CN106892012A - A kind of robot deformation component based on spiral of Archimedes - Google Patents
A kind of robot deformation component based on spiral of Archimedes Download PDFInfo
- Publication number
- CN106892012A CN106892012A CN201710109403.3A CN201710109403A CN106892012A CN 106892012 A CN106892012 A CN 106892012A CN 201710109403 A CN201710109403 A CN 201710109403A CN 106892012 A CN106892012 A CN 106892012A
- Authority
- CN
- China
- Prior art keywords
- revolving fragment
- steering wheel
- spiral
- deformation component
- transmission mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- 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
- B62D57/036—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 screw type, e.g. Archimedian screw
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of robot deformation component based on spiral of Archimedes, including：Steering wheel, transmission mechanism and revolving fragment；Transmission mechanism is connected with steering wheel, revolving fragment is circumferentially distributed along transmission mechanism, and is connected with the transmission mechanism, and transmission mechanism drives the revolving fragment to open or shrink, the deformation component is in integrally flap when revolving fragment stretches, and the deformation component is integrally disc-shaped when revolving fragment shrinks.A kind of robot deformation mechanism based on spiral of Archimedes is by the transmission mechanism that is connected with steering wheel, and along transmission mechanism is circumferentially distributed and revolving fragment that be connected with transmission mechanism, so that the deformation mechanism is in integrally flap when transmission mechanism drives the revolving fragment to stretch, sufficient base part can be installed for walking, deformation component is integrally disc-shaped when revolving fragment shrinks, be conducive to rolling, i.e., there is provided a kind of achievable multi-foot walking and the robot deformation component of spherical rolling.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of robot deformation component.
Background technology
Hexapod Robot as one, mobile robot field part, mainly creep stabilization, adaptive capacity to environment
By force, can obstacle detouring the characteristics of.Meanwhile, ball shape robot falls within a category of mobile robot, and main feature can be flat
Fast scroll on site preparation face.If a kind of six foot-spherical fighter toys of design, allow this robot while taking into account both
Movement characteristic, then, this relates to a kind of deformation mechanism.
Patent of the present invention proposes a kind of deformable component so that robot can both launch to be walked as Hexapod Robot,
Can shrink again and be rolled as ball shape robot.Complicated terrain environment can be better adapted to.
The content of the invention
The technical problem to be solved in the present invention is：The robot deformation of a kind of achievable multi-foot walking and spherical rolling is provided
Part.
The present invention is for a kind of solution technical scheme for providing of its technical problem：A kind of machine based on spiral of Archimedes
Device people's deformation component, it is characterised in that including：Steering wheel, transmission mechanism and revolving fragment；The transmission mechanism is fixedly connected with steering wheel,
The revolving fragment is circumferentially distributed along transmission mechanism, is connected with the transmission mechanism, and the transmission mechanism drives the revolving fragment
Open or shrink, the deformation component is in integrally flap, the deformation component when revolving fragment shrinks when the revolving fragment stretches
It is overall disc-shaped.
Used as the improvement of such scheme, the revolving fragment is the shape design based on spiral of Archimedes, the rotation
When piece shrinks, it is brought into close contact between the circumferentially distributed revolving fragment of transmission mechanism.
Used as the improvement of such scheme, the revolving fragment includes first end and the second end, and the first end of the revolving fragment sets
Shoulder hole and mounting hole are equipped with, connecting hole is provided with second end.
As the improvement of such scheme, camber elongated hole is provided between the first end and the second end.
Used as the improvement of such scheme, the transmission mechanism is gear drive, including idler gear, along idler gear
Circumferentially distributed driven gear, and steering wheel, the steering wheel are connected with the idler gear.
Used as the improvement of such scheme, the driven gear is evenly distributed on steering wheel, and adjacent driven gear has height
The boss that degree is not waited.
Used as the improvement of such scheme, the steering wheel is in petal-shaped.
As the improvement of such scheme, also including the connection steering wheel being arranged symmetrically with the steering wheel and head rod, institute
Connection steering wheel is stated to be fixedly connected by head rod with the steering wheel.
As the improvement of such scheme, driven revolving fragment, the driven revolving fragment and position are provided with the connection steering wheel
It is corresponding in the revolving fragment on steering wheel, the second connecting rod, described are provided between the driven revolving fragment and the revolving fragment
Be fixedly connected for the two by two connecting rods.
