CN107697177A - A kind of deformable hexahedron rolling mechanism - Google Patents
A kind of deformable hexahedron rolling mechanism Download PDFInfo
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- CN107697177A CN107697177A CN201710809555.4A CN201710809555A CN107697177A CN 107697177 A CN107697177 A CN 107697177A CN 201710809555 A CN201710809555 A CN 201710809555A CN 107697177 A CN107697177 A CN 107697177A
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- expansion link
- connection sheet
- cross
- cross axle
- facet
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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
A kind of deformable hexahedron rolling mechanism, including the first to the 6th cross facet, first to the 8th the second cross facets of summit, the first cross facet, the 5th cross facet are connected by cross axle with the first summit；Second cross facet, the 3rd cross facet, the first cross facet are connected by cross axle with the second summit；3rd cross facet, the 4th cross facet, the first cross facet are connected by cross axle with the 3rd summit：4th cross facet, the 5th cross facet, the first cross facet are connected by cross axle with the 4th summit；6th cross facet, the 5th cross facet, the second cross facet are connected by cross axle with the 5th summit；6th cross facet, the 3rd cross facet, the second cross facet are connected by cross axle with the 6th summit；6th cross facet, the 4th cross facet, the 3rd cross facet are connected by cross axle with the 7th summit；6th cross facet, the 4th cross facet, the 5th cross facet are connected by cross axle with the 8th summit.The mechanism can realize that any direction moves by overall deformation, available for fields such as teaching.
Description
Technical field
The present invention relates to a kind of rolling mechanism, and in particular to a kind of deformable hexahedron rolling mechanism.
Background technology
Chinese patent application CN101973319A discloses a kind of rolling hexahedral walking mechanism.The mechanism is by four branch
Chain, two cross-bar compositions, can be achieved the movement and steering in plane under effect of inertia.It is only one that the mechanism contacts with ground
Individual side chain, contact area is smaller, and kinetic stability is poor.
The content of the invention
The technical problem to be solved in the present invention：On the basis of existing hexahedron rolling mechanism, designed, increased using crossing rod piece
Strong mechanism kinematic stability, while increase mechanism steering angle adjusting range.
Technical scheme：
A kind of deformable hexahedron rolling mechanism, it is characterised in that：Including the first to the 6th cross facet, the first to the 8th top
Point.
First cross facet includes：First expansion link, the second expansion link, the first upper left connection sheet, the first upper right connection sheet,
One lower-left connection sheet, the first bottom right connection sheet, the 3rd expansion link, the 4th expansion link；First expansion link passes through with the 3rd expansion link
First upper right connection sheet, the first bottom right connection sheet are fixedly connected；Second expansion link is connected with the 4th expansion link by the first upper left
Piece, the first upper right connection sheet are fixedly connected；First upper left connection sheet and the first upper right connection sheet, the first lower-left connection sheet and first
Bottom right connection sheet is made up of connecting shaft and is rotatablely connected, and thus completes the connection of the first cross facet.
Second cross facet includes：5th expansion link, the 6th expansion link, the second upper left connection sheet, the second upper right connection sheet,
Two lower-left connection sheets, the second bottom right connection sheet, the 7th expansion link, the 8th expansion link；5th expansion link passes through with the 7th expansion link
Second upper right connection sheet, the second bottom right connection sheet are fixedly connected；6th expansion link is connected with the 8th expansion link by the second upper left
Piece, the second upper right connection sheet are fixedly connected；Second upper left connection sheet and the second upper right connection sheet, the second lower-left connection sheet and second
Bottom right connection sheet is made up of connecting shaft and is rotatablely connected, and thus completes the connection of the second cross facet.
3rd cross facet includes：9th expansion link, the tenth expansion link, the 3rd upper left connection sheet, the 3rd upper right connection sheet,
Three lower-left connection sheets, the 3rd bottom right connection sheet, the 11st expansion link, the 12nd expansion link；9th expansion link and the 11st stretches
Bar is fixedly connected by the 3rd upper right connection sheet, the 3rd bottom right connection sheet；Tenth expansion link and the 12nd expansion link pass through the 3rd
Upper left connection sheet, the 3rd upper right connection sheet are fixedly connected；3rd upper left connection sheet is connected with the 3rd upper right connection sheet, the 3rd lower-left
Piece and the 3rd bottom right connection sheet are made up of connecting shaft to be rotatablely connected, and thus completes the connection of the 3rd cross facet.
