CN105835972A - Ditetrahedron telescopic movable robot - Google Patents
Ditetrahedron telescopic movable robot Download PDFInfo
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- CN105835972A CN105835972A CN201610295966.1A CN201610295966A CN105835972A CN 105835972 A CN105835972 A CN 105835972A CN 201610295966 A CN201610295966 A CN 201610295966A CN 105835972 A CN105835972 A CN 105835972A
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- telescopic
- telescoping mechanism
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- ditetrahedron
- moving robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention discloses a ditetrahedron telescopic movable robot which comprises a telescopic unit and a hook joint. The telescopic unit comprises a first telescopic mechanism, a second telescopic mechanism, a third telescopic mechanism, a fourth telescopic mechanism, a fifth telescopic mechanism, a sixth telescopic mechanism, a seventh telescopic mechanism, an eighth telescopic mechanism and a ninth telescopic mechanism. The hook hinge comprises a first quadrangular vertex module, a second quadrangular vertex module, a third quadrangular vertex module, a first triangular vertex module and a second triangular vertex module. By controlling each motion deformation of the telescopic unit, local or overall deformation of the ditetrahedron telescopic movable robot is achieved, and the centroid goes beyond a supporting area to achieve rolling. The ditetrahedron movable mechanism verifies feasibility of the telescopic unit and is beneficial to research of technical methods for enhancing deformation capacity and moving capacity of the movable mechanism.
Description
Technical field
The present invention relates to Robot Design field, especially relate to a kind of ditetrahedron telescopic moving robot.
Background technology
As an important branch in robotics, mobile robot is not only widely used in the industries such as industry, agricultural, medical treatment, service, and be widely used in urban safety, national defence and space exploration field etc. and be harmful to and dangerous situation, therefore, mobile robot technology has obtained the common concern of countries in the world.Complicated working environment will propose higher requirement to the mobility of mobile robot and motility.Travel mechanism, towards polymorphicization, multi-locomotion modeization development, i.e. requires that mobile robot has more powerful deformation function and adaptation ability, and telescopic unit has unique advantage in deformation.The present invention is on the basis of proposing the big new configuration of magnification telescopic unit, telescopic unit and polyhedron is used to move the thought that robot combines, move robot for polyhedron and realize " polymorphic " change so that it is be more suitable for the fields such as life production, national defence and space exploration.
Summary of the invention
In order to solve prior art problem, same of the present invention ditetrahedron telescopic moving robot, which raises ground obstacle detouring, avoidance ability, there is good space adaptability.
The present invention solves above-mentioned technical problem by following technical proposals: a kind of ditetrahedron telescopic moving robot, it is characterized in that, it includes telescopic unit and Hooke's hinge, described telescopic unit includes the first telescoping mechanism, second telescoping mechanism, 3rd telescoping mechanism, 4th telescoping mechanism, 5th telescoping mechanism, 6th telescoping mechanism, 7th telescoping mechanism, 8th telescoping mechanism, 9th telescoping mechanism, described Hooke's hinge includes the first tetragon vertex block, second tetragon vertex block, 3rd tetragon vertex block, first triangular apex module, second triangular apex module.
Preferably, described first telescoping mechanism, the second telescoping mechanism, the 3rd telescoping mechanism, the 4th telescoping mechanism, the 5th telescoping mechanism, the 6th telescoping mechanism, the 7th telescoping mechanism, the 8th telescoping mechanism, the 9th telescoping mechanism all include top ram seat, fixed copper post, motor, shaft coupling, shaft coupling installing plate, three grades of telescopic joints, two grades of telescopic joints, one-level telescopic joint and push rod seat, bottom.
Preferably, described first tetragon vertex block, the second tetragon vertex block, the 3rd tetragon vertex block all include that tetragon summit inserts module, the first universal joint, the second universal joint, the 3rd universal joint, the 4th universal joint soon.
Preferably, described first triangular apex module, the second triangular apex module all include that triangular apex inserts module, the first fast slotting module, the second the most slotting module, the 3rd the most slotting module soon.
Preferably, described telescopic unit selects multistage nested telescoping mechanism based on worm drive, has simple in construction, lightweight, magnification is relatively big, easily processing, lower-cost advantage.
Preferably, described motor uses dc motor.
