CN102009708A - Scaling roll mechanism - Google Patents
Scaling roll mechanism Download PDFInfo
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- CN102009708A CN102009708A CN 201010560093 CN201010560093A CN102009708A CN 102009708 A CN102009708 A CN 102009708A CN 201010560093 CN201010560093 CN 201010560093 CN 201010560093 A CN201010560093 A CN 201010560093A CN 102009708 A CN102009708 A CN 102009708A
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Abstract
The invention relates to a scaling roll mechanism, which comprises a first X-shaped rod 1, a second X-shaped rod 2, a first H-shaped rod 3, a second H-shaped rod 5, a third H-shaped rod 7, a fourth H-shaped rod 9, a first Y-shaped rod 4, a second Y-shaped rod 6, a third Y-shaped rod 8, a fourth Y-shaped rod 10, a first rotating pin11, a second rotating pin 12, a third rotating pin 13, a fourth rotating pin 14, a fifth rotating pin 15, a sixth rotating pin 16, a seventh rotating pin 17, an eighth rotating pin 18, a ninth rotating pin 19, a tenth rotating pin 20, an eleventh rotating pin 21 and a twelfth rotating pin 22, a motor (23), a motor base (24), a connecting shaft (25), a balance weight (26), a bearing (27) and a jackscrew (28), wherein the two X-shaped rods 1 and 2, the four H-shaped rods and the four Y-shaped rods form four groups of parallelogram mechanisms by the rotating pins; the second X-shaped rod 2 is driven by the motor, and the shapes of the four groups of parallelogram mechanisms are changed simultaneously, so that the parallelogram mechanisms move forwards and back by using inertia force. The scaling roll mechanism can cross small obstructions, and makes counter motion automatically when meeting large obstructions in a mechanical mode. The scaling roll mechanism has a simple mechanical structure, a control system, low cost, high reliability and interesting movable performance, and can be used for manufacturing toys and teaching aids of movable robots.
Description
Technical field
The present invention relates to a kind of rolling mechanism of single action power, particularly a kind of by flexible four parallel-crank mechanism shapes, realize the mechanical device that rolls and advance.Can be used for investigating in the military field, also can be used for making mechanism's teaching aid, toy etc.
Background technology
In connecting rod mechanism, structure the simplest and most widely used be by four four-bar linkages that member constituted.Four-bar linkage has only one degree of freedom, so only need an engine can make this mechanism generate the motion of determining.Four-bar linkage generally is used in the mechanical equipment that lathe etc. fixes more.And frame is fixed with ground always, and this can only export different motions on fixing position, can not move.The leg internal mechanism of using planar four-bar mechanism as the leg foot formula walking robot of two foots, four-footed or polypody also arranged, utilize the terminal walking track that generates of an one member to realize walking.In such leg foot formula walking robot people, two, four or a plurality of four-bar mechanism that need be identical with the number of leg, mechanism's complexity, reliability is not high, needs the engine of same number that power is provided simultaneously yet.China Patent No. CN 2789106Y has proposed to utilize a power input, realizes the four-bar linkage that rolling is advanced, and mechanism is simple, and running into earth bulge can't pass through, and locomitivity is limited.
Summary of the invention
Technical matters to be solved by this invention is that the plane scaling device that can realize rolling and advance under the driving of a motor of a kind of needs is provided.The present invention is unit for scaling with the parallel-crank mechanism, four groups of parallel-crank mechanisms combined, and according to the zoom feature of parallelogram, the rolling robot of implementation structure symmetry.
Technical scheme of the present invention:
A kind of convergent-divergent rolling mechanism comprises: the first and second X-shaped bars, first to fourth H shape bar, first to fourth Y shape bar, the first to the 12 rotational pin, motor, motor cabinet, coupling spindle, counterweight, bearing, jackscrew.
The A end of the one H shape bar and the C end of a Y shape bar link together by first rotational pin, the B of the one H shape bar holds and links to each other by the external end head of the 12 rotational pin with the second X-shaped bar, the D end of the one Y shape bar is connected with the external end head of the first X-shaped bar by second rotational pin, form a parallel-crank mechanism like this, and the length of side equates, constitutes first rhombus.
The A end of the 2nd H shape bar and the C end of the 2nd Y shape bar link together by the 4th rotational pin, the B of the 2nd H shape bar holds and links to each other by the external end head of the 3rd rotational pin with the second X-shaped bar, the D end of the 2nd Y shape bar is connected with the external end head of the first X-shaped bar by the 5th rotational pin, constitutes second rhombus.
