CN110666471B - Six-freedom-degree attitude adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections - Google Patents
Six-freedom-degree attitude adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections Download PDFInfo
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Abstract
本发明公开一种低矮无轨大型运载火箭舱段对接装配六自由度调姿平台，其包括车架单元和三驱动腿单元，车架单元包括车架、防撞条、腿单元接口、激光测距仪、倾角仪、蓄电池组、控制器和驱动器，车架整体为桁架结构，防撞条布置在车架四周，激光测距仪安装在车架侧面上，倾角仪、蓄电池组、控制器、驱动器集成在车架内部，三驱动腿单元的数目为6，呈双排长方形全对称布置在车架单元底部两侧，通过腿单元接口实现固连，本发明以六个相互独立的三自由度腿单元为支链，以车架单元为动平台，以大地为定平台构成了完整的6‑RzPzRXS+并联调姿模型，能够适应各种地面、无虚拟腿、全自动化、负载能力强、具有越障和全向移动能力。
The invention discloses a six-degree-of-freedom attitude adjustment platform for docking and assembling a low-profile trackless large-scale launch vehicle module, which comprises a frame unit and a three-drive leg unit. Distance meter, inclinometer, battery pack, controller and driver, the frame as a whole is a truss structure, the anti-collision strips are arranged around the frame, the laser rangefinder is installed on the side of the frame, the inclinometer, battery pack, controller, The driver is integrated inside the frame, and the number of three drive leg units is 6, which are fully symmetrically arranged on both sides of the bottom of the frame unit in a double row rectangle, and are fixedly connected through the leg unit interface. The present invention uses six independent three degrees of freedom. The leg unit is the branch chain, the frame unit is the moving platform, and the ground is the fixed platform to form a complete 6‑R z P z R X S + parallel attitude adjustment model, which can adapt to various grounds, no virtual legs, and full automation , strong load capacity, with the ability to overcome obstacles and omnidirectional movement.
Description
Technical Field
The invention belongs to the technical field of large carrier rocket cabin section butt joint assembly equipment, and particularly relates to a six-degree-of-freedom attitude adjusting platform for butt joint assembly of a carrier rocket cabin section.
Background
In the butt joint assembly process of the large carrier rocket cabin section, the attitude of the cabin section needs to be adjusted and locked according to different conditions. Because large-scale carrier rocket cabin section has the characteristics such as complicated structure, bulky, weight are huge, assembly space is narrow and small for the butt joint assembly process of rocket cabin section becomes very difficult, this mainly embodies in two aspects, one of them: the rocket cabin section is difficult to realize accurate attitude adjustment; the second step is as follows: the impact generated during loading and unloading adversely affects the performance of the equipment inside the cabin, and must be strictly controlled.
Aiming at the problems, the general solution in the industry is to adopt a hoisting tool or a lifting appliance to perform attitude adjustment, locking and butt joint assembly on a large carrier rocket cabin section. However, in practical engineering application, collision is easy to occur in the hoisting and positioning processes of the rocket cabin section, the technical requirements on workers are high, the labor intensity is high, the time consumption in the assembly process is long, and the installation of a crane has certain requirements on the height of a factory building. Therefore, the traditional solution is difficult to meet the high technical requirements of large-scale equipment in the butt joint assembly link, and increasingly strong application requirements of 'quick, efficient, highly reliable, digital, flexible and automatic assembly' are met.
Through the literature search of the prior art, Chinese patent numbers: CN201720494705.2, name: the patent discloses a heavy-duty AGV transport vehicle with lifting capability. The lifting platform of the transport vehicle only has the freedom of movement in the vertical direction and no posture adjusting capability, so that the lifting platform cannot be applied to posture adjusting assembly of a rocket cabin section; chinese patent No.: CN108608383A, name: the patent of the low-space six-degree-of-freedom hybrid posture adjusting device can be used for assembly and transportation requirements of rocket cabin six-degree-of-freedom posture adjustment, but the device does not have obstacle crossing capability, can only avoid obstacles by means of omnidirectional wheels, and is particularly important when the obstacles can be avoided everywhere. The omnidirectional movement mechanical structure and the posture adjusting mechanical structure are independent, so that a movement system and a posture adjusting system cannot be fused with each other, and the mechanical structure and the control system are too complex. At present, no effective solution can meet the application requirements of 'quick, efficient, highly reliable, digital, flexible and automatic assembly' of rocket cabin segment butt joint assembly, so that a completely new scheme is necessary to meet the requirements.