4th cross facet includes：13rd expansion link, the 14th expansion link, the 4th upper left connection sheet, the connection of the 4th upper right
Piece, the 4th lower-left connection sheet, the 4th bottom right connection sheet, the 15th expansion link, the 16th expansion link；13rd expansion link and the tenth
Five expansion links are fixedly connected by the 4th upper right connection sheet, the 4th bottom right connection sheet；14th expansion link and the 16th expansion link
It is fixedly connected by the 4th upper left connection sheet, the 4th upper right connection sheet；4th upper left connection sheet and the 4th upper right connection sheet, the 4th
Lower-left connection sheet is made up of connecting shaft with the 4th bottom right connection sheet and is rotatablely connected, and thus completes the connection of the 4th cross facet.
5th cross facet includes：17th expansion link, the 18th expansion link, the 5th upper left connection sheet, the connection of the second upper right
Piece, the 5th lower-left connection sheet, the 5th bottom right connection sheet, the 19th expansion link, the 20th expansion link；17th expansion link and the tenth
Nine expansion links are fixedly connected by the 5th upper right connection sheet, the 5th bottom right connection sheet；18th expansion link and the 20th expansion link
It is fixedly connected by the 5th upper left connection sheet, the 5th upper right connection sheet；5th upper left connection sheet and the 5th upper right connection sheet, the 5th
Lower-left connection sheet is made up of connecting shaft with the 5th bottom right connection sheet and is rotatablely connected, and thus completes the connection of the 5th cross facet.
6th cross facet includes：21st expansion link, the 22nd expansion link, the 6th upper left connection sheet, the 6th upper right
Connection sheet, the 6th lower-left connection sheet, the 6th bottom right connection sheet, the 23rd expansion link, the 24th expansion link；21st stretches
Contracting bar is fixedly connected with the 23rd expansion link by the 6th upper right connection sheet, the 6th bottom right connection sheet；22nd expansion link
It is fixedly connected with the 24th expansion link by the 6th upper left connection sheet, the 6th upper right connection sheet；6th upper left connection sheet and the
Six upper right connection sheets, the 6th lower-left connection sheet and the 6th bottom right connection sheet are made up of connecting shaft and are rotatablely connected, and thus complete the
The connection of six cross facets.
First summit includes：Cross axle, the first right cross axle in one or three fork arm, the first left cross axle, first；One or three
Fork arm is evenly equipped with connector at three, connects and composes rotation with cross axle, the first right cross axle in the first left cross axle, first respectively
It is secondary.
Second summit includes：Cross axle, the second right cross axle in two or three fork arm, the second left cross axle, second；Two or three
Fork arm is evenly equipped with connector at three, connects and composes rotation with cross axle, the second right cross axle in the second left cross axle, second respectively
It is secondary.
3rd summit includes：Cross axle, the 3rd right cross axle in three or three fork arm, the 3rd left cross axle, the 3rd；Three or three
Fork arm is evenly equipped with connector at three, connects and composes rotation with cross axle, the 3rd right cross axle in the 3rd left cross axle, the 3rd respectively
It is secondary.
4th summit includes：Cross axle, the 4th right cross axle in four or three fork arm, the 4th left cross axle, the 4th；Four or three
Fork arm is evenly equipped with connector at three, connects and composes rotation with cross axle, the 4th right cross axle in the 4th left cross axle, the 4th respectively
It is secondary.
5th summit includes：Cross axle, are five right cross axles in five or three fork arm, the 5th left cross axle, the 5th；5th
Three fork arms are evenly equipped with connector at three, connect and compose turn with cross axle, the 5th right cross axle in the 5th left cross axle, the 5th respectively
Dynamic pair.
6th summit includes：Cross axle, the 6th right cross axle in six or three fork arm, the 6th left cross axle, the 6th；Six or three
Fork arm is evenly equipped with connector at three, connects and composes rotation with cross axle, the 6th right cross axle in the 6th left cross axle, the 6th respectively
It is secondary.
7th summit includes：Cross axle, the 7th right cross axle in seven or three fork arm, the 7th left cross axle, the 7th；Seven or three
Fork arm is evenly equipped with connector at three, connects and composes rotation with cross axle, the 7th right cross axle in the 7th left cross axle, the 7th respectively
It is secondary.
8th summit includes：Cross axle, the 8th right cross axle in eight or three fork arm, the 8th left cross axle, the 8th；Eight or three
Fork arm is evenly equipped with connector at three, connects and composes rotation with cross axle, the 8th right cross axle in the 8th left cross axle, the 8th respectively
It is secondary.
In the first left cross axle on the first summit, first cross axle, the first right cross axle respectively with the second cross facet
Six expansion links, the second expansion link of the first cross facet, the 17th expansion link of the 5th cross facet connect and compose revolute pair.
In the second left cross axle on the second summit, second cross axle, the second right cross axle respectively with the second cross facet
Five expansion links, the tenth expansion link of the 3rd cross facet, the 3rd expansion link of the first cross facet connect and compose revolute pair.
