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Foot wheel type auto-kinetic movement platform based on parallel-connection six-freedom-degree movement mechanism

A technology of autonomous movement and movement mechanism, which is applied in the field of robots, can solve the problems of poor carrying capacity and achieve the effects of strong carrying capacity, flexible movement process, and increased steering resistance

Inactive Publication Date: 2015-04-29
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to propose a foot-wheeled autonomous motion platform based on a parallel six-degree-of-freedom motion mechanism in order to overcome the shortcomings of conventional footed robots with poor load-carrying capacity

Method used

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  • Foot wheel type auto-kinetic movement platform based on parallel-connection six-freedom-degree movement mechanism
  • Foot wheel type auto-kinetic movement platform based on parallel-connection six-freedom-degree movement mechanism

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Embodiment

[0039] Such as figure 1 As shown, it is a pure electric drive, with four driving mechanisms of the caster-type motion platform. Its specific configuration is that the driving mechanisms 101 to 104 are installed under the platform carrier 100 . The flat carrier 100 is a cuboid structure, and the center of the platform carrier 100 is defined as the coordinate origin, along the length direction is the Y axis, the width direction is the Z axis, and the height direction is the Z axis. The positive direction of each coordinate axis is as follows: figure 1 regulations shown. The drive mechanisms 101 to 104 are distributed symmetrically with respect to the X axis and the Y axis.

[0040] Such as figure 2 The structure of one of the drive mechanisms is shown. Among them, the six actuators of the six-degree-of-freedom motion mechanism are electric cylinders, and their structures and connection methods are exactly the same. Taking one of them as an example, the shell of the electric...

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Abstract

The invention relates to a foot wheel type auto-kinetic movement platform based on a parallel-connection six-freedom-degree movement mechanism and belongs to the technical field of robots. The foot wheel type auto-kinetic movement platform comprises a control system, an energy system and a platform mechanism. The platform mechanism is the trunk of the whole auto-kinetic movement platform and comprises a carrier of the platform and a driving mechanism. The driving mechanism is of a foot wheel combined structure, a main body of the driving mechanism is the six-freedom-degree parallel-connection movement mechanism, wheels are installed on the movable end face of the six-freedom-degree parallel-connection movement mechanism so as to form the foot wheel combined driving mechanism. The driving mechanism is installed under the carrier of the platform, the control system and the energy system are installed under the carrier of the platform, and the carrier of the platform can further bear other load. The driving mechanism is used for completing walking drive of the movement platform and is the parallel-connection six-freedom-degree movement mechanism with the wheels. The foot wheel type auto-kinetic movement platform has the advantages of high movement speed of a wheel type movement platform and good passing ability of a foot type movement platform and can be used in occasions including field investigation, material transportation in a severe environment and the like.

Description

technical field [0001] The invention relates to a foot-wheel type autonomous motion platform based on a parallel six-degree-of-freedom motion mechanism, which belongs to the technical field of robots. Background technique [0002] The autonomous motion platform walks autonomously without manual driving, which liberates the driver. In addition, some specially-made autonomous motion platforms can go deep into harsh or even dangerous environments to perform tasks such as field investigation and detonation. Therefore, autonomous motion platforms have received more and more attention and research. Currently common autonomous motion platforms include wheeled and footed. The structure of the wheeled motion platform is relatively simple and the movement speed is fast, but its passability is limited, especially in the field environment, it is greatly restricted by the terrain, and its ability to overcome obstacles is poor. The footed sports platform has better passability and stron...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J9/00
Inventor 王军政赵江波汪首坤沈伟李静郝仁剑
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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