A hybrid stable platform mechanism with complete motion decoupling

Abstract

The invention relates to the technical field of picking operators, and in particular to a hybrid stable platform mechanism with complete motion decoupling, comprising a planar low-pair four-bar mechanism and a planar five-bar mechanism; the planar low-pair four-bar mechanism is composed of a rotating pair five, a rotating pair six, a rotating pair seven and a rotating pair eight whose axes are parallel to each other and connected in series in sequence; the planar five-bar mechanism is composed of a moving pair one, a rotating pair one, a rotating pair two, a rotating pair three and a rotating pair four connected in series in sequence; the base point of the hybrid stable platform mechanism has a one-dimensional movement amount compensation along the moving direction of the moving pair one, and two rotation amount compensations around the axes of the rotating pair one and the rotating pair five, wherein the planar five-bar mechanism can simultaneously control the compensation of the one-dimensional movement amount of the base point of the output moving platform along the moving direction of the moving pair one, and the compensation amount of rotation around the axis of the rotating pair one, thereby reducing the cumulative error of the compensation amount, improving the accuracy of position compensation control, and reducing the driving force required for position compensation changes, and the motion is fully decoupled.

Description

Technical Field

[0001] The invention relates to the technical field of picking operators, and in particular to a hybrid stable platform mechanism with complete motion decoupling. Background Art

[0002] At present, stabilized gimbals are mainly used in vehicles, ships and warships, and can achieve high-precision oscillation compensation during vehicle, ship and aerospace launches. They are currently rarely or not used in agriculture.

[0003] According to the characteristics of the unstructured environment of modern orchards, the problem of unstructured complex terrain in modern orchards is solved to ensure that the picking robot arm has a highly safe and stable working environment; the combination of mobile chassis and stable platform can make the picking robot more stable when walking, ensuring that the picking robot can maintain a relatively stable state to complete the picking operation. It can be said that the performance of the stable platform determines the quality and picking rate of picking.

[0004] To this end, it is necessary to research and invent a new type of stable platform with large load-bearing capacity, high rigidity, easy manufacturing, low cost and convenient control to achieve compensation of translational and rotational displacements. This can lay a technical foundation for the high efficiency, flexibility and precise intelligent harvesting of special crops in complex environments in my country. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in order to solve the deficiencies in the prior art, a new hybrid stable platform mechanism with motion decoupling and easy kinematic / dynamic analysis is provided, and this mechanism is composed of low pairs and has the advantages of easy processing and manufacturing.

[0006] The technical solution adopted by the present invention to solve the technical problem is: a hybrid stable platform mechanism with complete motion decoupling, including a single-degree-of-freedom planar low-pair four-bar mechanism and a two-degree-of-freedom planar five-bar mechanism;

[0007] The planar low-pair four-bar mechanism is composed of a rotating pair 5, a rotating pair 6, a rotating pair 7 and a rotating pair 8 whose axes are parallel to each other and are connected in series in sequence; the connecting member between the rotating pair 5 and the rotating pair 6 is a rocker; the connecting member between the rotating pair 5 and the rotating pair 8 is a bottom member, and the bottom member is used to be connected to the frame;

[0008] The planar five-bar mechanism is composed of a moving pair 1, a rotating pair 1, a rotating pair 2, a rotating pair 3 and a rotating pair 4 connected in series in sequence, and the axes of the rotating pair 1, the rotating pair 2, the rotating pair 3 and the rotating pair 4 are parallel to each other; the moving direction of the moving pair 1 is perpendicular to the axis of the rotating pair 1; the connecting piece between the moving pair 1 and the rotating pair 4 is a bottom edge piece, and the bottom edge piece is fixedly connected to the rocker; the connecting piece between the rotating pair 1 and the rotating pair 2 is an output moving platform, and the base point of the output moving platform has a compensation amount for one-dimensional translation along the moving direction of the moving pair 1, a compensation amount for rotation around the axis of the rotating pair 1 and a compensation amount for rotation around the axis of the rotating pair 5.

[0009] Furthermore, the motion plane of the planar five-bar mechanism is always parallel to the normal line of the rocker.

[0010] Furthermore, the axis of the revolving pair five is perpendicular to the axis of the revolving pair one.

[0011] Furthermore, the bottom member is connected to the frame through a rotation pair nine of the axis in the vertical direction, and the base point of the output movable platform also has a compensation amount for rotating around the rotation pair five axis.

[0012] The beneficial effects of the present invention are as follows: the hybrid stable platform mechanism with complete motion decoupling of the present invention has a base point with one-dimensional movement compensation along the moving direction of the moving pair one, and two rotation compensations around the axis of the rotating pair one and the axis of the rotating pair five, wherein the planar five-bar mechanism can simultaneously control the compensation of the one-dimensional movement of the base point of the output moving platform along the moving direction of the moving pair one, and the compensation of the rotation around the axis of the rotating pair one, thereby reducing the cumulative error of the compensation, improving the accuracy of the position compensation control, and reducing the driving force required for the position compensation change, and the motion is fully decoupled.

