Wheel leg type 3-PUU parallel mobile robot

A mobile robot, 3-PUU technology, applied in manipulators, motor vehicles, program-controlled manipulators, etc., can solve problems such as difficult implementation, unstable wheel-leg conversion, complex structure, etc., and achieve easy control, compact structure, and high rigidity Effect

Active Publication Date: 2017-06-20
ZHONGBEI UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] The present invention provides a wheel-leg type 3-PUU parallel mobile robot in order to solve the problems of complex structure, unstable wheel-leg conversion and difficult realization of existing robots

Method used

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  • Wheel leg type 3-PUU parallel mobile robot
  • Wheel leg type 3-PUU parallel mobile robot
  • Wheel leg type 3-PUU parallel mobile robot

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Embodiment Construction

[0033] The present invention will be further described in conjunction with the accompanying drawings and specific embodiments.

[0034] In terms of overall structural design, the present invention provides a wheel-legged 3-PUU parallel mobile robot. The base platform 1 is connected to the moving platform Ⅰ through three PUU inner branch chains, and connected to the moving platform Ⅱ through three PUU outer branch chains. The linear motor Ⅰ5 of the moving platform Ⅰ is outside the PUU inner branch chain, and the linear motor Ⅱ9 of the moving platform Ⅱ Inside the PUU outer branch, the purpose is to avoid interference. Both the moving platform Ⅰ and the moving platform Ⅱ have three evenly distributed connecting rods, and there is a height difference between the moving platform Ⅰ and the moving platform Ⅱ, which can not only improve the robot's ability to overcome obstacles, but also avoid the mutual interference between the inner and outer branch chains when the legs move. .

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Abstract

The invention discloses a wheel leg type 3-PUU parallel mobile robot, belongs to the field of parallel robots, and can solve the problems of complex structure, unstable wheel leg type conversion and difficult realization in a traditional robot. The wheel leg type 3-PUU parallel mobile robot comprises a base platform, a movable platform I, a movable platform II, a branched chain and an universal wheel; the branched chain includes three inner branched chains and three outer branched chains; the base platform is connected with the movable platform I through the inner branched chains, and is connected with the movable platform II through the outer branched chains; each branched chain includes a connecting rod, a hooke joint and a mobile pair; two ends of the connecting rods are connected with the hooke joints; the hooke joints at the top ends of the connecting rods are connected to the base platform; the hooke joints at the bottom ends of the connecting rods are connected to the mobile pairs; the mobile pairs of the inner branched chains are on the outer sides of the connecting rods; the mobile pairs of the outer branched chains are on the inner sides of the connecting rods; and the universal wheel is connected with the mobile pairs of the inner branched chains. The wheel leg type 3-PUU parallel mobile robot obviously reduces the driving number, and is easy to control.

Description

technical field [0001] The invention belongs to the field of parallel robots, in particular to a wheel-leg type 3-PUU parallel mobile robot. Background technique [0002] It is one of the important application fields of robots that robots replace humans in various dangerous and complex environments for operations, risk elimination, and rescue. This requires that mobile robots must have strong terrain adaptability and high-speed motion capabilities. [0003] The current wheel-legged mobile robots generally have two structures: 1) The wheels and legs are not separated. Install the wheels at the end of the leg structure, use the wheels as feet or directly convert the wheels into legs; 2) The wheels and legs are completely separated. The first structure has achieved the most results, but the structure is complex. When a single leg structure is used for walking, the wheeled part becomes a redundant structure, which greatly increases the difficulty of control; Simpler and easie...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B62D57/028
CPCB62D57/028B25J9/0063
Inventor 李瑞琴苗智英梁世杰孟宏伟梁晶晶陈晓明
Owner ZHONGBEI UNIV
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