockets.
And a second connecting hinge of the rigidity support rod is arranged on the bottom surface of the support frame.
The driving element of the wheel-track changing mechanism is a hydraulic cylinder and is symmetrically arranged on the inner side of the wheel-track changing mechanism.
The driving element of the parallel bearing device is driven by a motor.
The driving element of the manipulator is driven by a motor and has single or multiple degrees of freedom.
The utility model has the advantages that:
the utility model discloses an intelligent movement with actuating mechanism equips, can collect to remove and operating function in an organic whole, has synthesized parallel mechanism and series connection mechanism's dual advantage, has improved rigidity, workspace, structural stability and the operation flexibility of system. The utility model discloses the parallelly connected adjustment that bears the device and can realize the gesture that is favorable to increasing the location coordination between manipulator and operation object, has increased the workspace and the flexibility of system, makes the system possess infinitely large workspace almost. The utility model discloses the mechanical structure who possesses, stability is strong and the vibration energy is little to having best velocity of motion and parallelly connected best gesture that bears the device, realizing the system to leveling ground, jolting ground, the matching on slope ground, making this product be in the optimum when the motion.
Drawings
Fig. 1 the utility model discloses an intelligent mobile device's block diagram.
Fig. 2 shows a structure diagram of a wheel-track changing mechanism of a mobile platform of the present invention.
Fig. 3 is a partial view of a wheel-track changing mechanism of a mobile platform according to the present invention.
Figure 4 the present invention discloses a wheeled motion pattern for a mobile platform.
Fig. 5 is a connection diagram of the hydraulic cylinder and the side plate of the present invention.
Fig. 6 is a structural diagram of the upper surface of the mobile platform of the present invention.
Fig. 7 the utility model discloses a parallelly connected top view that bears device of intelligent Mobile device.
Fig. 8 is a top view of the upper platform of the parallel bearing device of the present invention.
Fig. 9 is a bottom structure view of the upper platform of the parallel bearing device of the present invention.
Fig. 10 is a structural view of a support frame of the parallel bearing device of the present invention.
Fig. 11 is a structural diagram of a platform under the parallel bearing device of the present invention.
Fig. 12 illustrates a control system diagram for an intelligent mobile device.
Fig. 13 is another angular schematic of the structure of fig. 4.
The labels in the above figures are: the device comprises a movable platform 1, a guide rail groove 12, a wheel-track conversion mechanism 13, a driving wheel 131, a driven wheel 132, a vibration damping buffer spring 133, a track 134, a hydraulic cylinder 135, a manipulator 2, a manipulator base 21, a manipulator driving motor 22, a parallel bearing device 3, an upper platform 31 of the parallel bearing device, a spherical hinge mounting seat 311, a reinforcing rib plate 312, a rotary mounting seat 313, a rotary support 3131, a cylindrical gear 3132, a lower platform 32 of the parallel bearing device, a driving element 33 of the parallel bearing device, a movable guide rail 34, a transmission nut 35, a rigidity supporting rod 36, a first connecting hinge 361, a second connecting hinge 362, a supporting frame 37, a terrain matching control system 4, a monitoring system 41, a visual sensor 411, an attitude sensor 412, a vibration sensor 413, a dynamic analysis system 5, a wheel-track conversion controller 6 and a motion controller 7.
Detailed Description
The specific structure and advantages of the present invention will be further explained with reference to the accompanying drawings:
the intelligent mobile equipment with an actuating mechanism comprises a mobile platform 1, a parallel bearing device 3 and a manipulator 2. A parallel bearing device 3 is arranged on the mobile platform 1. The parallel carrier 3 is provided with a manipulator 2.
The mobile platform 1 is responsible for effecting movements over flat and/or rough terrain. Tires are arranged at the bottom of the mobile platform 1. Further, the mobile platform 1 is n-shaped. The mobile platform 1 is composed of a rectangular top plate and two side plates. And a tire is arranged at the end part of the inner side and the length direction of each side plate. A wheel-track changing mechanism 13 is provided on the side surface of the moving platform 1. The wheel-track transformation mechanism 13 is responsible for realizing the conversion of the motion mode of the mobile platform 1 between a wheel-type motion mode and a track-type motion mode. The wheel-track changing mechanism 13 includes a track 134. The track 134, together with the wheel-track changing mechanism 13 connected thereto, can be raised or lowered in the vertical direction.