[0013] The advantages of this hybrid stable platform mechanism are: it is composed of low pairs, low cost, easy to manufacture and control; at the same time, its kinematics and dynamics are easy and convenient to solve. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0015] Figure 1 It is a three-dimensional schematic diagram of the hybrid stable platform mechanism with complete motion decoupling of the present invention;

[0016] Figure 2 is a schematic diagram of a planar low pair four-bar mechanism in Example 1;

[0017] Figure 3 1 is a top view schematic diagram of a hybrid stable platform mechanism with complete motion decoupling of the present invention;

[0018] Figure 4 is a schematic diagram of a planar five-bar mechanism of the present invention;

[0019] Figure 5 It is a schematic diagram of a planar low-pair four-bar mechanism provided with a rotating pair nine in Embodiment 2;

[0020] In the figure: 1, bottom part, 2, rocker, 3, bottom side part, 4, output dynamic platform;

[0021] P1, mobile vice one;

[0022] R1, rotation pair one, R2, rotation pair two, R3, rotation pair three, R4, rotation pair four, R5, rotation pair five, R6, rotation pair six, R7, rotation pair seven, R8, rotation pair eight, R0, rotation pair nine. DETAILED DESCRIPTION

[0023] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention, and directions and references (e.g., up, down, left, right, etc.) may only be used to help describe the features in the drawings. Therefore, the following specific embodiments are not to be taken in a limiting sense, and the scope of the subject matter claimed is limited only by the attached claims and their equivalents. Example 1

[0024] like Figure 1-4 As shown, a hybrid stable platform mechanism with complete motion decoupling includes a planar low-pair four-bar mechanism with a single degree of freedom and a planar five-bar mechanism with two degrees of freedom;

[0025] The plane low pair four-bar mechanism is composed of a rotation pair R5, a rotation pair R6, a rotation pair R7 and a rotation pair R8, the axes of which are parallel to each other and are connected in series in sequence; the connecting member between the rotation pair R5 and the rotation pair R6 is a rocker 2; the connecting member between the rotation pair R5 and the rotation pair R8 is a bottom member 1, and the bottom member 1 is used to be connected to the frame;

[0026] The planar five-bar mechanism is composed of a movable pair P1, a rotating pair R1, a rotating pair R2, a rotating pair R3 and a rotating pair R4 connected in series in sequence, and the axes of the rotating pair R1, the rotating pair R2, the rotating pair R3 and the rotating pair R4 are parallel to each other; the moving direction of the movable pair P1 is perpendicular to the axis of the rotating pair R1, and the axis of the rotating pair R5 can be perpendicular to the axis of the rotating pair R1; the connecting member between the movable pair P1 and the rotating pair R4 is a bottom edge member 3, and the bottom edge member 3 can be but is not limited to an L-shape, and the L-shaped bottom edge member 3 refers to a bottom edge member 3 including mutually perpendicular horizontal and vertical parts, and the horizontal part is a bottom edge member 3 having a plurality of vertical parts and a plurality of vertical parts. The upper end of the vertical part is connected to the movable pair P1, and the lower end is connected to the horizontal part, and the end of the horizontal part away from the vertical part is connected to the rotating pair R4; the bottom edge member 3 is fixedly connected to the rocker 2. Specifically, the motion plane of the planar five-bar mechanism can always be parallel to the normal of the upper surface of the rocker 2; the connecting member between the rotating pair R1 and the rotating pair R2 is the output moving platform 4, and the base point of the output moving platform 4 has a compensation amount for one-dimensional translation along the moving direction of the movable pair P1, a compensation amount for rotation around the axis of the rotating pair R1, and a compensation amount for rotation around the axis of the rotating pair R5.

[0027] In this embodiment, the moving pair P1, the rotating pair R4, and the rotating pair R8 are driving pairs; when the moving pair P1 is driven, the base point of the output movable platform 4 on the hybrid stable platform mechanism (for example, the position of the rotating pair R1) can move up and down, that is, there is a compensation for the one-dimensional movement amount along the moving direction of the moving pair P1; when the rotating pair R4 is driven, the base point of the output movable platform 4 can rotate around the axis of the rotating pair R1, that is, there is a compensation amount for rotating around the axis of the rotating pair R1; when the rotating pair R8 is driven, the base point of the output movable platform 4 can rotate around the axis of the rotating pair R5, that is, there is a compensation amount for rotating around the axis of the rotating pair R1;

[0028] From the above description, it can be known that the movable pair P1 controls the movement amount in its moving direction, the rotating pair R4 controls the rotation amount α, and the rotating pair R8 controls the rotation amount β. Among them, the planar five-bar mechanism can simultaneously control the compensation of the one-dimensional movement amount of the base point of the output movable platform 4 along the moving direction of the movable pair P1, and the compensation amount of rotation around the axis of the rotating pair R1, thereby reducing the cumulative error of the compensation amount, improving the accuracy of position compensation control, and reducing the driving force required for position compensation changes, and the movement is fully decoupled.