Disclosure of Invention
Aiming at the situation, the invention provides a six-degree-of-freedom attitude adjusting platform suitable for butt joint assembly of a trackless large carrier rocket cabin section in a small space, overcomes the defects of the prior art, can adapt to natural ground, has no virtual legs, is full-automatic and intelligent, and has obstacle crossing and omnidirectional moving capabilities.
The invention provides a six-degree-of-freedom posture adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections, which comprises a frame unit and a plurality of three-drive leg units, wherein the frame unit comprises a laser range finder, a frame, a controller, a driver, a storage battery pack, leg unit interfaces and an inclinometer, the frame is of a truss structure, a GPS (global positioning system) positioning system can be carried on the frame, the laser range finder is arranged on the periphery of the frame, the inclinometer is arranged on the bottom surface of the frame, the storage battery pack is arranged at the first end of the frame, the controller and the driver are arranged at the second end of the frame, and a plurality of the leg unit interfaces are symmetrically arranged on the first side and the second side of the bottom surface of the frame respectively and are used for connecting the three-drive leg units and the frame unit; the three-driving leg unit comprises a lifting module, a steering module and a moving module, the lifting module is arranged at the first end of the three-driving leg unit, the steering module is arranged in the middle of the three-driving leg unit, the moving module is arranged at the second end of the three-driving leg unit, the lifting module comprises a lifting motor, a speed reducer, a driving synchronous pulley, a synchronous belt, a driven synchronous pulley, a lead screw, a connecting plate and a sliding block, the lifting motor and the speed reducer drive the driving synchronous pulley, so that the driven synchronous pulley is driven by the synchronous belt to drive the lead screw to rotate, the sliding block moves up and down, the sliding block is fixedly connected with a sliding block base plate, the sliding block base plate is fixedly connected with the connecting plate, the connecting plate is fixedly connected with a rotating ring of the steering module, a fixing ring of the steering module is fixedly connected with the, the up-and-down movement of the frame relative to the screw rod can be realized.
The steering module comprises a first motor, a first speed reducer, a first torque sensor, a first motor fixing seat, a first driving pinion, a steering base plate, a second driving pinion, a second motor fixing seat, a second torque sensor, a second speed reducer, a second motor, a corner encoder and a driven pinion, wherein the rotating ring is positioned below the steering base plate, the rotating ring is fixedly connected with the steering base plate, the fixing ring is positioned on the inner side of the rotating ring, the fixing ring is fixedly connected with the frame unit through the leg unit interface, the rotating ring and the fixing ring can rotate relatively, the rotating ring is provided with a circle of external teeth, and the first motor, the first speed reducer, the first driving pinion and the second motor, the second speed reducer and the second driving pinion which are arranged in bilateral symmetry synchronously drive and rotate so as to drive the rotating ring to rotate, because the wheel in the moving module is positioned at the center of the rotating ring, the lifting module and the moving module are both installed on the supporting seat, the lifting module is fixedly connected to the steering base plate through the connecting plate, so that the rotating ring can drive the moving module and the lifting module to rotate together, the first torque sensor is arranged between the first speed reducer and the first driving pinion, the second torque sensor is arranged between the second speed reducer and the second driving pinion, the output shaft of the corner encoder is connected with the driven pinion, the corner encoder is fixedly connected to the interface of the frame unit, and the corner of the rotating ring is fed back through the matching with the rotating ring; the mobile module comprises a wheel shaft, a wheel, a corner encoder, a supporting seat, a driven belt wheel, a synchronous belt, a driving belt wheel, a mobile motor, a speed reducer and a torque sensor, wherein the mobile motor and the speed reducer drive the driving belt wheel to rotate so as to drive the driven belt wheel to drive the wheel to rotate; and the three driving leg units are coordinately controlled to realize the movement of the frame unit along an X axis, a Y axis and a Z axis and the rotation around the X axis, the Y axis and the Z axis, thereby realizing the omnidirectional movement and the six-degree-of-freedom posture adjustment of the frame unit.
Preferably, a torque sensor is installed at the output end of the speed reducer and used for detecting the output torque of the lifting motor, a magnetic scale is installed on the first side of the sliding block, and a pressure sensor is installed between the nut and the nut seat.
