CN105109573A - Transformable triangular prism robot - Google Patents
Transformable triangular prism robot Download PDFInfo
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- CN105109573A CN105109573A CN201510357535.9A CN201510357535A CN105109573A CN 105109573 A CN105109573 A CN 105109573A CN 201510357535 A CN201510357535 A CN 201510357535A CN 105109573 A CN105109573 A CN 105109573A
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- pipe link
- universal
- joint block
- motor
- fixedly connected
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Abstract
A transformable triangular prism robot mainly comprises an upper assembly and a lower assembly. The upper assembly is provided with first to fifth connecting rods, and identical first to third motors. The lower assembly is provided with sixth to tenth connecting rods. The fifth connecting rod is movably connected with the tenth connecting rod through a pin. The first and second motors are respectively fixedly connected with the first and third connecting rods, motor shafts of the motors are fixedly connected with the seventh and the ninth connecting rods, so that the upper assembly and the lower assembly can be connected. The robot can roll, tumble, squirm and folds.
Description
1. technical field
The present invention relates to a kind of mobile robot, be specifically related to a kind of deformable triangular prism robot, this robot can realize many attitude change and detecting function.
2. background technology
Chinese patent application CN2789106Y discloses a kind of single-power rolling four-bar mechanism.This mechanism is made up of 4 bars, and is driven by a motor.It can realize rolling in plane and advance, but this mechanism can only carry out rolling cannot walking, cut and cannot change direction.
Chinese patent application CN101890714A discloses a kind of connecting rod moving robot with one degree of freedom.This robot can utilize mechanism center-of-gravity position change and motion process in unstable state, realize displacement and the turning function of robot.But its degree of freedom is less, and alerting ability is not good enough.
3. summary of the invention
Technical matters to be solved by this invention: be on the basis of existing rolling robot, expands out a kind of five triangular prism distortion rolling robots, can realize ground motion more neatly, improve accommodative ability of environment.
Technical scheme of the present invention: this robot comprises: upper and lower two platforms, article three, can the side chain of rotation, be connected by the revolute pair perpendicular to platform direction between side chain with platform, completed the assembling of this mechanism by above-mentioned steps, this robot can realize multiple rolling movement, tumbling motion etc.
Beneficial effect of the present invention: machine robot deformability is strong, and flexibility ratio is high, can facilitate control to realize mobile.The present invention can be used as extraordinary displacement robot, utilizes robot multi-motion mode, realizes the movement on complicated ground.Special ground Detecting Robot can be manufactured and designed further.
4. accompanying drawing explanation
Fig. 1. mechanism graphics
Fig. 2. upper assembly graphics
Fig. 3. upper mounting plate graphics
Fig. 4. the first universal-joint block graphics
Fig. 5. head rod graphics
Fig. 6. the second pipe link graphics
Fig. 7. the 3rd universal-joint block graphics
Fig. 8. the 5th pipe link graphics
Fig. 9. lower platform graphics
Figure 10. the 7th pipe link graphics
Figure 11. robot deformation pattern
5. specific embodiments
As shown in Figure 1, a kind of deformable triangular prism robot, is characterized in that, mainly comprises assembly (A) and lower assembly (B).
As shown in Figure 2, upper assembly (A) is provided with upper mounting plate (A11), identical first to the 6th motor (A3, A6, A14, A1, A10, A12), first to the 3rd universal-joint block (A2, A9, A13), the first to the 5th pipe link (A4, A5, A7, A8, A15).
As shown in Figure 3, upper mounting plate (A11) is that two triangular plate pieces are fixedly connected with up and down abreast by the little axle in center, and described lower platform (B1) is identical with the scantling of structure of upper mounting plate (A11).
As shown in Figure 4, the first universal-joint block (A2) is a cubic block being provided with two cylindrical projection; The second described universal-joint block (A9), the first universal-joint block (A2), the 4th universal-joint block (B4) are identical with the scantling of structure of the 5th universal-joint block (B7).
As shown in Figure 5, head rod (A4) is for being provided with " Z " type rod member of the first rotation secondary orifices (A4a); The 3rd described pipe link (A7) is identical with the scantling of structure of head rod (A4).