Preferably, described one-level telescopic joint, two grades of telescopic joints, three grades of telescopic joints are the body element of whole telescopic unit, and the screw thread that moves through between three transmits, wherein, screw thread selects trapezoidal thread, it is ensured that telescoping mechanism has preferable centering, self-locking performance and manufacturability.The external screw thread of the female thread of one-level telescopic joint and two grades of telescopic joints matches, and the external screw thread of the female thread of two grades of telescopic joints and three grades of telescopic joints matches, and belongs to matched in clearance between adjacent two-stage telescopic joint.Two grades of telescopic joint ports are provided with keyway, shaft coupling installing plate is provided with the key matched, when three grades of telescopic joints are completely screwed into two grades of telescopic joints inside, key on shaft coupling installing plate can be embedded in the keyway on two grades of telescopic joint ports, then drives two grades of telescopic joints to rotate and screws in one-level telescopic joint, completes under reach, in order to prevent two-stage telescopic joint away from one another, devising the spacing shaft shoulder, the top of three grades of telescopic joints is provided with jackscrew, in order to fix with motor output shaft.
Preferably, the telescopic variation of described telescopic unit carries out Non-follow control by two-way positive and negative switch.
The most progressive effect of the present invention is: the present invention improves polyhedron and moves the ground obstacle detouring of robot, avoidance ability and good space adaptability, by controlling the motion deformation of each telescopic unit, realize the partly or wholly deformation of ditetrahedron telescopic moving robot, and make barycenter exceed supporting zone to realize rolling.This ditetrahedron travel mechanism not only demonstrates the feasibility of telescopic unit, and contributes to strengthening the research of the technical method of travel mechanism's deformability and locomotivity.
Accompanying drawing explanation
Fig. 1 is ditetrahedron of the present invention telescopic moving robot population structure schematic diagram.
Fig. 2 is the structural representation of ditetrahedron of the present invention telescopic moving robot stretching structure.
Fig. 3 is that modular structure schematic diagram is inserted on ditetrahedron telescopic moving robot tetragon summit of the present invention soon.
Fig. 4 is ditetrahedron of the present invention telescopic moving robot triangular apex modular structure schematic diagram.
Fig. 5 is three grades of nested telescoping mechanism unstretched state schematic diagrams of ditetrahedron telescopic moving robot of the present invention.
Fig. 6 is three grades of nested telescoping mechanism one-level extended state schematic diagrams of ditetrahedron telescopic moving robot of the present invention.
Fig. 7 is ditetrahedron telescopic moving robot of the present invention three grades of telescopic joint generalized sections of three grades of nested telescoping mechanisms.
Fig. 8 is three grades of nested telescoping mechanism secondary drawing view of ditetrahedron telescopic moving robot of the present invention.
Fig. 9 is ditetrahedron telescopic moving robot of the present invention two grades of telescopic joint generalized sections of three grades of nested telescoping mechanisms.
Figure 10 is three grades of nested telescoping mechanism one-level telescopic joint generalized sections of ditetrahedron telescopic moving robot of the present invention.
Figure 11 is ditetrahedron of the present invention telescopic moving robot linear motion original state schematic diagram.
Figure 12 is view before upset in ditetrahedron of the present invention telescopic moving robot linear motion.
Figure 13 is view after upset in ditetrahedron of the present invention telescopic moving robot linear motion.
Figure 14 is ditetrahedron of the present invention telescopic moving robot linear motion action completion status schematic diagram.
Figure 15 is that ditetrahedron of the present invention telescopic moving robot surveys row gait original state schematic diagram.
Figure 16 is that ditetrahedron of the present invention telescopic moving robot surveys in row motor process view before upset.
Figure 17 is that ditetrahedron of the present invention telescopic moving robot surveys in row motor process view before upset.
Figure 18 is that ditetrahedron of the present invention telescopic moving robot surveys in row motor process view after upset.
Figure 19 is that ditetrahedron of the present invention telescopic moving robot surveys row athletic performance completion status schematic diagram.
Detailed description of the invention
Provide present pre-ferred embodiments below in conjunction with the accompanying drawings, to describe technical scheme in detail.
As shown in Figure 1, ditetrahedron of the present invention telescopic moving robot includes telescopic unit and Hooke's hinge, described telescopic unit includes first telescoping mechanism the 1, second telescoping mechanism the 2, the 3rd telescoping mechanism the 3, the 4th telescoping mechanism the 4, the 5th telescoping mechanism the 5, the 6th telescoping mechanism the 6, the 7th telescoping mechanism the 7, the 8th telescoping mechanism the 8, the 9th telescoping mechanism 9, and described Hooke's hinge includes first tetragon vertex block the 10, second tetragon vertex block the 11, the 3rd tetragon vertex block the 12, first triangular apex module the 13, second triangular apex module 14.