In the 3rd left cross axle on the 3rd summit, the 3rd cross axle, the 3rd right cross axle respectively with the 3rd cross facet
Nine expansion links, the 14th expansion link of the 4th cross facet, the 4th expansion link of the first cross facet connect and compose revolute pair.
In the 4th left cross axle on the 4th summit, the 4th cross axle, the 4th right cross axle respectively with the 4th cross facet
13 expansion links, the 18th expansion link of the 5th cross facet, the first expansion link of the first cross facet connect and compose revolute pair.
In the 5th left cross axle on the 5th summit, the 5th cross axle, the 5th right cross axle respectively with the 6th cross facet
22 expansion links, the 19th expansion link of the 5th cross facet, the 8th expansion link of the second cross facet connect and compose revolute pair.
In the 6th left cross axle on the 6th summit, the 6th cross axle, the 6th right cross axle respectively with the 6th cross facet
23 expansion links, the 11st expansion link of the 3rd cross facet, the 7th expansion link of the second cross facet connect and compose revolute pair.
In the 7th left cross axle on the 7th summit, the 7th cross axle, the 7th right cross axle respectively with the 6th cross facet
24 expansion links, the 16th expansion link, the 12nd expansion link of the 3rd cross facet of the 4th cross facet connect and compose revolute pair.
In the 8th left cross axle on the 8th summit, the 8th cross axle, the 8th right cross axle respectively with the 6th cross facet
21 expansion links, the 15th expansion link, the 20th expansion link of the 5th cross facet of the 4th cross facet connect and compose revolute pair.
Thus the connection of deformable hexahedron rolling mechanism is completed.
First expansion link is provided with outer bar, interior bar, and one end is provided with the first fixing hole, and the other end is provided with the first fork configuration.
Second to the 24th Telescopic rod structure is identical with the first expansion link.
Sink in the middle part of first upper left connection sheet, one end is provided with left fixing hole, and the other end is provided with right fixing hole, during middle part is provided with
Heart connecting hole.
Second to the 6th upper left connection sheet, the first to the 6th upper right connection sheet, the first to the 6th lower-left connection sheet, first to
6th bottom right connection chip architecture is identical with the first upper left connection sheet.
One or three fork arm is three bifurcation structures, and each bifurcated is provided with cross axle connecting hole.
Second to the 8th 3 fork arm structure is identical with the one or three fork arm.
A kind of deformable hexahedron rolling mechanism can realize straight trip and turning function.
Step of keeping straight on is as follows：
A1. the first to the 24th expansion link is in most short status.
A2. the 9th expansion link, the 11st expansion link, the 18th expansion link, the 19th expansion link are synchronously extended to most long.
A3. the 9th expansion link, the 11st expansion link, the 18th expansion link, the 19th expansion link synchronously foreshorten to initial shape
State.
A4. the tenth expansion link, the 12nd expansion link, the 17th expansion link, the 20th expansion link are synchronously extended to most long.
A5. the tenth expansion link, the 12nd expansion link, the 17th expansion link, the 20th expansion link synchronously foreshorten to initial shape
State.
Replace successively, complete straight trip campaign of the mechanism along the first summit to the 4th zenith directions.
Divertical motion step is as follows：
B1. the first to the 24th expansion link is in most short status.
B2. the 9th expansion link, the 11st expansion link, the 18th expansion link, the 19th expansion link are synchronously extended to most long；The
Five expansion links, the 8th expansion link, the 14th expansion link, the 15th expansion link are synchronously extended to midpoint.
B3. the 9th expansion link, the 11st expansion link, the 18th expansion link, the 19th expansion link, the 5th expansion link, the 8th
Expansion link, the 14th expansion link, the 15th expansion link synchronously foreshorten to original state.
Beneficial effects of the present invention：Deformable hexahedron rolling mechanism of the present invention, driving part are 24
Expansion link, by planning that it is flexible which part expansion link coordinates, change robot center of gravity, make it equal when any cross facet lands
The all around straight trip of four direction and turning function can be achieved；Connecting portion uses modularized design, easy disassembly, storage simultaneously
Deposit and transport, and the structure on the common summit of other three lines such as tetrahedron can be assembled into.Meanwhile the mechanism structure is simple, cost is cheap,
Easily fabricated and Project Realization.
Brief description of the drawings
The deformable hexahedron rolling mechanism graphics of Fig. 1
Fig. 2 the first cross facet graphics
Fig. 3 the first expansion link graphics
The first upper lefts of Fig. 4 connection sheet graphics
The first summits of Fig. 5 graphics
The deformable hexahedron rolling mechanism straight trip motion diagrams of Fig. 6
The deformable hexahedron rolling mechanism divertical motion figures of Fig. 7
Embodiment
The present invention is described in further details below in conjunction with the accompanying drawings.