The A end of the 3rd H shape bar and the C end of the 3rd Y shape bar link together by the 7th rotational pin, the B of the 3rd H shape bar holds and links to each other by the external end head of the 6th rotational pin with the second X-shaped bar, the D end of the 3rd Y shape bar is connected with the external end head of the first X-shaped bar by the 8th rotational pin, constitutes Three Diamond.
The A end of the 4th H shape bar and the C end of the 4th Y shape bar link together by the tenth rotational pin, the B of the 4th H shape bar holds and links to each other by the external end head of the 9th rotational pin with the first X-shaped bar, the D end of the 4th Y shape bar is connected with the external end head of the second X-shaped bar by the 11 rotational pin, constitutes the 4th rhombus.
Motor is fixed on the second X-shaped bar by motor cabinet.
One end of adapter shaft is installed on the first X-shaped bar, and the other end of adapter shaft passes bearing cone, cooperates with motor shaft, fixes by jackscrew and motor shaft; Clump weight is connected on the X type bar by screw.
First to fourth H shape bar structure and measure-alike; First to fourth Y shape bar structure and measure-alike.
The structure of the first to the 12 rotational pin and measure-alike.
Finish the assembling of convergent-divergent rolling mechanism by above-mentioned steps, mechanism has ten rod members and 12 revolute pairs, and its degree of freedom is one, by the motor-driven at mechanism center, change angle between two X type bars, make four groups of rhombuses wherein two groups when stretching out other two groups inwardly shrink.In the deformation process, utilize mechanism inertia force can realize rolling.
The invention has the beneficial effects as follows, four groups of parallel-crank mechanisms are combined into a mechanism with single degree of freedom, drive and control with a motor.Mechanism's profile symmetry is made up of four rhombuses, and by changing diamond shape, mechanism can realize forward-reverse, can cross little obstacle, counter motion voluntarily mechanically when running into big obstacle.Physical construction and control system are all fairly simple, and be with low cost, the reliability height, and the travelling performance with entertaining can be used for the making of toy, mobile robot's teaching aid.
Description of drawings
Fig. 1 convergent-divergent rolling mechanism overall schematic.
Fig. 2 running part connects cutaway view.
Fig. 3 coupling spindle constructional drawing.
Fig. 4 running part block diagram.
Fig. 5 H shape bar constructional drawing.
Fig. 6 Y shape bar constructional drawing.
The connection diagram of Fig. 7 the one Y shape bar, a H shape bar, first and second X-shaped bar.
Fig. 8 scaling device lateral plan.
The motion initial condition figure of Fig. 9 (a) convergent-divergent rolling mechanism.
The motion of Fig. 9 (b) convergent-divergent rolling mechanism critical state diagram that rolls.
Constitution diagram after the motion of Fig. 9 (c) convergent-divergent rolling mechanism is rolled.
Fig. 9 (d) convergent-divergent rolling mechanism is returned to initial condition figure.
The specific embodiment
The invention will be further described in conjunction with the accompanying drawings.
A kind of convergent-divergent rolling mechanism, comprise as Fig. 1: the first and second X-shaped bars 1,2, first to fourth H shape bar, 3,5,7,9, first to fourth Y shape bars the 4,6,8, the 10, the first to the 12 rotational pin 11,12,13,14,15,16,17,18,19,20,21,22, motor 23, motor cabinet 24, coupling spindle 25, counterweight 26, bearing 27, jackscrew 28.The structure and the connection mode of part are as follows:
The A end of the one H shape bar 3 and the C end of a Y shape bar 4 link together by first rotational pin 11, the B of the one H shape bar 3 holds and links to each other by the external end head a2 of the 12 rotational pin 22 with the second X-shaped bar, the D end of the one Y shape bar 4 is connected with the external end head a3 of the first X-shaped bar by second rotational pin 12, form a parallel-crank mechanism like this, and the length of side equates, constitutes first rhombus.
The A end of the 2nd H shape bar 5 and the C end of the 2nd Y shape bar 6 link together by the 4th rotational pin 14, the B of the 2nd H shape bar 5 holds and links to each other by the external end head a4 of the 3rd rotational pin 13 with the second X-shaped bar 2, the D end of the 2nd Y shape bar 6 is connected with the external end head a5 of the first X-shaped bar 1 by the 5th rotational pin 15, constitutes second rhombus.
The A end of the 3rd H shape bar 7 and the C end of the 3rd Y shape bar 8 link together by the 7th rotational pin 17, the B of the 3rd H shape bar 7 holds and links to each other by the external end head a6 of the 6th rotational pin 16 with the second X-shaped bar 2, the D end of the 3rd Y shape bar 8 is connected with the external end head a7 of the first X-shaped bar 1 by the 8th rotational pin 18, constitutes Three Diamond.
