CN104118488B - A kind of can the rolling robot of autonomous - Google Patents
A kind of can the rolling robot of autonomous Download PDFInfo
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- CN104118488B CN104118488B CN201410398641.7A CN201410398641A CN104118488B CN 104118488 B CN104118488 B CN 104118488B CN 201410398641 A CN201410398641 A CN 201410398641A CN 104118488 B CN104118488 B CN 104118488B
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Abstract
The invention provides a kind of can the rolling robot of autonomous, it is characterised in that: this can the rolling robot of autonomous include, A support arm, B support arm, C support arm, D support arm and center contiguous block. The mechanism of described A support arm, B support arm, C support arm and D support arm and equivalently-sized. A support arm, B support arm, C support arm, D support arm are bolted from four different faces of center contiguous block respectively. By above-mentioned connection, constituting can the rolling robot of autonomous. This inventive structure is simple, and motility is strong, and deformability is strong, it is possible to realize the autonomous of any direction and the tumbling motion of orientation in the plane, it is possible to adapt to more complicated environment.
Description
Technical field
The present invention relates to robotics, it is more particularly related to a kind of can the rolling robot of autonomous, this robot can realize autonomous and the tumbling motion of any direction in the plane.
Background technology
Along with the development of World Science technology, the research of the robot of Different Exercise Mode has become as important study hotspot. Rolling robot as a kind of novel mobile apparatus people, breaches the limitation of tradition moving structure, have the stability in structure, motion flexibly, change forms of motion to adapt to different environment, simple in construction, to be easy to the features such as modularity. Chinese patent application CN103112512A proposes a kind of rolling deformation mechanism, it is possible to use the deformation of mechanism realizes mobile and turns to such that it is able to adapt to complex environment. But the very flexible of its motion, it is impossible to realize quickly mobile.
Chinese patent application CN103407508A proposes a kind of ten binary tetrahedron robots, and this robot has stronger deformability, it is possible to realize flexibly rolling and turning function. But it can not realize quick movement.
Summary of the invention
For prior art, it is an object of the invention to provide a kind of can the rolling robot of autonomous, this robot not only can realize the autonomous of any direction in the plane, it is also possible to utilizes the change in location of focus point and inertia to realize the tumbling motion of robot.
The present invention is achieved through the following technical solutions.
A kind of robot of the autonomous realizing any direction in the plane and rolling, it is characterised in that: this can the rolling robot of autonomous include, A support arm, B support arm, C support arm, D support arm and center contiguous block. The mechanism of described A support arm, B support arm, C support arm and D support arm and equivalently-sized.
Preferably, described A support arm includes, omni-directional wheel, jackscrew, motor cabinet, motor, A slide block, A guide rail, A cylinder, B slide block, B guide rail, B cylinder, link, swing span, A flange, A steering wheel, A steering wheel fixed mount, B flange, B steering wheel, B steering wheel fixed mount;
Motor is bolted on motor cabinet, and the axle of motor and omni-directional wheel adopt jackscrew to fix. The hole that on A slide block, four screwed holes are corresponding with motor cabinet is bolted. A slide block can at A guide rail interior along axial sliding movement.The cylinder barrel of A cylinder and A guide rail are fixed by nut. The piston rod end of A cylinder, through the hole on A slide block, then adopts two nuts and A slide block to fix. The stretching motion of the piston rod of A cylinder can drive A slide block at A guide rail interior along axial sliding movement. B slide block and A guide rail are bolted, and B slide block and A guide rail can slide axially at B guide rail interior. B cylinder is multi-stage cylinder. The cylinder barrel of B cylinder and B guide rail are fixed by nut. The piston rod end of B cylinder, through the hole on B slide block, then adopts two nuts and B slide block to fix. The stretching motion of the piston rod of B cylinder can drive B slide block and A guide rail at B guide rail interior along axial sliding movement. Link one end and B guide rail are bolted, and the other end and swing span are bolted. The projecting shaft of A steering wheel and A flange are fixed. A steering wheel is bolted on A steering wheel fixed mount. One end of swing span and A flange are bolted, and other end is connected with A steering wheel fixed mount. The rotation of A steering wheel projecting shaft can drive swing span to swing. The projecting shaft of B steering wheel and B flange are bolted. B flange and A steering wheel fixed mount are fixed. B steering wheel is bolted on B steering wheel fixed mount. The rotation of B steering wheel can drive A steering wheel fixed mount to rotate.