Under the action of the wheel-track changing mechanism 13, when the track 134 descends and contacts with the ground and the tire drags off the ground, the motion mode of the mobile platform 1 is changed from a wheel type to a track type. When the crawler belt 134 is lifted and reset, and the tires are in contact with the ground, the motion mode of the mobile platform 1 is changed from crawler type to wheel type.
The parallel bearing device 3 is responsible for adjusting the posture of the manipulator 2. The manipulator 2 has more than 3 degrees of freedom.
Further, the wheel-track changing mechanism 13 includes a driving wheel 131, a driven wheel 132, a damper cushion spring 133, and a hydraulic cylinder 135. Wherein, a driving wheel 131 and a driven wheel 132 are arranged on the outer side of each side plate.
The driving wheel 131 is fixedly connected with the adjacent side wall. A damper cushion spring 133 is provided on the outer side of the side plate. That is, the damper cushion spring 133 is located between the hook 1331 of the side plate and the connection plate 1332 of the driven wheel 132.
The driving wheel 131 and the driven wheel 132 on the same side plate are both meshed with one crawler 134, and are driven by the driving wheel 131 during operation, so that the driven wheel 132 is driven to operate, and crawler-type motion of the mobile platform 1 is realized.
Furthermore, a hydraulic cylinder 135 is arranged on the inner side of each side plate of the mobile platform 1, the hydraulic cylinder 135 is positioned between the inner side of the side plate and the tire, a push-pull rod 1351 of the hydraulic cylinder 135 is connected with the inner side of the side plate, and the conversion between the wheel type motion mode and the crawler type motion mode of the mobile platform 1 can be realized by the push-pull of the hydraulic cylinder 135.
Further, the manipulator 2 has six degrees of freedom and is driven by a motor.
Further, the parallel bearing device 3 comprises an upper platform 31 of the parallel bearing device, a lower platform 32 of the parallel bearing device, a driving element 33 of the parallel bearing device, a moving guide rail 34, a transmission nut 35 and a rigidity support rod 36. Wherein,
a moving guide 34 and a driving nut 35 are provided at the bottom of the lower platform 32. On top of the lower platform 32 there are arranged more than 3 drive elements 33 of parallel carriers. The drive element 33 of the parallel carrier is motor-driven or hydraulically driven. The top of the drive elements 33 of the parallel carrier are each connected to the bottom surface of the upper platform 31. A stiffness support bar 36 is provided between the lower platform 32 and the upper platform 31.
Further, the middle of the upper platform 31 is a net-shaped radiation plate surface, a rotary mounting seat 313 is arranged at the center of the net-shaped radiation plate surface, and a rotary support 3131 and a cylindrical gear 3132 are arranged on the rotary mounting seat 313. The inner teeth of rotary support 3131 are engaged with the outer teeth of cylindrical gear 3132, and cylindrical gear 3132 drives rotary support 3131 to rotate.
The bottom surface of the upper platform 31 is provided with a reinforcing rib plate 312, a spherical hinge mounting seat 311 and a support frame 37. The number of the reinforcing rib plates 312 and the number of the spherical hinge mounting seats 311 are more than 3, and the reinforcing rib plates and the spherical hinge mounting seats are symmetrically distributed on the bottom surface of the upper platform 31, and the support frame 37 is fixed at the center position of the bottom surface of the upper platform 31.
Further, the bottom of the support bracket 37 is connected to the rigid support bar 36 by a second connecting hinge 362. The top surface of the lower platform 32 is connected to the stiffness support bar 36 by a connecting hinge 361.
The utility model discloses a preferred scheme is: the intelligent mobile equipment with the executing mechanism comprises a mobile platform 1, a parallel bearing device 3 and a manipulator 2. A parallel bearing device 3 is arranged on the mobile platform 1. The parallel carrier 3 is provided with a manipulator 2.
The mobile platform 1 is responsible for effecting movements over flat and/or rough terrain. Tires are arranged at the bottom of the mobile platform 1. A wheel-track changing mechanism 13 is provided on the side surface of the moving platform 1. The wheel-track transformation mechanism 13 is responsible for realizing the conversion of the motion mode of the mobile platform 1 between a wheel-type motion mode and a track-type motion mode. The wheel-track changing mechanism 13 includes a track 134. The crawler belt 134 and the entire wheel-track changing mechanism 13 can be raised or lowered in the vertical direction with respect to the mobile platform 1.