Further, the number of the three driving leg units is 6; and when the three driving leg units move, the load balance of the three driving leg units can be realized by adjusting the lifting of the three driving leg units, and the generation of virtual legs is avoided.
Further, when an obstacle is encountered, the two three-driving-leg units close to the obstacle can be controlled to be lifted first, the frame unit is kept in a stable state continuously due to the support of the other four three-driving-leg units, after the two three-driving-leg units cross the obstacle, the frame unit is descended and supported on the ground, then the other two three-driving-leg units are lifted to move forwards to cross the obstacle, and the obstacle crossing mode can realize that all six three-driving-leg units cross the obstacle.
Preferably, the invention comprises a frame unit, four three-drive-leg units and two-drive-leg units, wherein the two-drive-leg units are arranged on two sides of the middle of the bottom of the frame, the other four drive-leg units are three-drive-leg units, and the two-drive-leg units only need to be matched with the four three-drive-leg units to complete lifting and steering motions, so that the omnidirectional motion, six-degree-of-freedom posture adjustment and obstacle crossing of the frame can be realized.
Preferably, the two driving leg units include a first lifting module, a first steering module and a following module, the first lifting module is installed at the first ends of the two driving leg units, the first steering module is installed in the middle of the two driving leg units, the following module is installed at the second ends of the two driving leg units, and the first lifting module and the first steering module of the two driving leg units are completely the same as the lifting module and the steering module of the three driving leg units.
Preferably, the following module has a different structure from the moving module, and includes a first wheel shaft, a first wheel and a first support seat, the first wheel is mounted in the first support seat, the first wheel in the following module has no driving motor, and the rotation of the first wheel is a passive motion.
Compared with the prior art, the invention has the following remarkable advantages:
the invention takes six independent three-freedom-degree leg units as branched chains, a frame unit as a movable platform and the ground as a fixed platform to form a complete 6-RzPzRXS+The parallel posture adjusting model can realize the omnidirectional motion and the six-degree-of-freedom posture adjustment of the frame unit through the multi-redundancy drive control of the six leg units, and because the pressure sensor and the lifting module are arranged on each leg unit, the control and adjustment of the telescopic length of the leg units can be realized according to the pressure value, so that the generation of virtual legs is avoided, and the obstacle crossing function can be realized by controlling the lifting and the descending of the leg units under the condition of an obstacle; in addition, the leg units have compact structure and reasonable layout, can reduce the center of gravity when the rocket cabin sections are butted, and carry more equipment; in general, the scheme provided by the invention can adapt to various grounds, has no virtual legs, is full-automatic, has strong loading capacity and has obstacle crossing and omnidirectional moving capabilities.
Drawings
FIG. 1 is a general schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a first frame unit of the present invention;
FIG. 3 is a schematic view of a second frame unit of the present invention;
FIG. 4 is a schematic view of a first third drive leg unit of the present invention;
FIG. 5 is a schematic view of a second third drive leg unit of the present invention;
FIG. 6 is an exploded view of a three drive leg unit of the present invention;
FIG. 7 is a general schematic view of a second embodiment of the present invention; and
fig. 8 is an exploded view of the two drive leg unit of the present invention.