The A end of the 4th H shape bar 9 and the C end of the 4th Y shape bar 10 link together by the tenth rotational pin 20, the B of the 4th H shape bar 9 holds and links to each other by the external end head a8 of the 9th rotational pin 19 with the first X-shaped bar, the D end of the 4th Y shape bar 10 is connected with the external end head a1 of the second X-shaped bar by the 11 rotational pin 21, constitutes the 4th rhombus.
For making mechanism keep balance, clump weight 26 is fixed on clump weight 26 on the X type bar 1 by being threaded on screw and the X type bar 1, and as Fig. 2, an X type bar 1 and the 2nd X type bar 2 can be mutually around adapter shaft 25 rotational.
Finish the assembling of convergent-divergent rolling mechanism by above-mentioned steps.
Described first to fourth H shape bar, 3,5,7,9 structures and measure-alike are as Fig. 1 and Fig. 5.
The B end of described first to fourth H shape bar is established two through holes, two through holes are coaxial, and be a spill shallow slot between two holes, the width of spill shallow slot equals the length with the external end head a6 of the external end head a1 of the length of the external end head a8 of the external end head a4 of the first X-shaped bar or the first X-shaped bar or the second X-shaped bar or the second X-shaped bar.
The A end of described first to fourth H shape bar is established two through holes, and two through holes are coaxial, and are a spill deep trouth between two holes, and spill deep trouth width equals the length of the C end of first to fourth Y shape bar, as Fig. 6.
The C end of described first to fourth Y shape bar is established a through hole, and its length equals the width of first to fourth H shape bar A end spill deep trouth.
Described first to fourth Y shape bar, 4,6,8,10 structures and measure-alike are as Fig. 1 and Fig. 6.
The D end of described first to fourth Y shape bar is established two through holes, two through holes are coaxial, and be a spill deep trouth between two holes, the Baltimore groove width equals the length of the external end head a5 of the external end head a1 of the length of external end head a7 of the external end head a3 of the first X-shaped bar or the first X-shaped bar or the second X-shaped bar or the second X-shaped bar.
The described first X-shaped bar 1 and the second X-shaped bar 2, the center symmetry, the angle between its X-shaped shape all can be realized function of the present invention, as Fig. 4 at 20 °～30 ° end value or any number therebetween.
A stepped hole is established at the center of the second X-shaped bar 2, is used to install bearing 27.The stepped hole at the center of the first X-shaped bar 1 is with adapter shaft 25 is installed.
The structure of the first to the 12 rotational pin 11～22 and measure-alike and is running-fit between hole that they match.
The convergent-divergent rolling mechanism utilizes this local convergent-divergent principle, makes mechanism utilize force of inertia to realize rolling in deformation process, for convenience of explanation, mechanism is showed motion process with lateral plan.
Fig. 9 (a) is the motion initial condition of convergent-divergent rolling mechanism, and four rhombuses are identical; Motor is just changeing driver train then, first and Three Diamond stretch out, the second and the 4th rhombus inwardly shrinks.
Fig. 9 (b) is depicted as the critical conditions that mechanism rolls, and mechanism's center of gravity is very close to the areal of support edge at this moment, and anxious stopping production of motor given birth to force of inertia greatly, and mechanism will overturn.
Fig. 9 (c) is the state of motion of mechanism after rolling, and at this moment, motor begins contrarotation, first and Three Diamond inwardly shrink, the second and the 4th rhombus stretches out.
Fig. 9 (d) is depicted as mechanism and is returned to initial condition, finishes an orbit period by above-mentioned four steps, and mechanism moves forward a step-length, if under Fig. 9 (a) state, the motor rotation direction is opposite with above-mentioned steps, and then mechanism rolls left.The convergent-divergent rolling mechanism runs into little obstacle and is not enough to resist force of inertia, and then mechanism's clear an obstacle if run into big obstacle, makes force of inertia to work, and then mechanism can counter motion.