When the track 134 descends and comes into contact with the ground, the tire is pulled off the ground, and the motion mode of the mobile platform 1 is changed from the wheel type to the track type by the wheel-track changing mechanism 13. When the crawler belt 134 is lifted and reset and the tires are in contact with the ground, the motion mode of the mobile platform 1 is changed from crawler type to wheeled type.
The parallel bearing device 3 is responsible for adjusting the posture of the manipulator 2. The manipulator 2 has more than 3 degrees of freedom.
The middle part of the upper platform 31 is a net-shaped radiation disk surface, the center of the net-shaped radiation disk surface is provided with a rotary mounting seat 313, and a rotary support 3131 and a cylindrical gear 3132 are arranged on the rotary mounting seat 313. The inner teeth of rotary support 3131 are engaged with the outer teeth of cylindrical gear 3132, and cylindrical gear 3132 drives rotary support 3131 to rotate.
The bottom surface of the upper platform 31 is provided with a reinforcing rib plate 312, a spherical hinge mounting seat 311 and a support frame 37. The number of the reinforcing rib plates 312 and the number of the spherical hinge mounting seats 311 are more than 3, and the reinforcing rib plates and the spherical hinge mounting seats are symmetrically distributed on the bottom surface of the upper platform 31, and the support frame 37 is fixed at the center position of the bottom surface of the upper platform 31.
The bottom of the support bracket 37 is connected with the rigid support bar 36 through a second connecting hinge 362. The top surface of the lower platform 32 is connected to the stiffness support bar 36 by a connecting hinge 361.
The mobile platform 1 is n-shaped. The mobile platform 1 is composed of a rectangular top plate and two side plates. And a tire is arranged at the end part of the inner side and the length direction of each side plate.
The wheel-track changing mechanism 13 further includes a driving wheel 131, a driven wheel 132, a damper cushion spring 133, and a hydraulic cylinder 135. Wherein, a driving wheel 131 and a driven wheel 132 are arranged on the outer side of each side plate.
The driving wheel 131 is fixedly connected with the adjacent side wall. The damper cushion spring 133 is disposed outside the side plate between the hook 1331 of the side plate and the connection plate 1332 of the driven wheel 132.
The driving wheel 131 and the driven wheel 132 on the same side plate are both meshed with the crawler 134 on the same side, and are driven by the driving wheel 131 during operation, so that the driven wheel 132 is driven to operate, and crawler-type motion of the mobile platform 1 is realized.
Preferably, a terrain matching control system 4 is provided on the mobile platform 1. The terrain matching control system 4 is responsible for terrain monitoring and performance analysis in the moving process of the mobile platform 1 and feedback control of the mobile platform 1, the manipulator 2 and the parallel bearing device 3. The terrain matching control system 4 is respectively connected with the mobile platform 1, the manipulator 2 and the parallel bearing device 3.
Further, the terrain matching control system 4 includes a monitoring system 41, a dynamic analysis system 5, a wheel-track change controller 6, and a motion controller 7. Wherein,
the monitoring system 41 is composed of a vision sensor 411, an attitude sensor 412, and a vibration sensor 413. The vision sensor 411, the attitude sensor 412, and the vibration sensor 413 are fixed to the mobile platform 1.
The dynamic analysis system 5, the wheel-track transformation controller 6 and the motion controller 7 are respectively arranged on the mobile platform 1.
The monitoring system 41 communicates with the dynamic analysis system 5, and the dynamic analysis system 5 communicates with the wheel-track change controller 6 and the motion controller 7.
Further, a rail groove 12 is provided on the upper surface of the movable platform 1. One end of the guide rail groove 12 is a through groove, and the other end is a blind groove. The upper surface of the mobile platform 1 is connected with the parallel bearing device 3 by adopting a guide rail pair.