The main reference numbers are as follows:
1 frame unit, 11 laser rangefinder, 12 frame, 13 bumper bar, 14 controller, 15 driver, 16 battery pack, 17 leg unit interface, 18 inclinometer, 2 three drive leg unit, 21 lift module, 211 magnetic scale, 212 guide rail, 213 drive synchronous pulley, 214 synchronous belt, 215 driven synchronous pulley, 216 lead screw, 217 web, 218 slider, 219 lift motor, 2110 reducer, 2111 torque sensor, 2112 nut, 2113 pressure sensor, 2114 nut seat, 2115 slider base plate, 22 steering module, 221 first motor, 222 first reducer, 223 first torque sensor, 224 first motor seat, 225 first drive pinion, 226 steering base plate, 227 rotation ring, 228 second drive pinion, 229 second motor seat, 2210 second torque sensor, 2211 second reducer, 2212 second motor, 2213 fixed ring, 2214 pinion angle encoder, 2215 driven motor, 2215 driven pinion, 2215, 23 moving module, 231 wheel shafts, 232 wheels, 233 rotation angle encoder, 234 supporting seat, 235 driven pulleys, 236 synchronous belt, 237 driving pulley, 238 moving motor, 239 reducer, 2310 torque sensor, 3 two driving leg units, 31 first lifting module, 32 first steering module, 33 follow-up module, 331 first wheel, 332 first wheel shaft, 333 first supporting seat.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides a six-degree-of-freedom attitude adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections, as shown in fig. 1 to 8, the vehicle frame comprises a vehicle frame unit 1 and a plurality of three-drive leg units 2, wherein the vehicle frame unit 1 comprises a laser range finder 11, a vehicle frame 12, an anti-collision strip 13, a controller 14, a driver 15, a storage battery pack 16, a leg unit interface 17 and an inclinometer 18, the vehicle frame 12 is of a truss structure, the vehicle frame 12 can be loaded with a GPS or other positioning system, the anti-collision strip 13 is attached to the periphery of the vehicle frame 12, the laser range finder 11 is installed on the periphery of the vehicle frame 12, the inclinometer 18 is installed at the central position of the bottom surface of the vehicle frame 12, the storage battery pack 16 is installed at the first end of the vehicle frame 12, the controller 14 and the driver 15 are installed at the second end of the vehicle frame 12, and the plurality of leg unit interfaces 17 are symmetrically arranged on the first side.
The three-driving-leg unit 2 comprises a lifting module 21, a steering module 22 and a moving module 23, the lifting module 21 is installed at a first end of the three-driving-leg unit 2, the steering module 22 is installed in the middle of the three-driving-leg unit 2, the moving module 23 is installed at a second end of the three-driving-leg unit 2, the lifting module 21 comprises a magnetic scale 211, a guide rail 212, a driving synchronous pulley 213, a synchronous belt 214, a driven synchronous pulley 215, a screw 216, a connecting plate 217, a slider 218, a lifting motor 219, a reducer 2110, a torque sensor 2111, a nut 2112, a pressure sensor 2113, a nut seat 2114 and a slider base plate 2115, the lifting motor 219 and the reducer 2110 drive the driving synchronous pulley 213, so that the driven synchronous pulley 215 is driven by the synchronous belt 214 to drive the screw 216 to rotate, the up and down movement of the slider 218 is realized, the slider 218 is fixedly connected with the slider, the connecting plate 217 is fixedly connected with the rotating ring 227 of the steering module 22, the fixing ring 2213 of the steering module 22 is fixedly connected with the frame 12 through the leg unit interface 17, the up-and-down movement of the frame 12 relative to the screw 216 can be achieved, the torque sensor 2111 is installed at the output end of the speed reducer 2110 and used for detecting the output torque of the lifting motor 219, the magnetic scale 211 is installed on the first side of the sliding block 218, and the pressure sensor 2113 is installed between the screw 2112 and the screw seat 2114.
The steering module 22 includes a first motor 221, a first reducer 222, a first torque sensor 223, a first motor holder 224, a first driving pinion 225, a steering base plate 226, a rotating ring 227, a second driving pinion 228, a second motor holder 229, a second torque sensor 2210, a second reducer 2211, a second motor 2212, a fixing ring 2213, a rotational angle encoder 2214, and a driven pinion 2215,
the rotating ring 227 is located below the steering base plate 226, the rotating ring 227 is fixedly connected with the steering base plate 226, the fixing ring 2213 is located inside the rotating ring 227, the fixing ring 2213 is fixedly connected with the frame unit 1 through the leg unit interface 17, the rotating ring 227 and the fixing ring 2213 can rotate relatively, the wheel in the moving module 23 is located at the center of the rotating ring 227, the lifting module 21 and the moving module 23 are both mounted on the supporting seat, the lifting module 21 is fixedly connected on the steering base plate 226 through the connecting plate 217, the rotating ring 227 has a circle of external teeth, the first driving pinion 225 and the second driving pinion 228 are respectively and synchronously driven to rotate through the first motor 221, the first reducer 222, the second motor 2212 and the second reducer 2211 which are symmetrically arranged left and right, due to the meshing relationship between the first driving pinion 225 and the second driving pinion 228 and the rotating ring 227, the rotating ring 227 is driven to rotate, and due to the fact that the steering base plate 226 and the rotating, therefore, the rotation of the rotating ring 227 can drive the moving module 23 and the lifting module 21 to rotate together, the first torque sensor 223 is arranged between the first speed reducer 222 and the first driving pinion 225, the second torque sensor 2210 is arranged between the second speed reducer 2211 and the second driving pinion 228, the output shaft of the angle encoder 2214 is connected with the driven pinion 2215, the angle encoder 2214 is fixedly connected to the interface of the frame unit 1, and the angle of the rotating ring 227 is fed back through the cooperation with the rotating ring 227.