A kind of deformable hexahedron rolling mechanism, as shown in figure 1, including first to the 6th cross facet A, B, C, D, E, F,
One to the 8th summit G, H, I, J, K, L, M, N.
As shown in figure 1, the first cross facet A includes：First expansion link A1, the second expansion link A2, the first upper left connection sheet A3,
First upper right connection sheet A4, the first lower-left connection sheet A5, the first bottom right connection sheet A6, the 3rd expansion link A7, the 4th expansion link A8；
First expansion link A1 is fixedly connected with the 3rd expansion link A7 by the first upper right connection sheet A4, the first bottom right connection sheet A6；Second
Expansion link A2 is fixedly connected with the 4th expansion link A8 by the first upper left connection sheet A3, the first upper right connection sheet A4；First upper left
Connection sheet A3 and the first upper right connection sheet A4, the first lower-left connection sheet A5 and the first bottom right connection sheet A6 are made up of connecting shaft to be turned
Dynamic connection, thus completes the first cross facet A connection.
As shown in figure 1, the second cross facet B includes：5th expansion link B1, the 6th expansion link B2, the second upper left connection sheet B3,
Second upper right connection sheet B4, the second lower-left connection sheet B5, the second bottom right connection sheet B6, the 7th expansion link B7, the 8th expansion link B8；
5th expansion link B1 is fixedly connected with the 7th expansion link B7 by the second upper right connection sheet B4, the second bottom right connection sheet B6；6th
Expansion link B2 is fixedly connected with the 8th expansion link B8 by the second upper left connection sheet B3, the second upper right connection sheet B4；Second upper left
Connection sheet B3 and the second upper right connection sheet B4, the second lower-left connection sheet B5 and the second bottom right connection sheet B6 are made up of connecting shaft to be turned
Dynamic connection, thus completes the second cross facet B connection.
As shown in figure 1, the 3rd cross facet C includes：9th expansion link C1, the tenth expansion link C2, the 3rd upper left connection sheet C3,
3rd upper right connection sheet C4, the 3rd lower-left connection sheet C5, the 3rd bottom right connection sheet C6, the 11st expansion link C7, the 12nd are stretched
Bar C8；9th expansion link C1 and the 11st expansion link C7 is fixed by the 3rd upper right connection sheet C4, the 3rd bottom right connection sheet C6 to be connected
Connect；Tenth expansion link C2 is fixedly connected with the 12nd expansion link C8 by the 3rd upper left connection sheet C3, the 3rd upper right connection sheet C4；
3rd upper left connection sheet C3 passes through with the 3rd upper right connection sheet C4, the 3rd lower-left connection sheet C5 with the 3rd bottom right connection sheet C6 to be connected
Axle forms rotation connection, thus completes the 3rd cross facet C connection.
As shown in figure 1, the 4th cross facet D includes：13rd expansion link D1, the 14th expansion link D2, the connection of the 4th upper left
Piece D3, the 4th upper right connection sheet D4, the 4th lower-left connection sheet D5, the 4th bottom right connection sheet D6, the 15th expansion link D7, the 16th
Expansion link D8；13rd expansion link D1 and the 15th expansion link D7 pass through the 4th upper right connection sheet D4, the 4th bottom right connection sheet D6
It is fixedly connected；14th expansion link D2 and the 16th expansion link D8 pass through the 4th upper left connection sheet D3, the 4th upper right connection sheet D4
It is fixedly connected；4th upper left connection sheet D3 and the 4th upper right connection sheet D4, the 4th lower-left connection sheet D5 and the 4th bottom right connection sheet
D6 is made up of connecting shaft and is rotatablely connected, and thus completes the 4th cross facet D connection.
As shown in figure 1, the 5th cross facet E includes：17th expansion link E1, the 18th expansion link E2, the connection of the 5th upper left
Piece E3, the second upper right connection sheet E4, the 5th lower-left connection sheet E5, the 5th bottom right connection sheet E6, the 19th expansion link E7, the 20th
Expansion link E8；17th expansion link E1 and the 19th expansion link E7 pass through the 5th upper right connection sheet E4, the 5th bottom right connection sheet E6
It is fixedly connected；18th expansion link E2 and the 20th expansion link E8 pass through the 5th upper left connection sheet E3, the 5th upper right connection sheet E4
It is fixedly connected；5th upper left connection sheet E3 and the 5th upper right connection sheet E4, the 5th lower-left connection sheet E5 and the 5th bottom right connection sheet
E6 is made up of connecting shaft and is rotatablely connected, and thus completes the 5th cross facet E connection.