Used as the improvement of such scheme, the driven revolving fragment is completely the same with the revolving fragment shape and structure, it is described from
Dynamic revolving fragment is synchronized with the movement with the revolving fragment.
The beneficial effects of the invention are as follows：A kind of robot deformation mechanism based on spiral of Archimedes connects by with steering wheel
The transmission mechanism for connecing, and along transmission mechanism is circumferentially distributed and revolving fragment that be connected with the transmission mechanism so that transmission mechanism
The deformation mechanism can install sufficient base part for walking, the revolving fragment integrally in flap when driving the revolving fragment to stretch
The deformation component is integrally disc-shaped during contraction, is conducive to rolling, i.e., there is provided a kind of achievable multi-foot walking and spherical rolling
Robot deformation component.
Brief description of the drawings
For the technical scheme in the clearer explanation embodiment of the present invention, below will be to make needed for embodiment description
Accompanying drawing is briefly described.
Fig. 1 is the structural representation of an embodiment of the present invention；
Fig. 2 is the stereogram of an embodiment of the present invention；
Fig. 3 is the structural representation of revolving fragment of the present invention；
Fig. 4 is the structural representation of steering wheel of the present invention；
Fig. 5 is the structural representation of present invention connection steering wheel；
Fig. 6 is the top view of an embodiment of the present invention extended configuration.
Specific embodiment
The technique effect of design of the invention, concrete structure and generation is carried out with accompanying drawing with reference to embodiments it is clear,
It is fully described by, to fully understand the purpose of the present invention, scheme and effect.It should be noted that in the case where not conflicting originally
The feature in embodiment and embodiment in application can be mutually combined.In addition upper and lower, left and right etc. used in the present invention
Description is only with respect to for each part mutual alignment relation of the invention in figure.
A kind of Fig. 1 structural representation for implementing row of the present invention, Fig. 2 is the stereogram of an embodiment of the present invention, reference
Fig. 1 and Fig. 2, a kind of robot deformation component based on spiral of Archimedes, including steering wheel 1, transmission mechanism 2, revolving fragment 3,
Connection steering wheel 4, head rod 5, the connecting rod 7 of driven revolving fragment 6 and second；Transmission mechanism 2 is connected with the steering wheel 1, rotation
Rotor is connected with the transmission mechanism 2, and the connection steering wheel 4 is fixedly connected by head rod 5 with steering wheel 1, described driven
Revolving fragment 6 is fixedly connected by the second connecting rod 7 with revolving fragment 3, and the driven revolving fragment 6 can revolve with the synchronous rotary of revolving fragment 3
When rotor 3 is in contraction state, deformation mechanism is integrally in the form of annular discs（Such as Fig. 2）, when revolving fragment 3 stretches, deformation mechanism is in integrally
Flap（Such as Fig. 6）, because the revolving fragment 3 is the design based on spiral of Archimedes, in complete tightening state, revolving fragment 3
Between be brought into close contact.
Transmission mechanism 2 includes idler gear 21, and the idler gear 21 is centrally disposed fluted, the axle of the idler gear 21
To mounting hole is additionally provided with, steering wheel flange is accommodated when can be used to install steering wheel along the groove, while facilitating steering wheel axle with centre
The fixation of gear 21.The driven gear（22,23）It is uniformly distributed along idler gear 21 is circumferential, the driven gear is divided into high convex
Platform driven gear 22 and low boss driven gear 23, two kinds of driven gears（22,23）It is alternately distributed, the driven gear is and institute
Idler gear 21 is stated to engage.
The preferred transmission mechanism can be used isodiametric gear drive, and module is all 0.5, and the number of teeth is 80, in
Between the thickness of gear 21 be 2.5 times of driven gear thickness, adjacent driven gear（22,23）Boss height it is different, it is described from
Moving gear（22,23）Circumferentially angularly it is alternately distributed in 120 degree along idler gear.
Revolving fragment 3 is uniformly distributed along idler gear 21 is circumferential, the revolving fragment 3 and the high boss driven gear 22 or
Low boss driven gear 23 is fixedly connected, the driven pulley（22,23）The revolving fragment 3 is connected with steering wheel 1, the revolving fragment
Fluted 31 are set on 3（Such as Fig. 3）, the groove 31 can be used for installed thrust bearing, between reduction revolving fragment 3 and steering wheel 1
Frictional force, further reduces energy loss.