The moving module 23 includes a wheel shaft 231, a wheel 232, a rotation angle encoder 233, a support seat 234, a driven pulley 235, a timing belt 236, a driving pulley 237, a moving motor 238, a speed reducer 239, and a torque sensor 2310, wherein the moving motor 238 and the speed reducer 239 drive the driving pulley 237 to rotate, and further drive the driven pulley 235 to drive the wheel 232 to rotate, the rotation angle encoder 233 is disposed at a first end of the wheel shaft 231, and the torque sensor 2310 is disposed between the support seat 234 and the speed reducer 239 and is configured to detect an output torque of the moving motor 238. A plurality of three drive leg units 2 are symmetrically arranged on a first side and a second side of the bottom of a frame unit 1, the frame unit 1 is provided with a leg unit interface 17, the three drive leg units 2 are fixedly connected with the frame unit 1 through the leg unit interface 17, and the frame unit can move along an X axis, a Y axis and a Z axis and rotate around the X axis, the Y axis and the Z axis through coordinately controlling the six three drive leg units 2, so that the omnidirectional motion and the six-degree-of-freedom posture adjustment of the frame unit can be realized.
When the three-driving-leg unit 2 moves to an uneven road surface, the six three-driving-leg units 2 can be balanced in load by adjusting the lifting of the three-driving-leg unit 2, and virtual legs are avoided; when an obstacle is encountered, the two three-drive leg units 2 close to the obstacle can be controlled to be lifted firstly, the frame unit 1 is kept in a stable state continuously due to the support of the other four three-drive leg units 2, after the two three-drive leg units 2 cross the obstacle, the two three-drive leg units 2 are descended and supported on the ground, and then the other two three-drive leg units 2 are lifted to move forwards to cross the obstacle, so that the obstacle crossing mode can realize that all six three-drive leg units 2 cross the obstacle.
The other scheme of the invention comprises a frame unit 1, four three-drive-leg units 2 and two-drive-leg units 3, wherein the two-drive-leg units 3 are arranged at two sides of the middle of the bottom of the frame 12, the other four drive-leg units 2 are three-drive-leg units, and the two-drive-leg units 3 only need to be matched with the four three-drive-leg units 2 to complete lifting and steering movement, so that the omnidirectional movement, six-degree-of-freedom posture adjustment and obstacle crossing of the frame 12 can be realized.
The two driving leg units 3 comprise a first lifting module 31, a first steering module 32 and a following module 33, the first lifting module 31 is installed at the first ends of the two driving leg units 3, the first steering module 32 is installed in the middle of the two driving leg units 3, the following module 33 is installed at the second ends of the two driving leg units 3, and the first lifting module 31 and the first steering module 32 of the two driving leg units 3 are identical to the lifting module 21 and the steering module 22 of the three driving leg units 2.
The following module 33 is different from the moving module 23 in structure, the following module 33 includes a first wheel axle 332, a first wheel 331 and a first support seat 333, the first wheel 331 is mounted in the first support seat 333, the first wheel 331 in the following module 33 has no driving motor, and the rotation of the first wheel 331 is a passive motion
Example one
A six-degree-of-freedom posture adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections is shown in figures 1-3 and comprises a frame unit 1 and six three-drive-leg units 2, wherein, six three driving leg units 2 are symmetrically arranged at the first side and the second side of the bottom of the frame unit 1, the frame unit 1 is designed with a leg unit interface 17, the three driving leg units 2 are fixedly connected with the frame unit 1 through the leg unit interfaces 17, the frame unit can move along the X axis, the Y axis and the Z axis and rotate around the X axis, the Y axis and the Z axis through the coordination control of the six three driving leg units 2, the omnidirectional motion and six-degree-of-freedom posture adjustment of the frame unit can be realized, the contact relation between the wheels 232 in the three driving leg units 2 and the ground is surface contact, and the six three driving leg units 2 have strong supporting capacity and are suitable for butt joint assembly of large-scale heavy-load rocket cabin sections. When the three-driving-leg unit 2 moves to uneven road surfaces, the six three-driving-leg units 2 can be balanced in load by adjusting the lifting of the three-driving-leg unit 2, and virtual legs are avoided. When an obstacle is encountered, the two three-drive leg units 2 close to the obstacle can be controlled to be lifted firstly, the frame unit 1 is kept in a stable state continuously due to the support of the other four three-drive leg units 2, after the two three-drive leg units 2 cross the obstacle, the two three-drive leg units 2 are descended and supported on the ground, and then the other two three-drive leg units 2 are lifted to move forwards to cross the obstacle, so that the obstacle crossing mode can realize that all six three-drive leg units 2 cross the obstacle.