As shown in figure 1, the 6th cross facet F includes：21st expansion link F1, the 22nd expansion link F2, the 6th upper left
Connection sheet F3, the 6th upper right connection sheet F4, the 6th lower-left connection sheet F5, the 6th bottom right connection sheet F6, the 23rd expansion link F7,
24th expansion link F8；21st expansion link F1 and the 23rd expansion link F7 pass through the 6th upper right connection sheet F4, the 6th
Bottom right connection sheet F6 is fixedly connected；22nd expansion link F2 and the 24th expansion link F8 by the 6th upper left connection sheet F3,
6th upper right connection sheet F4 is fixedly connected；6th upper left connection sheet F3 and the 6th upper right connection sheet F4, the 6th lower-left connection sheet F5
It is made up of and is rotatablely connected connecting shaft with the 6th bottom right connection sheet F6, thus completes the 6th cross facet F connection.
As shown in figure 1, the first summit G includes：Cross axle G3, in one or three fork arm G1, the first left cross axle G2, first
One right cross axle G4；One or three fork arm G1 is evenly equipped with connector at three, respectively with cross axle in the first left cross axle G2, first
G3, the first right cross axle G4 connect and compose revolute pair.
As shown in figure 1, the second summit H includes：Cross axle H3, in two or three fork arm H1, the second left cross axle H2, second
Two right cross axle H4；Two or three fork arm H1 is evenly equipped with connector at three, respectively with cross axle in the second left cross axle H2, second
H3, the second right cross axle H4 connect and compose revolute pair.
As shown in figure 1, the 3rd summit I includes：Cross axle I3, in three or three fork arm I1, the 3rd left cross axle I2, the 3rd
Three right cross axle I4；Three or three fork arm I1 is evenly equipped with connector at three, respectively with cross axle in the 3rd left cross axle I2, the 3rd
I3, the 3rd right cross axle I4 connect and compose revolute pair.
As shown in figure 1, the 4th summit J includes：Cross axle J3, in four or three fork arm J1, the 4th left cross axle J2, the 4th
Four right cross axle J4；Four or three fork arm J1 is evenly equipped with connector at three, respectively with cross axle in the 4th left cross axle J2, the 4th
J3, the 4th right cross axle J4 connect and compose revolute pair.
As shown in figure 1, the 5th summit K includes：Cross axle K3, in five or three fork arm K1, the 5th left cross axle K2, the 5th
For five right cross axle K4；Five or three fork arm K1 is evenly equipped with connector at three, respectively with cross axle in the 5th left cross axle K2, the 5th
K3, the 5th right cross axle K4 connect and compose revolute pair.
As shown in figure 1, the 6th summit L includes：Cross axle L3, in six or three fork arm L1, the 6th left cross axle L2, the 6th
Six right cross axle L4；Six or three fork arm L1 is evenly equipped with connector at three, respectively with cross axle in the 6th left cross axle L2, the 6th
L3, the 6th right cross axle L4 connect and compose revolute pair.
As shown in figure 1, the 7th summit M includes：Cross axle M3, in seven or three fork arm M1, the 7th left cross axle M2, the 7th
Seven right cross axle M4；Seven or three fork arm M1 is evenly equipped with connector at three, respectively with cross axle in the 7th left cross axle M2, the 7th
M3, the 7th right cross axle M4 connect and compose revolute pair.
As shown in figure 1, the 8th summit N includes：Cross axle N3, in eight or three fork arm N1, the 8th left cross axle N2, the 8th
Eight right cross axle N4；Eight or three fork arm N1 is evenly equipped with connector at three, respectively with cross axle in the 8th left cross axle N2, the 8th
N3, the 8th right cross axle N4 connect and compose revolute pair.
As shown in figure 1, cross axle G3, the first right cross axle G4 difference in the first summit G the first left cross axle G2, first
The second expansion link A2 of the 6th expansion link B2, the first cross facet A with the second cross facet B, the 17th of the 5th cross facet E the are stretched
Bar E1 connects and composes revolute pair.
As shown in figure 1, cross axle H3, the second right cross axle H4 difference in the second summit H the second left cross axle H2, second
The 5th expansion link B1, the 3rd cross facet C the tenth expansion link C2, the first cross facet A the 3rd expansion link with the second cross facet B
A7 connects and composes revolute pair.
As shown in figure 1, cross axle I3, the 3rd right cross axle I4 difference in the 3rd summit I the 3rd left cross axle I2, the 3rd
The 4th of the 9th expansion link C1, the 4th cross facet D the 14th expansion link D2, the first cross facet A with the 3rd cross facet C is flexible
Bar A8 connects and composes revolute pair；
As shown in figure 1, cross axle J3, the 4th right cross axle J4 difference in the 4th summit J the 4th left cross axle J2, the 4th
The 13rd expansion link D1, the 5th cross facet E the 18th expansion link E2 with the 4th cross facet D, the first of the first cross facet A stretch
Contracting bar A1 connects and composes revolute pair.