As shown in Figure 6, the second pipe link (A5) is for being provided with " L " type rod member of the second rotation secondary orifices (A5a); The 4th described pipe link (A8), the 8th pipe link (B8), the 6th pipe link (B3) are identical with the scantling of structure of the second pipe link (A5).
As shown in Figure 7, the 3rd universal-joint block (A13) is for being provided with the cuboid block of four through holes; 6th universal-joint block (B12) is identical with the scantling of structure of the 3rd universal-joint block (A13).
As shown in Figure 8, the 5th pipe link (A15) is for being provided with the plate of connecting bore (A15a); The tenth described pipe link (B10) is identical with size with the 5th pipe link (A15) structure.
As shown in Figure 9, lower assembly (B) is provided with lower platform (B1), identical 7th to the tenth motor (B2, B6, B11, B13), 4th to the 6th universal-joint block (B4, B7, B12), the 6th to the tenth pipe link (B3, B5, B8, B9, B10); 5th pipe link (A15) is flexibly connected by pin with the tenth pipe link (B10); The first, the 3rd pipe link (A4, A7) is connected by motor activity with the 7th, the 9th pipe link (B5, B9) respectively.
As shown in Figure 10, the 7th described pipe link (B5) is provided with " L " type rod member that motor axis hole (B5a) and the 3rd rotates secondary orifices (B5b); The 9th described pipe link (B9) is identical with the scantling of structure of the 7th pipe link (B5).
As shown in Figure 2,4th to the 6th motor (A11, A10, A12) is fixedly connected with upper mounting plate (A11) bolt, and motor shaft uses pin to be fixedly connected with the first universal-joint block (A2), the second universal-joint block (A9), the 3rd universal-joint block (A13) more respectively; 3rd motor (A14) uses bolt to be fixedly connected with the 5th pipe link, and the motor shaft of the 3rd motor (A14) uses pin to be fixedly connected with the 3rd universal-joint block (A13); First of head rod (A4) rotates secondary orifices (A4a), the second two cylindrical projection of rotating secondary orifices (A5a) and the first universal-joint block (A2) of the second pipe link (A5) form revolute pair, and the 4th of the 3rd pipe link (A7) rotates secondary orifices (A7a), the 5th rotation secondary orifices (A8a) of the 4th pipe link (A8) forms revolute pair with two cylindrical projection of the second universal-joint block (A9); Head rod (A4) and the second pipe link (A5) are bolted to connection, and the 3rd pipe link (A7) and the 4th pipe link (A8) are bolted to connection; First, second motor (A3, A6) uses bolt to be fixedly connected with head rod (A4), the 3rd pipe link (A7) respectively.First, second motor (A3, A6) is fixedly connected with the second pipe link (A5), the 4th pipe link (A8) respectively.
As shown in Figure 9, seven, the 8th, the tenth motor (B2, B6, B13) uses bolt to be fixedly connected with lower platform (B1) respectively, and motor shaft uses pin to be fixedly connected with the 4th universal-joint block (B4), the 5th universal-joint block (B7), the 6th universal-joint block (B12) more respectively; 9th motor (B11) uses bolt to be fixedly connected with the tenth pipe link (B10), and the motor shaft of the 9th motor (B11) uses pin to be fixedly connected with the 6th universal-joint block (B12); The 6th of 6th pipe link (B3) rotates secondary orifices (B3a), the 3rd two cylindrical projection of rotating secondary orifices (B5b) and the 4th universal-joint block (B4) of the 7th pipe link (B5) form revolute pair, and the 7th of the 8th pipe link (B8) rotates secondary orifices (B8a), the 8th rotation secondary orifices (B9b) of the 9th pipe link (B9) forms revolute pair with two cylindrical projection of the 5th universal-joint block (B7); 6th pipe link (B3) and the 7th pipe link (B5) are bolted to connection, and the 8th pipe link (B8) and the 9th pipe link (B9) are bolted to connection.
As shown in figure 11, be seven constitutions diagram of robot.