As shown in fig. 2 to 3, the frame unit 1 includes a laser distance meter 11, a frame 12, a bumper strip 13, a controller 14, a driver 15, a battery pack 16, a leg unit interface 17 and an inclinometer 18, the frame 12 is a truss structure, the frame 12 can carry a GPS or other positioning system, for the positioning of the invention, the periphery of the vehicle frame 12 is attached with the anti-collision strip 13, the periphery of the vehicle frame 12 is provided with the laser range finder 11, the device is used for detecting environmental road conditions and providing necessary information for obstacle avoidance, obstacle crossing and track planning, an inclinometer 18 is installed at the central position of the bottom surface of the frame 12, a storage battery pack 16 is installed at the first end of the frame 12, a controller 14 and a driver 15 are installed at the second end of the frame 12, the inclinometer 18 is used for detecting the posture of the frame unit, and a plurality of leg unit interfaces 17 are symmetrically arranged on the first side and the second side of the bottom surface of the frame 12 respectively and are used for fixedly connecting the three driving leg units 2 with the frame unit 1.
As shown in fig. 4 to 6, the three-driving-leg unit 2 includes a lifting module 21, a steering module 22 and a moving module 23, the lifting module 21 is located at a first end of the three-driving-leg unit 2, the steering module 22 is located in the middle of the three-driving-leg unit 2, and the moving module 23 is located at a second end of the three-driving-leg unit 2. The lifting module 21 includes a magnetic scale 211, a guide rail 212, a driving synchronous pulley 213, a synchronous belt 214, a driven synchronous pulley 215, a lead screw 216, a connecting plate 217, a slider 218, a lifting motor 219, a reducer 2110, a torque sensor 2111, a nut 2112, a pressure sensor 2113, a nut seat 2114, and a slider base plate 2115. The lifting module 21 drives the driving synchronous pulley 213 through the lifting motor 219 and the speed reducer 2110, so that the driven synchronous pulley 215 is driven through the synchronous belt 214, the screw rod 216 is driven to rotate, the up-and-down movement of the slider 218 is realized, the slider 218 is fixedly connected with the slider base plate 2115, the slider base plate 2115 is fixedly connected with the connecting plate 217, the connecting plate 217 is fixedly connected with the rotating ring 227 of the steering module 22, the fixing ring 2213 of the steering module 22 is fixedly connected with the frame 12 through the leg unit interface 17, and the up-and-down movement of the frame 12 relative to. A torque sensor 2111 for detecting the output torque of the elevator motor 219 is attached to the output terminal of the reducer 2110. A magnetic scale 211 is mounted on a first side of the slider 218 for detecting the amount of displacement of the slider 218 relative to the guide rail 212. The pressure sensor 2113 is arranged between the screw 2112 and the screw seat 2114 and used for feeding back the pressure on the wheels, and when the sudden change of the pressure of one of the three driving leg units 2 is detected, the lifting module 21 can be coordinately controlled to lift, so that the stress on the six three driving leg units 2 is balanced, and the generation of virtual legs is avoided.