A support arm, B support arm, C support arm, D support arm B steering wheel fixed mount be bolted from four different faces of center contiguous block respectively.
By above-mentioned connection, constituting can the rolling robot of autonomous.
Realize robot autonomous locomotive function, see following control method:
The center contiguous block adjusting robot is in the geometric center of a positive tetrahedron, A support arm, B support arm, C support arm, D support arm respectively with four line coincident of positive tetrahedron geometric center and the summit of positive tetrahedron. A support arm, B support arm, C support arm, the A cylinder of D support arm and B cylinder are in the state of stretching out, then have three support arms and earth surface, can realize the autonomous of robot any direction in the plane by controlling the motor of these three support arm.
Realize robot rolling function, comprise the rate-determining steps of following sequence:
Step 1, the center contiguous block adjusting robot is in the geometric center of a positive tetrahedron, A support arm, B support arm, C support arm, D support arm respectively with four line coincident of positive tetrahedron geometric center and the summit of positive tetrahedron, namely A support arm, B support arm, C support arm, D support arm omni-directional wheel overlap with four summits of positive tetrahedron respectively. A support arm, B support arm, C support arm, the A cylinder of D support arm and B cylinder are in the state of stretching out, and defining such state is original state.
Step 2, A steering wheel and the B steering wheel of B support arm, C support arm and D support arm rotate respective angles simultaneously, make B support arm, C support arm parallel with the coincidence of the geometric center of the equilateral triangle that it originally formed and corresponding sides with the equilateral triangle that the omni-directional wheel of D support arm forms.
Step 3, the A steering wheel of A support arm and B steering wheel rotate respective angles, make A support arm parallel with B support arm.
Step 4, the A cylinder of B support arm is slowly contracted to robot stabilized.
Step 5, C support arm, the A cylinder of D support arm and B cylinder be rapid desufflation simultaneously, under the effect of the inertia of gravity and robot own, makes robot roll.
Step 6, treat robot stabilized after, adjust A support arm, B support arm, C support arm, the A steering wheel of D support arm, B steering wheel, A cylinder, B cylinder, make robot recover initial pose.
Above step completes the rolling gait in a cycle of robot, and multiple rolling cycles realize the displacement of robot.
Compared with the prior art, the beneficial effects of the present invention is: of the present invention can the rolling robot of autonomous, simple in construction, motility is strong, deformability is strong, it is possible to achieve the autonomous of any direction and the tumbling motion of orientation, it is possible to adapt to more complicated environment.
Accompanying drawing explanation
Figure 1A be the present invention can autonomous rolling robot structure chart.
Figure 1B be the present invention can autonomous rolling robot decomposition module figure.
Fig. 2 A is the structure chart of support arm of the present invention.
Fig. 2 B is the exploded view of support arm of the present invention.
Fig. 3 is the tumbling motion process schematic of robot of the present invention.
In figure: 1.A support arm, 101. omni-directional wheels, 102. jackscrews, 103. motor cabinets, 104. motors, 105.A slide block, 106.A guide rail, 107.A cylinder, 108.B slide block, 109.B guide rail, 110.B cylinder, 111. links, 112. swing spans, 113.A flange, 114.A steering wheel, 115.A steering wheel fixed mount, 116.B flange, 117.B steering wheel, 118.B steering wheel fixed mount;
2.B support arm; 3.C support arm; 4.D support arm; 5. center contiguous block;
Detailed description of the invention:
Below by conjunction with accompanying drawing, the invention will be further described.
Embodiments of the present invention:
A kind of can the rolling robot of autonomous, as shown in FIG. 1A and 1B, this robot includes, A support arm 1, B support arm 2, C support arm 3, D support arm 4 and center contiguous block 5. The mechanism of described A support arm 1, B support arm 2, C support arm 3 and D support arm 4 and equivalently-sized.