The manipulator 2 comprises a base 21 and a first articulated drive element 22. The manipulator 2 is fixed on the rotary mounting seat 313 through the base 21, and the driving element 22 of the first joint is arranged inside the parallel bearing device 3. Example 1
As shown in fig. 1 and 2, an intelligent mobile device with an actuator includes a mobile platform 1, a parallel bearing device 3, and a manipulator 2, wherein the manipulator 2 has six degrees of freedom, the manipulator 2 is driven by a motor, the mobile platform 1 has a wheel-track changing mechanism 13, the wheel-track changing mechanism 13 is located on the left and right sides of the mobile platform 1, the wheel-track changing mechanism 13 has a driving wheel 131 and a driven wheel 132, the driving wheel 131 is fixed, the driven wheel 132 has a vertical sliding motion along the side surface of the wheel-track changing mechanism 13, and an adjusting mechanism of the wheel-track changing mechanism 13 is provided with a damping buffer spring 33133. As shown in fig. 3, the drive element hydraulic cylinders 35135 of the wheel-track changing mechanism 13 are symmetrically installed inside the wheel-track changing mechanism 13, and the wheel-type motion mode and the track-type motion mode of the mobile platform 1 can be changed by controlling the hydraulic cylinders 35135 of the wheel-track changing mechanism 13.
Fig. 2 shows a crawler-type movement mode of the mobile platform 1, and fig. 4 shows a wheel-type movement mode of the mobile platform 1.
As shown in fig. 5, the parallel carrier 3 has an upper platform 31 and a lower platform 32. The lower platform 32 of the parallel bearing device is provided with a movable guide rail 34 and a transmission nut 35, the driving elements 33 of the parallel bearing device 3 are uniformly distributed and installed between the upper platform 31 and the lower platform 32 of the parallel bearing device 3, and a rigidity support rod 36 is arranged between the upper platform 31 and the lower platform 32. The robot 2 is fixed by means of the base 21 on a swivel mounting 313 of the upper platform 31 of the parallel carrier 3, wherein the drive element 22 of the first joint is mounted inside the parallel carrier 3.
As shown in fig. 6, a guide rail groove 12 is formed in the upper surface of the mobile platform 1, one end of the guide rail groove 12 is a through groove, the other end is a blind groove, and the upper surface of the mobile platform 1 is connected with the parallel bearing device 3 by a guide rail pair.
As shown in fig. 7, 8 and 9, the middle of the upper platform 31 of the parallel bearing device is a net-shaped radiation plate surface, the center of the net-shaped radiation plate surface is provided with a rotary mounting seat 313, and a rotary support 3131 and a cylindrical gear 3132 are arranged on the rotary mounting seat 313. The bottom surface of the upper platform 31 is provided with a reinforcing rib plate 312, a spherical hinge mounting seat 311 and a support frame 37.
As shown in fig. 10, the bottom surface of the supporting frame 37 is provided with a second connecting hinge 362 of the stiffness supporting rod 36, and as shown in fig. 11, the surface of the lower platform 32 is provided with a first connecting hinge 361 of the stiffness supporting rod 36.
As shown in fig. 12, the utility model relates to a series-parallel connection formula that can move removes manipulator the utility model discloses on be equipped with topography matching control system 4, specifically including monitoring system 41, dynamic analysis system 5, wheel-track transform controller 6, motion control 7, monitoring system 41 includes vision sensor 411, attitude sensor 412 and vibration sensor 413, all fixes on moving platform. The monitoring system 41 communicates with the dynamic analysis system 5, and the dynamic analysis system 5 communicates with the wheel-track change controller 6 and the motion controller 7.
The product can adapt to the movement and operation of flat ground, bumpy ground and slope ground, has good running stability, stable gravity center and high moving speed, and has 2 wheeled and crawler-type motion modes
The utility model discloses an intelligent movement with actuating mechanism equips, can collect to remove and operating function in an organic whole, has synthesized parallel mechanism and series connection mechanism's dual advantage, has improved rigidity, workspace, structural stability and the operation flexibility of system, makes the system possess infinitely large workspace almost. By configuring different operation tools for the manipulator, different operation tasks can be executed, and the occasions where the tasks can be executed are wider. The product has the advantages of high stability of the system and minimum vibration energy, wherein the mobile platform has the optimal movement speed, the parallel bearing device has the optimal working posture, and the matching of the system to the flat ground, the bumpy ground and the slope ground is realized, so that the system is in the optimal state.
Claims (10)
1. Intelligent mobile device with actuating mechanism, its characterized in that: comprises a mobile platform (1), a parallel bearing device (3) and a manipulator (2); a parallel bearing device (3) is arranged on the mobile platform (1); a manipulator (2) is arranged on the parallel bearing device (3); the mobile platform (1) is composed of a rectangular top plate and two side plates; tires are arranged on the inner side of each side plate and at the end part in the length direction; a wheel-track changing mechanism (13) is arranged on the side surface of the mobile platform (1).
