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A hexapod robot based on parallel mechanism and its working method

A technology of hexapod robot and working method, which is applied in the fields of motor vehicles, transportation and packaging, etc., can solve the problems of unrealized adaptation to complex terrain, weak adaptability to complex terrain, limited movement flexibility, etc., and achieve high rigidity and movement The effect of small load and simple structure

Active Publication Date: 2018-05-04
张可然
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The technical solution disclosed in this patent document is not equipped with feedback devices such as sensors, so it does not realize the self-adaptation of complex terrain, and because of the use of a fixed gait, its movement flexibility is greatly limited, and its adaptability to complex terrain is weak. The relative rigidity is also small, and the bearing capacity is poor

Method used

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  • A hexapod robot based on parallel mechanism and its working method
  • A hexapod robot based on parallel mechanism and its working method
  • A hexapod robot based on parallel mechanism and its working method

Examples

Experimental program
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Embodiment 1

[0044] like Figure 1 to Figure 3 As shown, this embodiment provides a hexapod robot based on a parallel mechanism, which mainly includes two parts: a main body 1 and a mechanical leg 2:

[0045]Wherein the main body 1 includes an upper platform 11, a lower platform 14 and six servo electric cylinders 12, the upper platform 11 and the lower platform 14 are equilateral triangular plate structures, and the upper platform 11 and the lower platform 14 are arranged in a 60° dislocation (that is, the upper platform surrounds it After the center rotates 60 ° and overlaps with the lower platform), the top corners of the upper platform 11 and the lower platform 14 are provided with hinge points, and each hinge point is connected to two of them by a spherical hinge 13. Servo electric cylinders 12 (such as figure 2 shown);

[0046] The mechanical leg 2 includes a first connecting rod 21, a second connecting rod 22, a third connecting rod 23 and a force sensor 24. The joint of the first...

Embodiment 2

[0051] A hexapod robot based on a parallel mechanism, the structure of which is as described in Embodiment 1, the difference is that in this embodiment, the servo electric cylinder is replaced by a hydraulic cylinder, and the first connecting rod 21 in the mechanical leg 2 is connected to the upper platform 11. The lower platform 14 is connected by pin shafts.

Embodiment 3

[0053] A hexapod robot based on a parallel mechanism, the structure is as described in Embodiment 1, the difference is that: the bottom of the lower platform 14 is provided with a rotary support mechanism 3, and the rotary support mechanism 3 includes a motor 32, a gear 31, and a gear shaft 35 , oil cylinder 33, support frame 34 and a fixed platform, motor 32 is installed on the fixed platform, the output shaft of motor 32 is connected with gear 31 transmission, and gear 31 meshes with gear shaft 35, and gear shaft 35 one ends are fixedly connected with lower platform 14 ( When the gear shaft rotates, the lower platform is driven to also rotate), the other end is connected to the cylinder barrel of the oil cylinder 33 by the bearing on the fixed platform (the gear shaft rotates, but the oil cylinder does not rotate thereupon), and the piston rod of the oil cylinder 33 is connected with the support frame 34 . When the hexapod robot needs to turn quickly, the quick turn of the h...

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Abstract

The invention relates to a hexapod robot based on a parallel mechanism and a working method thereof. The hexapod robot comprises a main body and mechanical legs; the main body comprises an upper platform, a lower platform and six telescopic rods, three hinge joints are arranged on the upper platform and the lower platform correspondingly, and each hinge joint is connected with two of the corresponding telescopic rods through spherical hinges; and each mechanical leg comprises three driving joints and a force sensor, the force sensors are arranged at the bottom ends of the mechanical legs, and the mechanical legs are connected to the upper platform and the lower platform at all the hinge joints correspondingly. According to the hexapod robot, the main body adopts parallel mechanism design and has six degrees of freedom, a six-degree-of-freedom mechanism has the advantages of being large in stiffness, high in bearing capacity, simple in structure, small in movement load, capable of achieving movement of the multiple degrees of freedom including transverse moving, longitudinal moving, rotating and lifting, and thus the movement diversity of the robot can be increased. Three-joint design is adopted by the legs, so that the adaptive capacity of the robot for terrain is greatly improved.

Description

technical field [0001] The invention relates to a hexapod robot based on a parallel mechanism and a working method thereof, belonging to the technical field of robots. Background technique [0002] In nature and human society, there are some places that humans cannot reach or special occasions that may endanger human life. Such as the surface of planets, mines where disasters occur, etc., the exploration and research of these dangerous environments are the needs of the development of science and technology and the progress of human society. Irregular and rough terrain is a common feature of these environments, which limits the application of wheeled and tracked robots. Previous studies have shown that wheeled robots can move fast and smoothly when driving on relatively flat terrain, and their structure and control are relatively simple, but when driving on uneven ground, the energy consumption will increase greatly. If it encounters soft or severely uneven ground, the effe...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 张可然
Owner 张可然
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