As in figure 2 it is shown, described first telescoping mechanism the 1, second telescoping mechanism the 2, the 3rd telescoping mechanism the 3, the 4th telescoping mechanism the 4, the 5th telescoping mechanism the 5, the 6th telescoping mechanism the 6, the 7th telescoping mechanism the 7, the 8th telescoping mechanism the 8, the 9th telescoping mechanism 9 all includes push rod seat 23 bottom top ram seat 15, fixed copper post 16, motor 17, shaft coupling 18, shaft coupling installing plate 19, three grades of telescopic joints 20, two grades of telescopic joints 21, one-level telescopic joints and 22.
As it is shown on figure 3, the 11, the 3rd tetragon vertex block 12 is inserted on described first tetragon vertex block the 10, second tetragon summit soon all includes that module the 24, first universal joint the 25, second universal joint the 26, the 3rd universal joint the 27, the 4th universal joint 28 is inserted on tetragon summit soon.
As shown in Figure 4, described first triangular apex module the 13, second triangular apex is inserted 14 soon and is all included that triangular apex is inserted module 29, first soon and inserted module 30, second soon and insert module the 31, the 3rd soon and insert module 32 soon.
Described telescopic unit selects multistage nested telescoping mechanism based on worm drive.Have that simple in construction, lightweight, magnification be relatively big, easily processing, lower-cost advantage.One-level telescopic joint 21, three grades of telescopic joints 20 of 22, two grades of telescopic joints are the body element of whole telescopic unit, the screw thread that moves through between three transmits, wherein, screw thread selects trapezoidal thread, it is ensured that telescoping mechanism has preferable centering, self-locking performance and manufacturability.The external screw thread of the female thread of one-level telescopic joint 22 and two grades of telescopic joints 21 matches, and the external screw thread of the female thread of two grades of telescopic joints 21 and three grades of telescopic joints 20 matches, and belongs to matched in clearance between adjacent two-stage telescopic joint.Two grades of telescopic joint 21 ports are provided with keyway, shaft coupling 18 installing plate is provided with the key matched, when three grades of telescopic joints 20 are completely screwed into two grades of telescopic joints 21 inside, key on shaft coupling 18 installing plate can be embedded in the keyway on two grades of telescopic joint 21 ports, then drive two grades of telescopic joints 21 to rotate and screw in one-level telescopic joint 22, complete under reach.Fig. 9 show the internal and external threads position of two grades of telescopic joints, in order to prevent two-stage telescopic joint away from one another, devises the spacing shaft shoulder.As it is shown in fig. 7, the top of three grades of telescopic joints is provided with jackscrew, in order to fix with motor output shaft.
The intensity of material and the requirement of hardness, in telescopic process, along with the enhancing of telescopic unit progression, are strengthened by multistage nested telescoping mechanisms based on worm drive.Therefore, the type selecting to telescopic joint material should be chosen intensity and hardness in the material increasing trend, it is ensured that the stationarity of telescoping mechanism motion.
For the control of telescopic unit, its direct control object is the rotating of direct current generator.Therefore, the flexible of telescopic unit can select two-way positive and negative switch, carries out Non-follow control.
Embodiment:
In the present embodiment, seeing Fig. 1～Figure 19, a kind of novel ditetrahedron telescopic moving robot, the flexible of each telescoping mechanism drives by controlling motor forward/backward rotation.Ditetrahedron mechanism surface has 6 triangle projective planums, the motion gait of ditetrahedron, is actually the conversion between its triangle projective planum contacted with ground, and cooperate between them the movement effects reaching to set.
In the present embodiment, seeing Fig. 1～Figure 19, ditetrahedron of the present invention telescopic moving robot can realize craspedodrome gait and survey row gait.When assuming original state, the face (later referred to as 129 face) that ditetrahedron is made up of first telescoping mechanism the 1, second telescoping mechanism the 2, the 9th telescoping mechanism 9 lands, now the direction of motion of ditetrahedron only has 3, is to move to make 134,235 respectively, and 789 faces land.Ditetrahedron makes 789 faces land and realizes straight line gait, two-sided body make 134,235 faces land realization survey row gait.Due to 134 and 234 symmetries of original state, so this programme only need to study one of them face.
As shown in Figure 11,12,13,14, the operation principle of the present embodiment ditetrahedron telescopic moving robot craspedodrome gait is as follows:
First, only the 3rd telescoping mechanism is applied power, make the 3rd telescoping mechanism elongation, deformation along with the 3rd telescoping mechanism, 789 faces become closer to ground, the deformation of telescoping mechanism causes the structure of whole mechanism to change, when arriving to a certain degree, barycenter offsets, whole mechanism overturns, 789 faces are made to land, then, again the 3rd telescoping mechanism is retracted to former length, overall structure is recovered to original state, ditetrahedron just completes the rolling that lands to 789 faces, the motion gait i.e. kept straight on, ditetrahedron telescopic moving robot is exactly constantly to repeat action on this to complete straight line moving.