Claims (1)
1. a deformable triangular prism mobile robot, it is characterized in that, mainly comprise assembly (A) and lower assembly (B), upper assembly (A) is provided with upper mounting plate (A11), identical first to the 6th motor (A3, A6, A14, A1, A10, A12), first to the 3rd universal-joint block (A2, A9, A13), the first to the 5th pipe link (A4, A5, A7, A8, A15); Lower assembly (B) is provided with lower platform (B1), identical 7th to the tenth motor (B2, B6, B11, B13), 4th to the 6th universal-joint block (B4, B7, B12), the 6th to the tenth pipe link (B3, B5, B8, B9, B10); 5th pipe link (A15) is flexibly connected by pin with the tenth pipe link (B10); The first, the 3rd pipe link (A4, A7) is connected by motor activity with the 7th, the 9th pipe link (B5, B9) respectively;
Upper mounting plate (A11) is that two triangular plate pieces are fixedly connected with up and down abreast by the little axle in center, and described lower platform (B1) is identical with the scantling of structure of upper mounting plate (A11);
First universal-joint block (A2) is a cubic block being provided with two cylindrical projection; The second described universal-joint block (A9), the first universal-joint block (A2), the 4th universal-joint block (B4) are identical with the scantling of structure of the 5th universal-joint block (B7);
Head rod (A4) is for being provided with " Z " type rod member of the first rotation secondary orifices (A4a); The 3rd described pipe link (A7) is identical with the scantling of structure of head rod (A4);
Second pipe link (A5) is for being provided with " L " type rod member of the second rotation secondary orifices (A5a); The 4th described pipe link (A8), the 8th pipe link (B8), the 6th pipe link (B3) are identical with the scantling of structure of the second pipe link (A5);
3rd universal-joint block (A13) is for being provided with the cuboid block of four through holes; 6th universal-joint block (B12) is identical with the scantling of structure of the 3rd universal-joint block (A13);
5th pipe link (A15) is for being provided with the plate of connecting bore (A15a); The tenth described pipe link (B10) is identical with size with the 5th pipe link (A15) structure;
The 7th described pipe link (B5) is provided with " L " type rod member that motor axis hole (B5a) and the 3rd rotates secondary orifices (B5b); The 9th described pipe link (B9) is identical with the scantling of structure of the 7th pipe link (B5);
4th to the 6th motor (A11, A10, A12) is fixedly connected with upper mounting plate (A11) bolt, and motor shaft uses pin to be fixedly connected with the first universal-joint block (A2), the second universal-joint block (A9), the 3rd universal-joint block (A13) more respectively; 3rd motor (A14) uses bolt to be fixedly connected with the 5th pipe link, and the motor shaft of the 3rd motor (A14) uses pin to be fixedly connected with the 3rd universal-joint block (A13); First of head rod (A4) rotates secondary orifices (A4a), the second two cylindrical projection of rotating secondary orifices (A5a) and the first universal-joint block (A2) of the second pipe link (A5) form revolute pair, and the 4th of the 3rd pipe link (A7) rotates secondary orifices (A7a), the 5th rotation secondary orifices (A8a) of the 4th pipe link (A8) forms revolute pair with two cylindrical projection of the second universal-joint block (A9); Head rod (A4) and the second pipe link (A5) are bolted to connection, and the 3rd pipe link (A7) and the 4th pipe link (A8) are bolted to connection; First, second motor (A3, A6) uses bolt to be fixedly connected with head rod (A4), the 3rd pipe link (A7) respectively.First, second motor (A3, A6) is fixedly connected with the second pipe link (A5), the 4th pipe link (A8) respectively;