A kind of robot deformation component based on spiral of Archimedes, the connection steering wheel 4 and the symmetrical cloth of the steering wheel 1
Put, the driven revolving fragment 6 being arranged symmetrically with the revolving fragment 3 be connected with the connection steering wheel 4, the driven revolving fragment 6 with
The revolving fragment is corresponded, and follows revolving fragment synchronous rotary.
Preferably, fixed through screw by two second connecting rods 7 between the driven revolving fragment 6 and the revolving fragment 3
Connection；More driven revolving fragments 6 are consistent with the shape and structure size of the revolving fragment 3, and the driven revolving fragment 6 is clamped
Shoulder hole, the shoulder hole are provided with by screw connection, the connecting portion on driven revolving fragment 6 between two panels connection steering wheel 4
Interior installed thrust bearing, is rolling friction between thrust bearing and the connection steering wheel 4, reduces driven revolving fragment 6 and is connected rudder
Frictional force between disk 4, and then improve capacity usage ratio.
Fig. 3 is the structural representation of revolving fragment of the present invention, and reference picture 3, revolving fragment 3 is based on spiral of Archimedes design
Contour structures, the revolving fragment 3 includes first end and the second end, and shown first end is provided with shoulder hole 31, the shoulder hole
Can be used for installed thrust bearing, second end is provided with multiple connecting holes 33, and the connecting hole can be used for the machines such as installation leg foot
Device people's ground-engaging element, is provided with multiple circular arc elongated holes between the first end and second end, on the one hand the elongated hole subtracts
The weight of light revolving fragment 3, on the other hand prevents revolving fragment from being interfered with other connectors such as screw in motion process.
Fig. 4 is the structural representation of steering wheel of the present invention, and Fig. 5 is the structural representation of present invention connection steering wheel, the He of reference picture 4
Fig. 5, steering wheel 1 is consistent with the connection outer shape of steering wheel 4 and size；It is in petal-shaped that steering wheel 1 is overall, and connection is provided with each petal
The shoulder hole 11 of head rod 5 and revolving fragment 3, the middle part of the steering wheel 1 is provided with the mounting hole 12 of connection steering wheel；Institute
It is in petal-shaped to state connection steering wheel 4 overall, and shoulder hole 42 is provided with each petal, and being equally applicable to installation in the shoulder hole pushes away
Power bearing, reduces the frictional force between driven revolving fragment 6 and connection steering wheel 6.
The preferred petal steering wheel 1 and connection steering wheel 6 are set to 6 valves for installing revolving fragment 3 or driven revolving fragment 6
And connecting rod 5.
Fig. 6 is the top view of an embodiment of the present invention extended configuration.
Present pre-ferred embodiments are illustrated above, but the present invention is not limited to the embodiment, is familiar with
Those skilled in the art can also make a variety of equivalent variations or replacements, these etc. on the premise of without prejudice to spirit of the invention
Same deformation or replacement is all contained in the application claims limited range.
Claims (10)
1. a kind of robot deformation component based on spiral of Archimedes, it is characterised in that including：Steering wheel, transmission mechanism and rotation
Rotor；The transmission mechanism is connected with steering wheel, and the revolving fragment is circumferentially distributed along transmission mechanism, and connects with the transmission mechanism
Connect, the transmission mechanism drives the revolving fragment to stretch or shrink, the deformation component is in integrally valve when the revolving fragment stretches
Shape, the deformation component is integrally disc-shaped when the revolving fragment shrinks.
2. the robot deformation component based on spiral of Archimedes according to claim 1, it is characterised in that：The rotation
Rotor is the shape design based on spiral of Archimedes, when the revolving fragment shrinks, along the circumferentially distributed rotation of transmission mechanism
It is brought into close contact between piece.
3. the robot deformation component based on spiral of Archimedes according to claim 2, it is characterised in that:The rotation
Rotor includes first end and the second end, and the first end of the revolving fragment is provided with shoulder hole and mounting hole, is set on second end
It is equipped with connecting hole.
4. the robot deformation component based on spiral of Archimedes according to claim 3, it is characterised in that：Described
Camber elongated hole is provided between one end and the second end.
5. the robot deformation component based on spiral of Archimedes according to claim 1, it is characterised in that：The biography
Motivation structure be gear drive, including idler gear, along the circumferentially distributed driven gear of idler gear, and steering wheel, it is described
Steering wheel is connected with the idler gear.