A support arm 1, B support arm 2, C support arm 3, D support arm 4 B steering wheel fixed mount 118 be bolted from 5 four different faces of center contiguous block respectively.
By above-mentioned connection, constituting can the rolling robot of autonomous.
As shown in Figure 2 A and 2 B, described A support arm 1 includes, omni-directional wheel 101, jackscrew 102, motor cabinet 103, motor 104, A slide block 105, A guide rail 106, A cylinder 107, B slide block 108, B guide rail 109, B cylinder 110, link 111, swing span 112, A flange 113, A steering wheel 114, A steering wheel fixed mount 115, B flange 116, B steering wheel 117, B steering wheel fixed mount 118;
Motor 104 is bolted on motor cabinet 103, and the axle of motor 104 and omni-directional wheel 101 adopt jackscrew 102 to fix. The hole that on A slide block 105, four screwed holes are corresponding with motor cabinet 103 is bolted. A slide block 105 can be internal along axial sliding movement at A guide rail 106. The cylinder barrel of A cylinder 107 and A guide rail 106 are fixed by nut. The piston rod end of A cylinder 107, through the hole on A slide block 105, then adopts two nuts to fix with A slide block 105. The stretching motion of the piston rod of A cylinder 107 can drive A slide block 105 internal along axial sliding movement at A guide rail 106. B slide block 108 and A guide rail 106 are bolted, and B slide block 108 and A guide rail 106 axially inside can slide at B guide rail 109. B cylinder 110 is multi-stage cylinder. The cylinder barrel of B cylinder 110 and B guide rail 109 are fixed by nut. The piston rod end of B cylinder 110, through the hole on B slide block 108, then adopts two nuts to fix with B slide block 108. The stretching motion of the piston rod of B cylinder 110 can drive B slide block 108 and A guide rail 106 internal along axial sliding movement at B guide rail 109. Link 111 one end and B guide rail 109 are bolted, and the other end and swing span 112 are bolted.The projecting shaft of A steering wheel 114 is fixed with A flange 113. A steering wheel 114 is bolted on A steering wheel fixed mount 115. One end of swing span 112 and A flange 113 are bolted, and other end is connected with A steering wheel fixed mount 115. The rotation of A steering wheel 114 projecting shaft can drive swing span 112 to swing. The projecting shaft of B steering wheel 117 and B flange 116 are bolted. B flange 116 is fixed with A steering wheel fixed mount 115. B steering wheel 117 is bolted on B steering wheel fixed mount 118. The rotation of B steering wheel 117 can drive A steering wheel fixed mount 115 to rotate.
Concrete using method:
A kind of the rolling robot of autonomous can realize its autonomous function, see following control method,
The center contiguous block 5 adjusting robot is in the geometric center of a positive tetrahedron, A support arm 1, B support arm 2, C support arm 3, D support arm 4 respectively with four line coincident of positive tetrahedron geometric center and the summit of positive tetrahedron. A support arm 1, B support arm 2, C support arm 3, the A cylinder 107 of D support arm 4 and B cylinder 110 are in the state of stretching out, then have three support arms and earth surface, the autonomous of robot any direction in the plane can be realized by controlling the motor 104 of these three support arm.
A kind of the rolling robot of autonomous can realize its rolling function, comprise the rate-determining steps of following sequence:
Step 1, state as shown in Fig. 3-a, the center contiguous block 5 adjusting robot is in the geometric center of a positive tetrahedron, A support arm 1, B support arm 2, C support arm 3, D support arm 4 respectively with four line coincident of positive tetrahedron geometric center and the summit of positive tetrahedron, namely A support arm 1, B support arm 2, C support arm 3, D support arm 4 omni-directional wheel 101 overlap with four summits of positive tetrahedron respectively. A support arm 1, B support arm 2, C support arm 3, the A cylinder 107 of D support arm 4 and B cylinder 110 are in the state of stretching out, and defining such state is original state.