The steering module 22 includes a first motor 221, a first reducer 222, a first torque sensor 223, a first motor holder 224, a first drive pinion 225, a steering base plate 226, a rotating ring 227, a second drive pinion 228, a second motor holder 229, a second torque sensor 2210, a second reducer 2211, a second motor 2212, a stationary ring 2213, a rotational angle encoder 2214, and a driven pinion 2215. The rotating ring 227 is located below the steering base plate 226, the rotating ring 227 is fixedly connected with the steering base plate 226, the fixing ring 2213 is located inside the rotating ring 227, the fixing ring 2213 is fixedly connected with the frame unit 1 through the leg unit interface 17, the rotating ring 227 and the fixing ring 2213 can rotate relatively, the wheel in the moving module 23 is located at the center of the rotating ring 227, the lifting module 21 and the moving module 23 are both mounted on the supporting seat, the lifting module 21 is fixedly connected on the steering base plate 226 through the connecting plate 217, the rotating ring 227 has a circle of external teeth, the first driving pinion 225 and the second driving pinion 228 are respectively and synchronously driven to rotate through the first motor 221, the first reducer 222, the second motor 2212 and the second reducer 2211 which are symmetrically arranged left and right, due to the meshing relationship between the first driving pinion 225 and the second driving pinion 228 and the rotating ring 227, the rotating ring 227 is driven to rotate, and due to the fact that the steering base plate 226 and the rotating, therefore, the rotation of the rotating ring 227 can drive the moving module 23 and the lifting module 21 to rotate together, and finally, the wheel 232 rotates around the central axis of the fixing ring 2213. The first torque sensor 223 is provided between the first reducer 222 and the first drive pinion 225 for detecting the output torque of the first motor 221. The second torque sensor 2210 is provided between the second reducer 2211 and the second drive pinion 228 for detecting the output torque of the second motor 2212. The output shaft of the rotation angle encoder 2214 is connected to the driven pinion 2215, and the rotation angle encoder 2214 is fixedly connected to the interface of the frame unit 1, and the rotation angle of the rotary ring 227 is fed back by rotation in cooperation with the rotary ring 227.
The moving module 23 includes a wheel shaft 231, a wheel 232, a rotational angle encoder 233, a support base 234, a driven pulley 235, a timing belt 236, a driving pulley 237, a moving motor 238, a speed reducer 239, and a torque sensor 2310. The moving module 23 drives the driving pulley 237 to rotate through the moving motor 238 and the reducer 239, and further drives the wheels 232 to rotate through the driven pulley 235. The rotation angle encoder 233 is provided at a first end of the wheel shaft 231 for detecting the rotation angle of the wheel shaft 231 in real time. The torque sensor 2310 is disposed between the support base 234 and the reducer 239 and is configured to detect an output torque of the moving motor 238.
Example two
As shown in fig. 7 to 8, the overall structure of the present invention includes a frame unit 1, four three-driving-leg units 2 and two-driving-leg units 3, and the difference between the second embodiment and the first embodiment is that two of the six leg units of the second embodiment are two-driving-leg units 3, which are located at two sides of the bottom middle of the frame 12, and the remaining four are three-driving-leg units 2, while the six leg units of the first embodiment are all three-driving-leg units 2. In the second embodiment, the two driving leg units 3 are matched with the four three driving leg units 2 to complete lifting and steering motions, so that the omnidirectional motion, the six-degree-of-freedom posture adjustment and obstacle crossing of the frame can be realized.
The first lifting module 31 and the first steering module 32 and the three drive leg unit 2 are identical to the solution described in the first embodiment, with the difference that the follower module 33 is present. The follower module 33 includes a first wheel axle 332, a first wheel 331, and a first support seat 333. The first wheel 331 is mounted in the first support seat 333, and the first wheel shaft 332 of the follower module 33 has no driving motor, and the rotation motion of the first wheel 331 is a follower motion.
The second embodiment has the advantages that the omnidirectional movement and the six-degree-of-freedom posture adjustment of the frame 12 can be realized on the basis of reducing two driving motors, and the mechanical structure is greatly simplified.
While the foregoing is directed to the preferred embodiment of the present invention, and not to the limitations thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (14)
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| CN112388608B (en) * | 2020-10-10 | 2021-09-14 | 燕山大学 | 6-degree-of-freedom parallel posture adjusting platform with overlapped single-stage stroke in installation space |
| CN113640828B (en) * | 2021-08-24 | 2024-12-20 | 广州西威科智能科技有限公司 | A laser anti-collision device for large flatbed trucks in shipyards |
| CN114700965B (en) * | 2022-03-29 | 2024-04-12 | 燕山大学 | Multi-degree-of-freedom mixed posture adjustment assembly robot |
| CN117161744B (en) * | 2023-11-02 | 2024-08-20 | 东方空间技术(山东)有限公司 | Carrier rocket fairing frame butt joint tool and butt joint method |
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