6. the robot deformation component based on spiral of Archimedes according to claim 5, it is characterised in that：It is described from
Moving gear is evenly distributed on steering wheel, and adjacent driven gear has the boss that height is not waited.
7. the robot deformation component based on spiral of Archimedes according to claim 1, it is characterised in that：The rudder
Disk is in petal-shaped.
8. the robot deformation component based on spiral of Archimedes according to claim 1, it is characterised in that：Also include
The connection steering wheel and head rod being arranged symmetrically with the steering wheel, the connection steering wheel pass through head rod with the steering wheel
It is fixedly connected.
9. the robot deformation component based on spiral of Archimedes according to claim 8, it is characterised in that：The company
Connect and be provided with steering wheel driven revolving fragment, the driven revolving fragment is corresponding with the revolving fragment on steering wheel, the driven rotation
The second connecting rod is provided between rotor and the revolving fragment, be fixedly connected for the two by second connecting rod.
10. the robot deformation component based on spiral of Archimedes according to claim 9, it is characterised in that：It is described
Driven revolving fragment is completely the same with the revolving fragment shape and structure, and the driven revolving fragment is synchronized with the movement with the revolving fragment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710109403.3A CN106892012A (en) | 2017-02-27 | 2017-02-27 | A kind of robot deformation component based on spiral of Archimedes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710109403.3A CN106892012A (en) | 2017-02-27 | 2017-02-27 | A kind of robot deformation component based on spiral of Archimedes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106892012A true CN106892012A (en) | 2017-06-27 |
Family
ID=59184331
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710109403.3A Pending CN106892012A (en) | 2017-02-27 | 2017-02-27 | A kind of robot deformation component based on spiral of Archimedes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106892012A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972761A (en) * | 2017-12-16 | 2018-05-01 | 燕胜 | A kind of helix-deformed running gear |
| CN110316274A (en) * | 2019-06-18 | 2019-10-11 | 北京工业大学 | A kind of imitative lizard robot of walking and scrolling function |
| CN112595209A (en) * | 2021-01-08 | 2021-04-02 | 中冶城市投资控股有限公司 | Floor thickness measuring device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2000240C1 (en) * | 1990-11-23 | 1993-09-07 | Гирич В.Н. | Vehicle walking mover |
| CN101088835A (en) * | 2007-06-15 | 2007-12-19 | 哈尔滨工程大学 | Modular mechanical crab |
| CN101948011A (en) * | 2010-09-09 | 2011-01-19 | 北京航空航天大学 | Hexapod universal walking multifunctional moonshot robot |
| CN103693124A (en) * | 2013-05-24 | 2014-04-02 | 北京航空航天大学 | Transformable spherical robot |
| CN104260605A (en) * | 2014-10-16 | 2015-01-07 | 北京理工大学 | Air-ground amphibious spherical metamorphic robot based on metamorphic principle |
-
2017
- 2017-02-27 CN CN201710109403.3A patent/CN106892012A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2000240C1 (en) * | 1990-11-23 | 1993-09-07 | Гирич В.Н. | Vehicle walking mover |
| CN101088835A (en) * | 2007-06-15 | 2007-12-19 | 哈尔滨工程大学 | Modular mechanical crab |
| CN101948011A (en) * | 2010-09-09 | 2011-01-19 | 北京航空航天大学 | Hexapod universal walking multifunctional moonshot robot |
| CN103693124A (en) * | 2013-05-24 | 2014-04-02 | 北京航空航天大学 | Transformable spherical robot |
| CN104260605A (en) * | 2014-10-16 | 2015-01-07 | 北京理工大学 | Air-ground amphibious spherical metamorphic robot based on metamorphic principle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972761A (en) * | 2017-12-16 | 2018-05-01 | 燕胜 | A kind of helix-deformed running gear |
| CN107972761B (en) * | 2017-12-16 | 2020-10-16 | 苏州元联科技创业园管理有限公司 | Walking device with spiral deformation |
| CN110316274A (en) * | 2019-06-18 | 2019-10-11 | 北京工业大学 | A kind of imitative lizard robot of walking and scrolling function |
| CN112595209A (en) * | 2021-01-08 | 2021-04-02 | 中冶城市投资控股有限公司 | Floor thickness measuring device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170627 |