2. The smart mobile device with an actuator of claim 1, wherein: the wheel-track changing mechanism (13) also comprises a driving wheel (131), a driven wheel (132), a damping buffer spring (133) and a hydraulic cylinder (135); wherein, the outer side of each side plate is provided with a driving wheel (131) and a driven wheel (132);
the driving wheel (131) is fixedly connected with the adjacent side wall; a damping buffer spring (133) is arranged on the outer side of the side plate; the driving wheel (131) and the driven wheel (132) which are positioned on the same side plate are both meshed with one crawler (134), and are driven by the driving wheel (131) during working, so that the driven wheel (132) is driven to operate, and the crawler-type motion of the mobile platform (1) is realized.
3. The smart mobile device with an actuator of claim 1, wherein: the parallel bearing device (3) comprises an upper platform (31) of the parallel bearing device, a lower platform (32) of the parallel bearing device, a driving element (33) of the parallel bearing device, a movable guide rail (34), a transmission nut (35) and a rigidity supporting rod (36); wherein, a moving guide rail (34) and a transmission nut (35) are arranged at the bottom of the lower platform (32); more than 3 driving elements (33) of the parallel bearing device are arranged at the top of the lower platform (32); the top parts of the driving elements (33) of the parallel bearing devices are connected with the bottom surface of the upper platform (31); a rigidity support rod (36) is arranged between the lower platform (32) and the upper platform (31).
4. The smart mobile device with actuator of claim 3, wherein: the middle part of the upper platform (31) is a reticular radiation disk surface, the center of the reticular radiation disk surface is provided with a rotary mounting seat (313), and a rotary support (3131) and a cylindrical gear (3132) are arranged on the rotary mounting seat (313); the internal teeth of the rotary support (3131) are meshed with the external teeth of the cylindrical gear (3132), and the cylindrical gear (3132) drives the rotary support (3131) to rotate.
5. The smart mobile device with an actuator of claim 4, wherein: a reinforcing rib plate (312), a spherical hinge mounting seat (311) and a support frame (37) are arranged on the bottom surface of the upper platform (31); the number of the reinforcing rib plates (312) and the number of the spherical hinge mounting seats (311) are more than 3, the reinforcing rib plates and the spherical hinge mounting seats are symmetrically distributed on the bottom surface of the upper platform (31), and the support frame (37) is fixed in the center of the bottom surface of the upper platform (31).
6. The smart mobile device with an actuator of claim 5, wherein: the bottom of the support frame (37) is connected with the rigidity support rod (36) through a second connecting hinge (362); the top surface of the lower platform (32) is connected with the rigidity support bar (36) through a connecting hinge I (361).
7. The smart mobile device with actuator of claim 3, wherein: the middle part of the upper platform (31) is a reticular radiation disk surface, the center of the reticular radiation disk surface is provided with a rotary mounting seat (313), and a rotary support (3131) and a cylindrical gear (3132) are arranged on the rotary mounting seat (313); the internal teeth of the rotary support (3131) are meshed with the external teeth of the cylindrical gear (3132), and the cylindrical gear (3132) drives the rotary support (3131) to rotate;
a reinforcing rib plate (312), a spherical hinge mounting seat (311) and a support frame (37) are arranged on the bottom surface of the upper platform (31); the number of the reinforcing rib plates (312) and the number of the spherical hinge mounting seats (311) are more than 3, the reinforcing rib plates and the spherical hinge mounting seats are symmetrically distributed on the bottom surface of the upper platform (31), and the support frame (37) is fixed in the center of the bottom surface of the upper platform (31);
the bottom of the support frame (37) is connected with the rigidity support rod (36) through a second connecting hinge (362); the top surface of the lower platform (32) is connected with the rigidity supporting rod (36) through a first connecting hinge (361);
the mobile platform (1) is n-shaped; the mobile platform (1) is composed of a rectangular top plate and two side plates; tires are arranged on the inner side of each side plate and at the end part in the length direction;
the wheel-track changing mechanism (13) also comprises a driving wheel (131), a driven wheel (132), a damping buffer spring (133) and a hydraulic cylinder (135); wherein, the outer side of each side plate is provided with a driving wheel (131) and a driven wheel (132);
the driving wheel (131) is fixedly connected with the adjacent side wall; the damping buffer spring (133) is arranged on the outer side of the side plate and is positioned between the hook (1331) of the side plate and the connecting plate (1332) of the driven wheel (132);
the driving wheel (131) and the driven wheel (132) which are positioned on the same side plate are both meshed with one crawler (134), and are driven by the driving wheel (131) during working, so that the driven wheel (132) is driven to operate, and the crawler-type motion of the mobile platform (1) is realized.