As shown in figure 1, cross axle K3, the 5th right cross axle K4 difference in the 5th summit K the 5th left cross axle K2, the 5th
The 22nd expansion link F2, the 5th cross facet E the 19th expansion link E7 with the 6th cross facet F, the 8th of the second cross facet B the
Expansion link B8 connects and composes revolute pair.
As shown in figure 1, cross axle L3, the 6th right cross axle L4 difference in the 6th summit L the 6th left cross axle L2, the 6th
The 23rd expansion link F7, the 3rd cross facet C the 11st expansion link C7 with the 6th cross facet F, the 7th of the second cross facet B the
Expansion link B7 connects and composes revolute pair.
As shown in figure 1, cross axle M3, the 7th right cross axle M4 difference in the 7th summit M the 7th left cross axle M2, the 7th
The 24th expansion link F8, the 4th cross facet D the 16th expansion link D8 with the 6th cross facet F, the tenth of the 3rd cross facet C the
Two expansion link C8 connect and compose revolute pair.
As shown in figure 1, cross axle N3, the 8th right cross axle N4 difference in the 8th summit N the 8th left cross axle N2, the 8th
The 21st expansion link F1, the 4th cross facet D the 15th expansion link D7 with the 6th cross facet F, the second of the 5th cross facet E
Ten expansion link E8 connect and compose revolute pair.
Thus the connection of deformable hexahedron rolling mechanism is completed.
As shown in figure 3, the first expansion link A1 is provided with outer bar A1b, interior bar A1c, one end is provided with the first fixing hole A1a, another
End is provided with the first fork configuration A1d.
Second to the 24th expansion link A2, A7, A8, B1, B2, B7, B8, C1, C2, C7, C8, D1, D2, D7, D8, E1,
E2, E7, E8, F1, F2, F7, F8 structure are identical with the first expansion link A1.
As shown in figure 4, sinking in the middle part of the first upper left connection sheet A3, one end is provided with left fixing hole A3a, and the other end is provided with right solid
Determine hole A3c, middle part is provided with center connecting hole A3b.
Described second to the 6th upper left connection sheet B3, C3, D3, E3, F3, first to the 6th upper right connection sheet A4, B4, C4,
D4, E4, F4, first to the 6th lower-left connection sheet A5, B5, C5, D5, E5, F5, first to the 6th bottom right connection sheet A6, B6, C6,
D6, E6, F6 structure are identical with the first upper left connection sheet A3.
As shown in figure 5, the one or three fork arm G1 is three bifurcation structures, each bifurcated is provided with cross axle connecting hole.
Second to the 8th 3 fork arm H1, I1, J1, K1, L1, M1, N1 structure is identical with the one or three fork arm G1.
A kind of deformable hexahedron rolling mechanism can realize straight trip and turning function；
As shown in fig. 6, straight trip step is as follows：
A1. first to the 24th expansion link A1, A2, A7, A8, B1, B2, B7, B8, C1, C2, C7, C8, D1, D2, D7,
D8, E1, E2, E7, E8, F1, F2, F7, F8 are in most short status.
A2. the 9th expansion link C1, the 11st expansion link C7, the 18th expansion link E2, the 19th expansion link E7 synchronously extend
To most long.
A3. the 9th expansion link C1, the 11st expansion link C7, the 18th expansion link E2, the 19th expansion link E7 synchronously shorten
To original state.
A4. the tenth expansion link C2, the 12nd expansion link C8, the 17th expansion link E1, the 20th expansion link E8 synchronously extend
To most long.
A5. the tenth expansion link C2, the 12nd expansion link C8, the 17th expansion link E1, the 20th expansion link E8 synchronously shorten
To original state.
Replace successively, complete straight trip campaign of the mechanism along the first summit G to the 4th summit J directions；
As shown in fig. 7, divertical motion step is as follows：
B1. first to the 24th expansion link A1, A2, A7, A8, B1, B2, B7, B8, C1, C2, C7, C8, D1, D2, D7,
D8, E1, E2, E7, E8, F1, F2, F7, F8 are in most short status.
B2. the 9th expansion link C1, the 11st expansion link C7, the 18th expansion link E2, the 19th expansion link E7 synchronously extend
To most long；5th expansion link B1, the 8th expansion link B8, the 14th expansion link D2, the 15th expansion link D7 are synchronously extended to midpoint.
B3. the 9th expansion link C1, the 11st expansion link C7, the 18th expansion link E2, the 19th expansion link E7, the 5th stretch
Bar B1, the 8th expansion link B8, the 14th expansion link D2, the 15th expansion link D7 synchronously foreshorten to original state.
