Intelligent moving equipment with execution mechanism and drive method

Abstract

The invention discloses intelligent moving equipment with an execution mechanism and a drive method. The intelligent moving equipment comprises a moving platform, a parallel-connection bearing device,a mechanical hand and a terrain matching control system. The moving platform is provided with a wheel crawler conversion mechanism. The parallel-connection bearing device is connected with the movingplatform. The mechanical hand is fixed to a rotation installing base of the parallel-connection bearing device. A rigidity supporting rod is arranged between an upper platform and a lower platform ofthe parallel-connection bearing device. Based on the advantages of the parallel-connection mechanism and a series-connection mechanism, the intelligent moving equipment is high in rigidity, large inworking space, stable in structure and flexible in operation, and by means of the wheel crawler conversion mechanism, motion patterns of the moving platform under the different road surface working conditions can be selected. The equipment can be matched with the motion environment of the smooth ground, the jolting ground and the slope ground, and is in the optimal state all the time.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a hybrid mobile manipulator with a terrain matching function, specifically an intelligent mobile device with an actuator and a driving method. Background technique [0002] Smart mobile devices are widely used in various fields such as production, processing, service and transportation. They have the advantages of high work efficiency, good repeatability, and powerful functions. It integrates multiple functions such as environmental perception, dynamic decision-making and planning, motion control and execution, so its application scope and functions are greatly expanded and improved, and it has been widely used in military, civilian and scientific research, including aerospace , marine, military, construction, medical care, agriculture and forestry, commercial services and disaster relief, etc. [0003] However, most of the existing smart mobile devices only have the carrying functi...

AI Technical Summary

Problems solved by technology

The article "Development of an Omnidirectional Mobile Robot with a Manipulator" uses an omnidirectional mobile mechanism to design an omnidirectional mobile manipulator, but its stiffness and stability are low

Patent CN201510206946.8 discloses a heavy-duty handling and assembly mobile robot, which uses a mobile platform and a Stewart parallel platform to realize system handling and assembly operations, but the working space and operating flexibility of the system are obviously limited

It can be seen that the mobile platform of the mobile manipulator in the prior art is mostly used as a motion carrier, and the manipulator mounted on it usually adopts a series joint arm, which has the following problems: the rigidity and stability of the overall system of the mobile manipulator based solely on the series mechanism low stability, it is difficult to complete high-intensity handling operations, especially when the load changes or when performing large-load grabbing and heavy-load handling operations, it is easy to cause instability. The feedback adjustment is matched, so it is easy to cause the overturning accident of the whole vehicle, affect the efficient and stable operation of the mobile manipulator, and increase the possibility of operation failure

However, the working space and operating flexibility of the pure parallel mechanism are obviously limited.

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