As shown in Figure 15,16,17,18,19, the operation principle that the present embodiment ditetrahedron telescopic moving robot surveys row gait is as follows:
By the example of above-mentioned straight line moving, then only the 6th telescoping mechanism being applied power, make the 6th telescoping mechanism elongation, just reached certain length barycenter and offset, two-sided body rolls, and 134 faces land.Now, again the 6th telescoping mechanism is retracted to former length, now ditetrahedron has occurred and that distortion, and bigger Conflict effect power can be created, it is difficult to restore to the original state, for solving the distortion occurred in above-mentioned gait, has re-started gait planning, gait adds the first telescoping mechanism, the 3rd telescoping mechanism, the 4th telescoping mechanism flexible, concrete gait successively:
First, only the first telescoping mechanism is applied power, the first telescoping mechanism is made to be elongated to a certain degree, secondly, only the 6th telescopic machine 6 is applied power, the 6th telescoping mechanism is made to be elongated to a certain degree, owing to overall structure barycenter offsets, make ditetrahedron to 134 upsets, then, 3rd telescoping mechanism 3, 4th telescoping mechanism elongation certain length, adjust integrally-built change, avoid being distorted, finally, first telescoping mechanism, 3rd telescoping mechanism, 4th telescoping mechanism synchronizes to regain, it is returned to original shape, ditetrahedron telescopic moving robot is exactly that the action constantly repeated on this completes to survey row gait.
In above two groups of motions, control the rotating speed of direct current generator in real time, it is ensured that the stationarity of mechanism kinematic.
The present invention is by controlling the motion deformation of each telescoping mechanism, it is achieved the partly or wholly deformation of ditetrahedron telescopic moving robot, and makes barycenter exceed supporting zone to realize rolling.This ditetrahedron travel mechanism not only demonstrates the feasibility of telescoping mechanism, and contributes to strengthening the research of the technical method of travel mechanism's deformability and locomotivity.The present invention makes overall structure centroid motion overturn by the certain variations controlling each telescoping mechanism, makes ditetrahedron telescopic moving robot advance according to the route of planning.Integrated model is designed by Rational structure by the present invention, can effectively complete the operating of mechanism.
Above in conjunction with accompanying drawing, the embodiment of the present invention is illustrated; but the invention is not restricted to above-described embodiment; multiple change can also be made according to the purpose of the innovation and creation of the present invention; the change made under all spirit according to technical solution of the present invention and principle, modify, substitute, combine, simplify; all should be the substitute mode of equivalence; as long as meeting the goal of the invention of the present invention; without departing from know-why and the inventive concept of ditetrahedron of the present invention telescopic moving robot, broadly fall into protection scope of the present invention.
Claims (8)
1. a ditetrahedron telescopic moving robot, it is characterized in that, it includes telescopic unit and Hooke's hinge, described telescopic unit includes the first telescoping mechanism, the second telescoping mechanism, the 3rd telescoping mechanism, the 4th telescoping mechanism, the 5th telescoping mechanism, the 6th telescoping mechanism, the 7th telescoping mechanism, the 8th telescoping mechanism, the 9th telescoping mechanism, and described Hooke's hinge includes the first tetragon vertex block, the second tetragon vertex block, the 3rd tetragon vertex block, the first triangular apex module, the second triangular apex module.
Ditetrahedron the most according to claim 1 telescopic moving robot, it is characterized in that, described first telescoping mechanism, the second telescoping mechanism, the 3rd telescoping mechanism, the 4th telescoping mechanism, the 5th telescoping mechanism, the 6th telescoping mechanism, the 7th telescoping mechanism, the 8th telescoping mechanism, the 9th telescoping mechanism all include top ram seat, fixed copper post, motor, shaft coupling, shaft coupling installing plate, three grades of telescopic joints, two grades of telescopic joints, one-level telescopic joint and push rod seat, bottom.