8. The smart mobile device with an actuator of claim 7, wherein: a terrain matching control system (4) is arranged on the mobile platform (1); the terrain matching control system (4) is respectively connected with the mobile platform (1), the manipulator (2) and the parallel bearing device (3).
9. The smart mobile device with an actuator of claim 7, wherein: the terrain matching control system (4) comprises a monitoring system (41), a dynamic analysis system (5), a wheel-track transformation controller (6) and a motion controller (7); wherein,
the monitoring system (41) is composed of a visual sensor (411), an attitude sensor (412) and a vibration sensor (413); the visual sensor (411), the attitude sensor (412) and the vibration sensor (413) are all fixed on the mobile platform (1);
the dynamic analysis system (5), the wheel-track transformation controller (6) and the motion controller (7) are respectively arranged on the mobile platform (1); the monitoring system (41) is communicated with the dynamic analysis system (5), and the dynamic analysis system (5) is communicated with the wheel-track transformation controller (6) and the motion controller (7).
10. The smart mobile device with actuator of claim 6 or 7, characterized in that: a guide rail groove (12) is arranged on the upper surface of the movable platform (1); one end of the guide rail groove (12) is a through groove, and the other end is a blind groove; the upper surface of the mobile platform (1) is connected with the parallel bearing device (3) by a guide rail pair;
the manipulator (2) comprises a base (21) and a drive element (22) of a first joint; the manipulator (2) is fixed on a rotary mounting seat (313) through a base (21), and a driving element (22) of a first joint is arranged in the parallel bearing device (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721594896.6U CN207564460U (en) | 2017-11-25 | 2017-11-25 | Intelligent mobile equipment with executing agency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721594896.6U CN207564460U (en) | 2017-11-25 | 2017-11-25 | Intelligent mobile equipment with executing agency |
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| Publication Number | Publication Date |
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| CN207564460U true CN207564460U (en) | 2018-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721594896.6U Expired - Fee Related CN207564460U (en) | 2017-11-25 | 2017-11-25 | Intelligent mobile equipment with executing agency |
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| CN (1) | CN207564460U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048942A (en) * | 2018-08-31 | 2018-12-21 | 浙江三星机电股份有限公司 | Quickly through the explosive-removal robot of complicated landform |
| CN109500814A (en) * | 2018-11-30 | 2019-03-22 | 北京精密机电控制设备研究所 | The full dimension ground physical verification system and method for space manipulator varying load situation |
| CN111993389A (en) * | 2020-08-24 | 2020-11-27 | 宁波大学 | Hybrid-driven movable multi-degree-of-freedom parallel motion platform |
| CN113844482A (en) * | 2020-06-28 | 2021-12-28 | 沈阳新松机器人自动化股份有限公司 | Double-track six-degree-of-freedom moving platform |
| CN116945124A (en) * | 2022-04-20 | 2023-10-27 | 深圳市普渡科技有限公司 | Robot and control method, equipment and medium thereof |
-
2017
- 2017-11-25 CN CN201721594896.6U patent/CN207564460U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048942A (en) * | 2018-08-31 | 2018-12-21 | 浙江三星机电股份有限公司 | Quickly through the explosive-removal robot of complicated landform |
| CN109500814A (en) * | 2018-11-30 | 2019-03-22 | 北京精密机电控制设备研究所 | The full dimension ground physical verification system and method for space manipulator varying load situation |
| CN113844482A (en) * | 2020-06-28 | 2021-12-28 | 沈阳新松机器人自动化股份有限公司 | Double-track six-degree-of-freedom moving platform |
| CN111993389A (en) * | 2020-08-24 | 2020-11-27 | 宁波大学 | Hybrid-driven movable multi-degree-of-freedom parallel motion platform |
| CN116945124A (en) * | 2022-04-20 | 2023-10-27 | 深圳市普渡科技有限公司 | Robot and control method, equipment and medium thereof |
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