Claims (3)
1. convergent-divergent rolling mechanism, it is characterized in that: the convergent-divergent rolling mechanism comprises: the first and second X-shaped bars (1,2), first to fourth H shape bar (3,5,7,9), first to fourth Y shape bar (4,6,8,10), the first to the 12 rotational pin (11,12,13,14,15,16,17,18,19,20,21,22), motor (23), motor cabinet (24), coupling spindle (25), counterweight (26), bearing (27), jackscrew (28);
The A end of the one H shape bar and the C end of a Y shape bar link together by first rotational pin (11), the B of the one H shape bar holds and links to each other with the external end head (a2) of the second X-shaped bar by the 12 rotational pin (22), the D end of the one Y shape bar is connected with the external end head (a3) of the first X-shaped bar by second rotational pin (12), form a parallel-crank mechanism like this, and the length of side equates, constitutes first rhombus;
The A end of the 2nd H shape bar and the C end of the 2nd Y shape bar link together by the 4th rotational pin (14), the B of the 2nd H shape bar holds and links to each other with the external end head (a4) of the second X-shaped bar by the 3rd rotational pin (13), the D end of the 2nd Y shape bar is connected with the external end head (a5) of the first X-shaped bar by the 5th rotational pin (15), constitutes second rhombus;
The A end of the 3rd H shape bar (7) and the C end of the 3rd Y shape bar (8) link together by the 7th rotational pin (17), the B of the 3rd H shape bar (7) holds and links to each other by the external end head (a6) of the 6th rotational pin (16) with the second X-shaped bar (2), the D end of the 3rd Y shape bar (8) is connected with the external end head (a7) of the first X-shaped bar (1) by the 8th rotational pin (18), constitutes Three Diamond;
The A end of the 4th H shape bar (9) and the C end of the 4th Y shape bar (10) link together by the tenth rotational pin (20), the B of the 4th H shape bar (9) holds and links to each other with the external end head (a8) of the first X-shaped bar by the 9th rotational pin (19), the D end of the 4th Y shape bar (10) is connected with the external end head (a1) of the second X-shaped bar by the 11 rotational pin (21), constitutes the 4th rhombus;
Motor (23) is fixed on the second X-shaped bar (2) by motor cabinet (24);
One end of adapter shaft (25) is installed on the first X-shaped bar (1), and the other end of adapter shaft (25) passes the inner ring of bearing (27), cooperates with motor shaft, fixes by jackscrew (28) and motor shaft; Clump weight (26) is connected on the X type bar (1) by screw;
First to fourth H shape bar (3,5,7,9) structure and measure-alike; First to fourth Y shape bar (4,6,8,10) structure and measure-alike;
The structure of the first to the 12 rotational pin (11～22) and measure-alike;
Finish the assembling of convergent-divergent rolling mechanism by above-mentioned steps.
2. a kind of convergent-divergent rolling mechanism according to claim 1 is characterized in that:
The B end of described first to fourth H shape bar is established two through holes, two through holes are coaxial, and be a spill shallow slot between two holes, the width of spill shallow slot equals the length with the external end head (a6) of the external end head (a2) of the length of the external end head (a8) of the external end head (a4) of the first X-shaped bar or the first X-shaped bar or the second X-shaped bar or the second X-shaped bar;
The A end of described first to fourth H shape bar is established two through holes, and two through holes are coaxial, and are a spill deep trouth between two holes, and spill deep trouth width equals the length of the C end of first to fourth Y shape bar;
The C end of described first to fourth Y shape bar is established a through hole, and its length equals the width of first to fourth H shape bar A end spill deep trouth;
The D end of described first to fourth Y shape bar is established two through holes, two through holes are coaxial, and be a spill deep trouth between two holes, the Baltimore groove width equals the length of the external end head (a5) of the external end head (a1) of the length of external end head (a7) of the external end head (a3) of the first X-shaped bar or the first X-shaped bar or the second X-shaped bar or the second X-shaped bar.