Ditetrahedron the most according to claim 2 telescopic moving robot, it is characterized in that, described one-level telescopic joint, two grades of telescopic joints, three grades of telescopic joints are the body element of whole telescopic unit, the screw thread that moves through between three transmits, wherein, screw thread selects trapezoidal thread, it is ensured that telescoping mechanism has preferable centering, self-locking performance and manufacturability；The external screw thread of the female thread of one-level telescopic joint and two grades of telescopic joints matches, and the external screw thread of the female thread of two grades of telescopic joints and three grades of telescopic joints matches, and belongs to matched in clearance between adjacent two-stage telescopic joint；Two grades of telescopic joint ports are provided with keyway, shaft coupling installing plate is provided with the key matched, when three grades of telescopic joints are completely screwed into two grades of telescopic joints inside, key on shaft coupling installing plate can be embedded in the keyway on two grades of telescopic joint ports, then drives two grades of telescopic joints to rotate and screws in one-level telescopic joint, completes under reach, in order to prevent two-stage telescopic joint away from one another, devising the spacing shaft shoulder, the top of three grades of telescopic joints is provided with jackscrew, in order to fix with motor output shaft.
Ditetrahedron the most according to claim 1 telescopic moving robot, it is characterised in that: described first triangular apex module, the second triangular apex module all include that triangular apex is inserted module soon, first inserted module soon, second inserts module soon, the 3rd inserts module soon.
Ditetrahedron the most according to claim 1 telescopic moving robot, it is characterised in that described telescopic unit selects multistage nested telescoping mechanism based on worm drive, has simple in construction, lightweight, magnification is relatively big, easily processing, lower-cost advantage.
Ditetrahedron the most according to claim 1 telescopic moving robot, it is characterised in that described motor uses dc motor.
Ditetrahedron the most according to claim 1 telescopic moving robot, it is characterized in that, described first tetragon vertex block, the second tetragon vertex block, the 3rd tetragon vertex block all include that tetragon summit inserts module, the first universal joint, the second universal joint, the 3rd universal joint, the 4th universal joint soon.
Ditetrahedron the most according to claim 1 telescopic moving robot, it is characterised in that the telescopic variation of described telescopic unit carries out Non-follow control by two-way positive and negative switch.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610295966.1A CN105835972A (en) | 2016-05-07 | 2016-05-07 | Ditetrahedron telescopic movable robot |
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| CN201610295966.1A CN105835972A (en) | 2016-05-07 | 2016-05-07 | Ditetrahedron telescopic movable robot |
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| CN201610295966.1A Pending CN105835972A (en) | 2016-05-07 | 2016-05-07 | Ditetrahedron telescopic movable robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515890A (en) * | 2016-11-16 | 2017-03-22 | 北京交通大学 | Hexahedron moving robot |
| CN106863283A (en) * | 2017-04-19 | 2017-06-20 | 姚家冀 | A kind of pair of triangular prism mobile robot |
| CN107697177A (en) * | 2017-09-08 | 2018-02-16 | 北京交通大学 | A kind of deformable hexahedron rolling mechanism |
| WO2020238335A1 (en) * | 2019-05-30 | 2020-12-03 | 南方科技大学 | Robot network structure suitable for unstructured environment and sensing system |
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| CN102642577A (en) * | 2012-05-16 | 2012-08-22 | 北京交通大学 | Cube rolling mechanism |
| CN103465988A (en) * | 2013-09-16 | 2013-12-25 | 北京交通大学 | Multi-motion-mode mobile robot |
| CN103738426A (en) * | 2013-10-21 | 2014-04-23 | 北京交通大学 | Dual-mode sixteen-rod rolling mechanism |
| CN105083406A (en) * | 2015-06-25 | 2015-11-25 | 北京交通大学 | Magnetic composite spherical hinge-based five-cell mechanism |
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| JP2010155520A (en) * | 2008-12-26 | 2010-07-15 | Nihon Univ | Step climbing wheel and wheel type robot |
| CN102642577A (en) * | 2012-05-16 | 2012-08-22 | 北京交通大学 | Cube rolling mechanism |
| CN103465988A (en) * | 2013-09-16 | 2013-12-25 | 北京交通大学 | Multi-motion-mode mobile robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515890A (en) * | 2016-11-16 | 2017-03-22 | 北京交通大学 | Hexahedron moving robot |
| CN106515890B (en) * | 2016-11-16 | 2018-10-19 | 北京交通大学 | A kind of hexahedron mobile robot |
| CN106863283A (en) * | 2017-04-19 | 2017-06-20 | 姚家冀 | A kind of pair of triangular prism mobile robot |
| CN106863283B (en) * | 2017-04-19 | 2023-09-22 | 姚家冀 | Double triangular prism mobile robot |
| CN107697177A (en) * | 2017-09-08 | 2018-02-16 | 北京交通大学 | A kind of deformable hexahedron rolling mechanism |
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| WO2020238335A1 (en) * | 2019-05-30 | 2020-12-03 | 南方科技大学 | Robot network structure suitable for unstructured environment and sensing system |
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