Claims (3)
- A kind of 1. deformable hexahedron rolling mechanism, it is characterised in that：Including the first to the 6th cross facet (A, B, C, D, E, F), First to the 8th summit (G, H, I, J, K, L, M, N)；Described the first cross facet (A) includes：First expansion link (A1), the second expansion link (A2), the first upper left connection sheet (A3), First upper right connection sheet (A4), the first lower-left connection sheet (A5), the first bottom right connection sheet (A6), the 3rd expansion link (A7), the 4th Expansion link (A8)；First expansion link (A1) is connected with the 3rd expansion link (A7) by the first upper right connection sheet (A4), the first bottom right Piece (A6) is fixedly connected；Second expansion link (A2) passes through the first upper left connection sheet (A3), the first upper right with the 4th expansion link (A8) Connection sheet (A4) is fixedly connected；First upper left connection sheet (A3) and the first upper right connection sheet (A4), the first lower-left connection sheet (A5) It is made up of and is rotatablely connected connecting shaft with the first bottom right connection sheet (A6), thus completes the first cross facet (A) connection；Described the second cross facet (B) includes：5th expansion link (B1), the 6th expansion link (B2), the second upper left connection sheet (B3), Second upper right connection sheet (B4), the second lower-left connection sheet (B5), the second bottom right connection sheet (B6), the 7th expansion link (B7), the 8th Expansion link (B8)；5th expansion link (B1) is connected with the 7th expansion link (B7) by the second upper right connection sheet (B4), the second bottom right Piece (B6) is fixedly connected；6th expansion link (B2) passes through the second upper left connection sheet (B3), the second upper right with the 8th expansion link (B8) Connection sheet (B4) is fixedly connected；Second upper left connection sheet (B3) and the second upper right connection sheet (B4), the second lower-left connection sheet (B5) It is made up of and is rotatablely connected connecting shaft with the second bottom right connection sheet (B6), thus completes the second cross facet (B) connection；The 3rd described cross facet (C) includes：9th expansion link (C1), the tenth expansion link (C2), the 3rd upper left connection sheet (C3), 3rd upper right connection sheet (C4), the 3rd lower-left connection sheet (C5), the 3rd bottom right connection sheet (C6), the 11st expansion link (C7), 12 expansion links (C8)；9th expansion link (C1) passes through the 3rd upper right connection sheet (C4), the 3rd right side with the 11st expansion link (C7) Lower connection sheet (C6) is fixedly connected；Tenth expansion link (C2) and the 12nd expansion link (C8) by the 3rd upper left connection sheet (C3), 3rd upper right connection sheet (C4) is fixedly connected；3rd upper left connection sheet (C3) connects with the 3rd upper right connection sheet (C4), the 3rd lower-left Contact pin (C5) is made up of connecting shaft with the 3rd bottom right connection sheet (C6) and is rotatablely connected, and thus completes the company of the 3rd cross facet (C) Connect；The 4th described cross facet (D) includes：13rd expansion link (D1), the 14th expansion link (D2), the 4th upper left connection sheet (D3), the 4th upper right connection sheet (D4), the 4th lower-left connection sheet (D5), the 4th bottom right connection sheet (D6), the 15th expansion link (D7), the 16th expansion link (D8)；13rd expansion link (D1) passes through the 4th upper right connection sheet with the 15th expansion link (D7) (D4), the 4th bottom right connection sheet (D6) is fixedly connected；14th expansion link (D2) is left by the 4th with the 16th expansion link (D8) Upper connection sheet (D3), the 4th upper right connection sheet (D4) are fixedly connected；4th upper left connection sheet (D3) and the 4th upper right connection sheet (D4), the 4th lower-left connection sheet (D5) and the 4th bottom right connection sheet (D6) are made up of connecting shaft and are rotatablely connected, and thus complete the The connection of four cross facets (D)；The 5th described cross facet (E) includes：17th expansion link (E1), the 18th expansion link (E2), the 5th upper left connection sheet (E3), the second upper right connection sheet (E4), the 5th lower-left connection sheet (E5), the 5th bottom right connection sheet (E6), the 19th expansion link (E7), the 20th expansion link (E8)；17th expansion link (E1) passes through the 5th upper right connection sheet with the 19th expansion link (E7) (E4), the 5th bottom right connection sheet (E6) is fixedly connected；18th expansion link (E2) is left by the 5th with the 20th expansion link (E8) Upper connection sheet (E3), the 5th upper right connection sheet (E4) are fixedly connected；5th upper left connection sheet (E3) and the 5th upper right connection sheet (E4), the 5th lower-left connection sheet (E5) and the 5th bottom right connection sheet (E6) are made up of