A steering wheel 114 and the B steering wheel 117 of step 2:B support arm 2, C support arm 3 and D support arm 4 rotate respective angles simultaneously, make B support arm 2, C support arm 3 parallel with the coincidence of the geometric center of the equilateral triangle that it originally formed and corresponding sides with the equilateral triangle that the omni-directional wheel 101 of D support arm 4 forms, state as shown in Fig. 3-b.
A steering wheel 114 and the B steering wheel 117 of step 3:A support arm 1 rotate respective angles, make A support arm 1 parallel with B support arm 2, state as shown in Fig. 3-c.
The A cylinder 107 of step 4:B support arm 2 is slowly contracted to robot stabilized, state as shown in Fig. 3-d.
Step 5:C support arm 3, the A cylinder 107 of D support arm 4 and B cylinder 110 be rapid desufflation simultaneously, and state as shown in Fig. 3-e, under the effect of the inertia of gravity and robot own, makes robot roll, state as shown in Fig. 3-f.
Step 6: treat robot stabilized after, adjust A support arm 1, B support arm 2, C support arm 3, the A steering wheel 114 of D support arm 4, B steering wheel 117, A cylinder 107, B cylinder 110, make robot recover initial pose, state as shown in Fig. 3-a.
Above step completes the rolling gait in a cycle of robot, and multiple rolling cycles can realize the displacement of robot.
Claims (2)
1. one kind can the rolling robot of autonomous, it is characterised in that: include A support arm (1), B support arm (2), C support arm (3), D support arm (4) and center contiguous block (5);
The mechanism of described A support arm (1), B support arm (2), C support arm (3) and D support arm (4) and equivalently-sized;
Each support arm includes, omni-directional wheel (101), jackscrew (102), motor cabinet (103), motor (104), A slide block (105), A guide rail (106), A cylinder (107), B slide block (108), B guide rail (109), B cylinder (110), link (111), swing span (112), A flange (113), A steering wheel (114), A steering wheel fixed mount (115), B flange (116), B steering wheel (117), B steering wheel fixed mount (118);
Motor (104) is bolted on motor cabinet (103), and the axle of motor (104) and omni-directional wheel (101) adopt jackscrew (102) to fix; The hole that upper four screwed holes of A slide block (105) are corresponding with motor cabinet (103) is bolted; A slide block (105) can be internal along axial sliding movement at A guide rail (106); The cylinder barrel of A cylinder (107) and A guide rail (106) are fixed by nut; The piston rod end of A cylinder (107), through the hole on A slide block (105), then adopts two nuts to fix with A slide block (105); The stretching motion of the piston rod of A cylinder (107) can drive A slide block (105) internal along axial sliding movement at A guide rail (106); B slide block (108) and A guide rail (106) are bolted, and B slide block (108) and A guide rail (106) axially inside can slide in B guide rail (109); B cylinder (110) is multi-stage cylinder; The cylinder barrel of B cylinder (110) and B guide rail (109) are fixed by nut; The piston rod end of B cylinder (110), through the hole on B slide block (108), then adopts two nuts to fix with B slide block (108); The stretching motion of the piston rod of B cylinder (110) can drive B slide block (108) and A guide rail (106) internal along axial sliding movement at B guide rail (109); Link (111) one end and B guide rail (109) are bolted, and the other end and swing span (112) are bolted; The projecting shaft of A steering wheel (114) is fixed with A flange (113); A steering wheel (114) is bolted on A steering wheel fixed mount (115); One end of swing span (112) and A flange (113) are bolted, and other end is connected with A steering wheel fixed mount (115); The rotation of A steering wheel (114) projecting shaft can drive swing span (112) to swing; The projecting shaft of B steering wheel (117) and B flange (116) are bolted; B flange (116) is fixed with A steering wheel fixed mount (115); B steering wheel (117) is bolted on B steering wheel fixed mount (118); The rotation of B steering wheel (117) can drive A steering wheel fixed mount (115) to rotate;
A support arm (1), B support arm (2), C support arm (3), D support arm (4) B steering wheel fixed mount (118) be bolted from (5) four different faces of center contiguous block respectively;
By above-mentioned connection, constituting can the rolling robot of autonomous.