[0029] The advantages of this hybrid stable platform mechanism are: it is composed of low pairs, low cost, easy to manufacture and control; at the same time, its kinematics and dynamics are easy and convenient to solve.

[0030] The hybrid stable platform can be used as the base of an agricultural mobile harvesting robot, etc., making the harvesting robot more stable when walking and ensuring that the harvesting robot can maintain a relatively stable state to complete the harvesting operation. Example 2

[0031] like Figure 5 As shown, the difference between Example 2 and Example 1 is that the bottom member 1 is connected to the frame through a revolute pair R0 in the vertical direction, and the base point of the output movable platform 4 also has a compensation amount for rotating around the revolute pair R5 axis;

[0032] In this embodiment, when the mobile pair P1, the rotating pair R4, the rotating pair R8 and the rotating pair R0 are taken as the driving pairs, the base point of the output driving platform 4 on the hybrid stable platform mechanism (for example, the position where the rotating pair R1 is located) has compensation for the one-dimensional movement along the axis of the mobile pair P1, and compensation for three rotations about the axis of the rotating pair R1, around the rotating pair R5, and around the rotating pair R0; the mobile pair P1 controls the movement, the rotating pair R4 controls the rotation α, the rotating pair R8 controls the rotation β, and the rotation around the vertical direction is controlled around the rotating pair R0, so the motion is fully decoupled.

[0033] The advantages of this hybrid stable platform mechanism are: it is composed of low pairs, low cost, easy to manufacture and control; at the same time, its kinematics and dynamics are easy and convenient to solve.

[0034] The hybrid stable platform can be used as the base of an agricultural mobile harvesting robot, etc., making the harvesting robot more stable when walking and ensuring that the harvesting robot can maintain a relatively stable state to complete the harvesting operation.

[0035] The above-mentioned ideal embodiments of the present invention are for inspiration. Through the above-mentioned description, relevant staff can make various changes and modifications without departing from the technical idea of ​​the present invention. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A hybrid stable platform mechanism with complete motion decoupling, characterized by: It includes a planar low-pair four-bar mechanism with a single degree of freedom and a planar five-bar mechanism with two degrees of freedom; The planar low-pair four-bar mechanism is composed of a rotation pair 5 (R5), a rotation pair 6 (R6), a rotation pair 7 (R7) and a rotation pair 8 (R8) whose axes are parallel to each other and connected in series in sequence; the connecting member between the rotation pair 5 (R5) and the rotation pair 6 (R6) is a rocker (2); the connecting member between the rotation pair 5 (R5) and the rotation pair 8 (R8) is a bottom member (1), and the bottom member (1) is used to be connected to a frame; The planar five-bar mechanism is composed of a movable joint 1 (P1), a rotating joint 1 (R1), a rotating joint 2 (R2), a rotating joint 3 (R3) and a rotating joint 4 (R4) which are connected in series in sequence, wherein the axes of the rotating joint 1 (R1), the rotating joint 2 (R2), the rotating joint 3 (R3) and the rotating joint 4 (R4) are parallel to each other; the moving direction of the movable joint 1 (P1) is perpendicular to the axis of the rotating joint 1 (R1); the connecting member between the movable joint 1 (P1) and the rotating joint 4 (R4) is a bottom edge member (3), and the bottom edge member (3) is fixedly connected to the rocker (2); the connecting member between the rotating joint 1 (R1) and the rotating joint 2 (R2) is an output movable platform (4), and the base point of the output movable platform (4) has a compensation amount for one-dimensional translation along the moving direction of the movable joint 1 (P1), a compensation amount for rotation around the axis of the rotating joint 1 (R1) and a compensation amount for rotation around the axis of the rotating joint 5 (R5); The motion plane of the planar five-bar mechanism is always parallel to the normal line of the rocker (2); The axis of the revolving pair five (R5) is perpendicular to the axis of the revolving pair one (R1).

2. The fully motion-decoupled parallel-parallel stable platform mechanism according to claim 1, characterized in that: The bottom component (1) is connected to the frame via a revolving pair nine (R0) with its axis in the vertical direction, and the base point of the output movable platform (4) also has a compensation amount for rotating around the axis of the revolving pair five (R5).

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