A kind of climbing robot based on 4-RPS parallel institutionTechnical field
The present invention relates to a kind of climbing robots based on 4-RPS parallel institution, belong to climbing robot technical field.
Background technique
Quadruped robot has the advantages that stability is good and load capacity is big for comparing biped robot, with polypody machinePeople, which compares, then has the characteristics that control is simple, redundancy structure is few, therefore quadruped robot becomes current robot research fieldHot spot.But existing quadruped robot of creeping can only discretely adjust the direction creeped, and it is mobile to can not achieve 360 ° of any directions.
Summary of the invention
The purpose of the present invention is to provide a kind of climbing robots based on 4-RPS parallel institution, to solve the prior artIn caused above-mentioned can not achieve the mobile defect of 360 ° of any directions.
A kind of climbing robot based on-RPS parallel institution, including identical first foot of trunk, four structures, secondFoot, third foot and four-footed, the bottom four corners of the trunk successively it is hinged first foot, second foot, third foot and four-footed, eachThe foot includes four electric telescopic rods, and four electric telescopic rods are hinged on moving platform, and the moving platform bottom is equipped withVola.
Preferably, the bottom four corners of the trunk are all equipped with fixed platform, and the bottom four corners of the fixed platform are all equipped with hingedSeat, the hinged-support and electric telescopic rod are hinged.
Preferably, the fixed platform is connect by bolt with body, and the hinged-support is connect by bolt with fixed platform.
Preferably, the electric telescopic rod bottom end is respectively connected with bulb, and the bulb is respectively hinged with ball hinged support, and fourA ball hinged support is fixed on the quadrangle of fixed platform.
Preferably, spring is connected between the moving platform bottom centre and vola.
Preferably, each four sufficient electric telescopic rods are symmetrical arranged.
Compared with prior art, advantageous effects of the invention:
1, vola end can be made to obtain different tracks by the telescopic direction and speed that adjust four electric pushrods, realizes and appointsThe movement in meaning direction changes robot entirety creep speed by adjusting track in certain direction.
2, four foots are independent of one another, the motion phase of four foots can be kept variant by control sequential when creeping, and realizeA variety of gaits.
3, the advantages of parallel institution bearing capacity is big and electric pushrod control is accurate, stable drive is combined, so that robotHigh sensitivity, structural stability are good.
Detailed description of the invention
Fig. 1 is overall structure figure of the invention；
Fig. 2 is foot mechanism structure chart of the invention；
Fig. 3 is foot mechanism explosive view of the invention；
Fig. 4 is parallel institution of the invention and its branch distributed architecture figure；
Fig. 5 is foot mechanism motion profile figure of the invention.
In figure: 1, first foot, the 2, second foot, 3, third foot, 4, four-footed, 5, trunk, 11, fixed platform, 12, hinged-support,13, electric telescopic rod, 15, bulb, 16, ball hinged support, 17, moving platform, 18, spring, 19, vola.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference toSpecific embodiment, the present invention is further explained.
A kind of climbing robot based on 4-RPS parallel institution, including trunk 5, four knots are disclosed as Figure 1-Figure 4Identical the 1, second foot 2 of first foot of structure, third foot 3 and four-footed 4, each foot is identical in being positioned against for space, describedSuccessively hinged the 1, second foot 2 of first foot, third foot 3 and four-footed 4, each foot include four electricity to the bottom four corners of trunk 5Dynamic telescopic rod 13, four electric telescopic rods 13 are hinged on moving platform 17, and 17 bottom of moving platform is equipped with vola 19.
Specifically, the bottom four corners of the trunk 5 are all equipped with fixed platform 11, the bottom four corners of the fixed platform 11 are all equipped withHinged-support 12, hinged-support 12 is bolted on 11 bottom of fixed platform, and the end of bolt is concordant with hinged-support 12, will notInfluence with the installation of fixing seat 12, the hinged-support 12 and electric telescopic rod 13 are hinged, four hinged-supports 12 respectively with four electricityDynamic telescopic rod 13 constitutes revolute pair by pin connection.
Specifically, the fixed platform 11 is connect by bolt with body 5, the hinged-support 12 passes through bolt and fixed platform 11Connection.
Specifically, 13 bottom end of electric telescopic rod is respectively connected with bulb 15, the bulb 15 is respectively hinged with flexural pivotSupport 16, four ball hinged supports 16 are fixed on the quadrangle of fixed platform 11, and four bulbs 15 pass through with four ball hinged supports 16Interference fit connects into spherical pair.
Specifically, being connected with spring 18 between 11 bottom centre of moving platform and vola 19, it is possible to reduce vola 19 withThe buffering on ground.
Specifically, each four sufficient electric telescopic rods 13 are symmetrical arranged, respectively there are four electric telescopic rods for each foot13, top is big, and bottom is small,；Every two electric telescopic rods 13 are symmetrical arranged, first the 1, second foot 2 of foot, third foot 3 and four-footed4, it is symmetrical arranged between every two rhizopodium, keeps whole device more stable.
When creeping, the motion phase of four foots can be kept variant by control sequential, realize a variety of gaits, Er QietongThe direction and speed for overregulating four electric telescopic rods 13 can make 17 end of vola obtain different tracks, realize any directionMovement, certain direction by adjust track change robot entirety creep speed.
Below by by taking the direction a-c is advanced to the left as an example, in conjunction with Fig. 4-Fig. 5 explanation.
Electric telescopic rod 13 extends at a, and c locates the contraction of electric telescopic rod 13, electronic at electric telescopic rod 13 and d at b to stretch13 constant speed of contracting bar is shunk and contraction speed is less than electric telescopic rod at c, moves the inclination of plane lower-left upper right, and ground of kicking backward is undergone attachedA process in Fig. 5, at a electric telescopic rod 13, electric expansion 13 at b, electric telescopic rod 13 at c, electric telescopic rod 13 is equal at dIt shrinks, and the contraction speed of electric telescopic rod 13 is greater than the contraction speed of electric telescopic rod 13 at c, electric telescopic rod 13 at b at aIt is shunk with 13 constant speed of electric telescopic rod at d, contraction speed is between electric telescopic rod 13 at electric telescopic rod 13 at a and c, warpGo through B process in attached drawing 5；Electric telescopic rod 13, electric telescopic rod 13 at b, electric telescopic rod 13 at c, electric expansion at d at aBar 13 extends, and electric telescopic rod 13 extends the elongation speed that speed is greater than electric telescopic rod 13 at a, electric expansion at b at c13 isodromicing elongation of electric telescopic rod at bar 13 and d, extend speed at electric telescopic rod 13 at a and c electric telescopic rod 13 itBetween, the inclination of plane upper left bottom right is moved, C process in attached drawing 5 is undergone；Electric telescopic rod 13 is shunk at c, electric telescopic rod 13 at aElongation, b locates electric telescopic rod 13 and d place 13 isodromicing elongation of electric telescopic rod and elongation speed is less than electric telescopic rod 13 at a, timeReturn original position, undergoes D process in attached drawing 5；It using A-B-C-D Four processes as a cycle, moves in circles, realizes successively forwardWalking.When creeping, by control sequential, keeps the motion phase of four foots variant, realize a variety of gaits.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the artFor member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformationsAlso it should be regarded as protection scope of the present invention.