2. according to claim 1 can the rolling robot of autonomous, it is characterised in that:
Realize its autonomous function, see following control method,
The center contiguous block (5) adjusting robot is in the geometric center of a positive tetrahedron, A support arm (1), B support arm (2), C support arm (3), D support arm (4) respectively with four line coincident of positive tetrahedron geometric center and the summit of positive tetrahedron; A support arm (1), B support arm (2), C support arm (3), the A cylinder (107) of D support arm (4) and B cylinder (110) are in the state of stretching out, then have three support arms and earth surface, the autonomous of robot any direction in the plane can be realized by controlling the motor (104) of these three support arm;
Realize its rolling function, comprise the rate-determining steps of following sequence:
Step 1, the center contiguous block (5) adjusting robot is in the geometric center of a positive tetrahedron, A support arm (1), B support arm (2), C support arm (3), D support arm (4) respectively with four line coincident of positive tetrahedron geometric center and the summit of positive tetrahedron, namely A support arm (1), B support arm (2), C support arm (3), D support arm (4) omni-directional wheel (101) overlap with four summits of positive tetrahedron respectively;A support arm (1), B support arm (2), C support arm (3), the A cylinder (107) of D support arm (4) and B cylinder (110) are in the state of stretching out, and defining such state is original state;
A steering wheel (114) and the B steering wheel (117) of step 2:B support arm (2), C support arm (3) and D support arm (4) rotate respective angles simultaneously, make B support arm (2), C support arm (3) parallel with the coincidence of the geometric center of the equilateral triangle that it originally formed and corresponding sides with the equilateral triangle that the omni-directional wheel of D support arm (4) (101) forms;
The A steering wheel (114) of step 3:A support arm (1) and B steering wheel (117) rotate respective angles, make A support arm (1) parallel with B support arm (2);
The A cylinder (107) of step 4:B support arm (2) is slowly contracted to robot stabilized;
Step 5:C support arm (3), the A cylinder (107) of D support arm (4) and B cylinder (110) be rapid desufflation simultaneously, under the effect of the inertia of gravity and robot own, makes robot roll;
Step 6: treat robot stabilized after, adjust A support arm (1), B support arm (2), C support arm (3), the A steering wheel (114) of D support arm (4), B steering wheel (117), A cylinder (107), B cylinder (110), make robot recover initial pose;
Above step completes the rolling gait in a cycle of robot, and multiple rolling cycles can realize the displacement of robot.
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| CN201410398641.7A CN104118488B (en) | 2014-08-14 | 2014-08-14 | A kind of can the rolling robot of autonomous |
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| CN104943764A (en) * | 2015-06-05 | 2015-09-30 | 上海宇航系统工程研究所 | Telescopic rolling robot |
| CN107757742B (en) * | 2017-09-12 | 2019-08-20 | 南京航空航天大学 | Continuous rotation drives straight line ejection mechanism and its polyhedron robot and movement technique |
| CN108044633A (en) * | 2017-12-15 | 2018-05-18 | 华南理工大学 | A kind of turnover robot traveling chassis |
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| CN201120914Y (en) * | 2007-09-28 | 2008-09-24 | 北京航空航天大学 | Six-wheel/leg hemi-spherical outer shell detecting robot |
| KR20100028376A (en) * | 2008-09-04 | 2010-03-12 | 전남대학교산학협력단 | Underwater vehicles controlled by using gyro momentum approach |
| CN201380964Y (en) * | 2009-03-09 | 2010-01-13 | 北京航空航天大学 | Multi-rotary-wing leg-wheel type multifunctional aerial robot |
| CN103587603B (en) * | 2012-08-14 | 2017-09-15 | 中国科学院合肥物质科学研究院 | One kind can barb type wall-climbing robot capable of performing steering flexibly |
| CN103661662B (en) * | 2013-11-21 | 2019-01-22 | 徐工集团工程机械股份有限公司道路机械分公司 | It is a kind of symmetrical expression multiple degrees of freedom four-wheel drive walking type excavator mobile chassis entirely |
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