Seven, the 8th, the tenth motor (B2, B6, B13) uses bolt to be fixedly connected with lower platform (B1) respectively, and motor shaft uses pin to be fixedly connected with the 4th universal-joint block (B4), the 5th universal-joint block (B7), the 6th universal-joint block (B12) more respectively; 9th motor (B11) uses bolt to be fixedly connected with the tenth pipe link (B10), and the motor shaft of the 9th motor (B11) uses pin to be fixedly connected with the 6th universal-joint block (B12); The 6th of 6th pipe link (B3) rotates secondary orifices (B3a), the 3rd two cylindrical projection of rotating secondary orifices (B5b) and the 4th universal-joint block (B4) of the 7th pipe link (B5) form revolute pair, and the 7th of the 8th pipe link (B8) rotates secondary orifices (B8a), the 8th rotation secondary orifices (B9b) of the 9th pipe link (B9) forms revolute pair with two cylindrical projection of the 5th universal-joint block (B7); 6th pipe link (B3) and the 7th pipe link (B5) are bolted to connection, and the 8th pipe link (B8) and the 9th pipe link (B9) are bolted to connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510357535.9A CN105109573B (en) | 2015-06-25 | 2015-06-25 | A kind of deformable triangular prism robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510357535.9A CN105109573B (en) | 2015-06-25 | 2015-06-25 | A kind of deformable triangular prism robot |
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| CN105109573A true CN105109573A (en) | 2015-12-02 |
| CN105109573B CN105109573B (en) | 2017-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510357535.9A Active CN105109573B (en) | 2015-06-25 | 2015-06-25 | A kind of deformable triangular prism robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272468A (en) * | 2016-09-18 | 2017-01-04 | 北京交通大学 | Two-freedom foldable moving robot |
| CN108589646A (en) * | 2018-05-16 | 2018-09-28 | 重庆市万闸防汛器材有限责任公司 | Double collapsible three plugs triangular prism frame assemblies of frame |
| CN115199914A (en) * | 2022-06-16 | 2022-10-18 | 上海工程技术大学 | Easily-concealed investigation equipment carrying platform |
Citations (6)
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| JPS59179464A (en) * | 1983-03-30 | 1984-10-12 | Agency Of Ind Science & Technol | Six-leg walking machine |
| CN1417003A (en) * | 2002-12-04 | 2003-05-14 | 北方交通大学 | Parallel robot mechanism with three-freedom rotating platform |
| US20100107795A1 (en) * | 2008-11-03 | 2010-05-06 | Viola Robert J | Frame walker predicated on a parallel mechanism |
| CN103407515A (en) * | 2013-07-23 | 2013-11-27 | 北京交通大学 | Dual-mode travel mechanism |
| CN104527834A (en) * | 2014-12-26 | 2015-04-22 | 浙江工业大学 | Tripod robot |
| CN104724198A (en) * | 2015-02-03 | 2015-06-24 | 北京交通大学 | Rolling type deformable mobile robot |
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2015
- 2015-06-25 CN CN201510357535.9A patent/CN105109573B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59179464A (en) * | 1983-03-30 | 1984-10-12 | Agency Of Ind Science & Technol | Six-leg walking machine |
| CN1417003A (en) * | 2002-12-04 | 2003-05-14 | 北方交通大学 | Parallel robot mechanism with three-freedom rotating platform |
| US20100107795A1 (en) * | 2008-11-03 | 2010-05-06 | Viola Robert J | Frame walker predicated on a parallel mechanism |
| CN103407515A (en) * | 2013-07-23 | 2013-11-27 | 北京交通大学 | Dual-mode travel mechanism |
| CN104527834A (en) * | 2014-12-26 | 2015-04-22 | 浙江工业大学 | Tripod robot |
| CN104724198A (en) * | 2015-02-03 | 2015-06-24 | 北京交通大学 | Rolling type deformable mobile robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272468A (en) * | 2016-09-18 | 2017-01-04 | 北京交通大学 | Two-freedom foldable moving robot |
| CN106272468B (en) * | 2016-09-18 | 2019-01-15 | 北京交通大学 | Two-freedom foldable moving robot |
| CN108589646A (en) * | 2018-05-16 | 2018-09-28 | 重庆市万闸防汛器材有限责任公司 | Double collapsible three plugs triangular prism frame assemblies of frame |
| CN115199914A (en) * | 2022-06-16 | 2022-10-18 | 上海工程技术大学 | Easily-concealed investigation equipment carrying platform |
| CN115199914B (en) * | 2022-06-16 | 2023-06-02 | 上海工程技术大学 | Easily hidden investigation equipment carries on platform |
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| Publication number | Publication date |
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| CN105109573B (en) | 2017-10-10 |
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