3. a kind of convergent-divergent rolling mechanism according to claim 1 is characterized in that:
The X-shaped shape angular range of the described first X-shaped bar (1) and the second X-shaped bar (2) is 20 °～30 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010560093 CN102009708A (en) | 2010-11-25 | 2010-11-25 | Scaling roll mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010560093 CN102009708A (en) | 2010-11-25 | 2010-11-25 | Scaling roll mechanism |
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| CN102009708A true CN102009708A (en) | 2011-04-13 |
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| CN 201010560093 Pending CN102009708A (en) | 2010-11-25 | 2010-11-25 | Scaling roll mechanism |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102615649A (en) * | 2012-04-11 | 2012-08-01 | 北京交通大学 | Rolling double four-parallelogram robot |
| CN102672707A (en) * | 2012-05-16 | 2012-09-19 | 北京交通大学 | Differential seven-connecting-rod robot traveling in rolling way |
| CN102673675A (en) * | 2012-05-29 | 2012-09-19 | 北京交通大学 | Quadrilateral rolling mechanism capable of steering |
| CN102887184A (en) * | 2012-09-28 | 2013-01-23 | 北京交通大学 | Cube moving mechanism |
| CN103213130A (en) * | 2013-04-09 | 2013-07-24 | 北京交通大学 | Folding mobile robot |
| CN103407515A (en) * | 2013-07-23 | 2013-11-27 | 北京交通大学 | Dual-mode travel mechanism |
| CN103434580A (en) * | 2013-07-24 | 2013-12-11 | 北京交通大学 | Deformable hexahedron travel mechanism |
| CN103465988A (en) * | 2013-09-16 | 2013-12-25 | 北京交通大学 | Multi-motion-mode mobile robot |
| CN104924829A (en) * | 2015-05-25 | 2015-09-23 | 北京交通大学 | Tabletop artistic decoration capable of infinitely revolving and zooming |
| CN104986237A (en) * | 2015-06-08 | 2015-10-21 | 北京交通大学 | Zooming rolling mechanism |
| CN107235089A (en) * | 2017-06-30 | 2017-10-10 | 天津大学 | A kind of ten five degree of freedom bionic 6-leg climbing robots |
| CN110091933A (en) * | 2019-03-27 | 2019-08-06 | 北京交通大学 | The wheeled rolling reconnaissance robot of one type |
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| CN2789106Y (en) * | 2005-04-08 | 2006-06-21 | 北京交通大学 | Single-power rolling four-bar mechanism |
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Patent Citations (1)
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| CN2789106Y (en) * | 2005-04-08 | 2006-06-21 | 北京交通大学 | Single-power rolling four-bar mechanism |
Non-Patent Citations (1)
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| 《中国优秀硕士学位论文全文数据库 信息科技辑》 20100215 田耀斌 基于缩放单元的移动机器人理论及实验研究 , 第2期 * |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102615649A (en) * | 2012-04-11 | 2012-08-01 | 北京交通大学 | Rolling double four-parallelogram robot |
| CN102615649B (en) * | 2012-04-11 | 2014-10-29 | 北京交通大学 | Rolling double four-parallelogram robot |
| CN102672707B (en) * | 2012-05-16 | 2014-12-24 | 北京交通大学 | Differential seven-connecting-rod robot traveling in rolling way |
| CN102672707A (en) * | 2012-05-16 | 2012-09-19 | 北京交通大学 | Differential seven-connecting-rod robot traveling in rolling way |
| CN102673675A (en) * | 2012-05-29 | 2012-09-19 | 北京交通大学 | Quadrilateral rolling mechanism capable of steering |
| CN102887184A (en) * | 2012-09-28 | 2013-01-23 | 北京交通大学 | Cube moving mechanism |
| CN102887184B (en) * | 2012-09-28 | 2014-12-24 | 北京交通大学 | Cube moving mechanism |
| CN103213130A (en) * | 2013-04-09 | 2013-07-24 | 北京交通大学 | Folding mobile robot |
| CN103213130B (en) * | 2013-04-09 | 2015-04-22 | 北京交通大学 | Folding mobile robot |
| CN103407515A (en) * | 2013-07-23 | 2013-11-27 | 北京交通大学 | Dual-mode travel mechanism |
| CN103407515B (en) * | 2013-07-23 | 2015-11-18 | 北京交通大学 | A kind of Dual-mode travel mechanism |
| CN103434580A (en) * | 2013-07-24 | 2013-12-11 | 北京交通大学 | Deformable hexahedron travel mechanism |
| CN103434580B (en) * | 2013-07-24 | 2016-05-11 | 北京交通大学 | Deformable hexahedron travel mechanism |
| CN103465988A (en) * | 2013-09-16 | 2013-12-25 | 北京交通大学 | Multi-motion-mode mobile robot |
| CN103465988B (en) * | 2013-09-16 | 2015-08-26 | 北京交通大学 | Multi-motion-mode mobile robot |
| CN104924829A (en) * | 2015-05-25 | 2015-09-23 | 北京交通大学 | Tabletop artistic decoration capable of infinitely revolving and zooming |
| CN104986237A (en) * | 2015-06-08 | 2015-10-21 | 北京交通大学 | Zooming rolling mechanism |
| CN104986237B (en) * | 2015-06-08 | 2017-03-22 | 北京交通大学 | Zooming rolling mechanism |
| CN107235089A (en) * | 2017-06-30 | 2017-10-10 | 天津大学 | A kind of ten five degree of freedom bionic 6-leg climbing robots |
| CN110091933A (en) * | 2019-03-27 | 2019-08-06 | 北京交通大学 | The wheeled rolling reconnaissance robot of one type |
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Application publication date: 20110413 |