connecting shaft and are rotatablely connected, and thus complete the The connection of five cross facets (E)；The 6th described cross facet (F) includes：21st expansion link (F1), the 22nd expansion link (F2), the 6th upper left connect Contact pin (F3), the 6th upper right connection sheet (F4), the 6th lower-left connection sheet (F5), the 6th bottom right connection sheet (F6), the 23rd are stretched Contracting bar (F7), the 24th expansion link (F8)；21st expansion link (F1) is right by the 6th with the 23rd expansion link (F7) Upper connection sheet (F4), the 6th bottom right connection sheet (F6) are fixedly connected；22nd expansion link (F2) and the 24th expansion link (F8) it is fixedly connected by the 6th upper left connection sheet (F3), the 6th upper right connection sheet (F4)；6th upper left connection sheet (F3) and the Six upper right connection sheets (F4), the 6th lower-left connection sheet (F5) form the company of rotation with the 6th bottom right connection sheet (F6) by connecting shaft Connect, thus complete the connection of the 6th cross facet (F)；Described the first summit (G) includes：Cross axle (G3), in one or three fork arm (G1), the first left cross axle (G2), first One right cross axle (G4)；One or three fork arm (G1) is evenly equipped with connector at three, respectively with ten in the first left cross axle (G2), first Word axle (G3), the first right cross axle (G4) connect and compose revolute pair；Described the second summit (H) includes：Cross axle (H3), in two or three fork arm (H1), the second left cross axle (H2), second Two right cross axles (H4)；Two or three fork arm (H1) is evenly equipped with connector at three, respectively with ten in the second left cross axle (H2), second Word axle (H3), the second right cross axle (H4) connect and compose revolute pair；The 3rd described summit (I) includes：Cross axle (I3), in three or three fork arm (I1), the 3rd left cross axle (I2), the 3rd Three right cross axles (I4)；Three or three fork arm (I1) is evenly equipped with connector at three, respectively with ten in the 3rd left cross axle (I2), the 3rd Word axle (I3), the 3rd right cross axle (I4) connect and compose revolute pair；The 4th described summit (J) includes：Cross axle (J3), in four or three fork arm (J1), the 4th left cross axle (J2), the 4th Four right cross axles (J4)；Four or three fork arm (J1) is evenly equipped with connector at three, respectively with ten in the 4th left cross axle (J2), the 4th Word axle (J3), the 4th right cross axle (J4) connect and compose revolute pair；The 5th described summit (K) includes：Cross axle (K3), in five or three fork arm (K1), the 5th left cross axle (K2), the 5th For five right cross axles (K4)；Five or three fork arm (K1) is evenly equipped with connector at three, respectively with the 5th left cross axle (K2), the 5th Cross axle (K3), the 5th right cross axle (K4) connect and compose revolute pair；The 6th described summit (L) includes：Cross axle (L3), in six or three fork arm (L1), the 6th left cross axle (L2), the 6th Six right cross axles (L4)；Six or three fork arm (L1) is evenly equipped with connector at three, respectively with ten in the 6th left cross axle (L2), the 6th Word axle (L3), the 6th right cross axle (L4) connect and compose revolute pair；The 7th described summit (M) includes：Cross axle (M3), in seven or three fork arm (M1), the 7th left cross axle (M2), the 7th Seven right cross axles (M4)；Seven or three fork arm (M1) is evenly equipped with connector at three, respectively with ten in the 7th left cross axle (M2), the 7th Word axle (M3), the 7th right cross axle (M4) connect and compose revolute pair；The 8th described summit (N) includes：Cross axle (N3), in eight or three fork arm (N1), the 8th left cross axle (N2), the 8th Eight right cross axles (N4)；Eight or three fork arm (N1) is evenly equipped with connector at three, respectively with ten in the 8th left cross axle (N2), the 8th Word axle (N3), the 8th right cross axle (N4) connect and compose revolute pair；Cross axle (G3), the first right cross axle (G4) are respectively with second in the first left cross axle (G2) on the first summit (G), first 6th expansion link (B2) of cross facet (B), the second expansion link (A2) of the first cross facet (A), the 17th of the 5th cross facet (E) the Expansion link (E1) connects and composes revolute pair；Cross axle (H3), the second right cross axle (H4) are respectively with second in the second left cross axle (H2) on the second summit (H), second 5th expansion link (B1) of cross facet (B), the tenth expansion link (C2) of the 3rd cross facet (C), the 3rd of the first cross facet (A) the stretch Contracting bar (A7) connects and composes revolute pair；Cross axle (I3), the 3rd right cross axle (I4) are respectively with the 3rd in the 3rd left cross axle (I2) on the 3rd summit (I), the 3rd 9th expansion link (C1) of cross facet (C), the 14th expansion link (D2) of the 4th cross facet (D), the 4th of the first cross facet (A) the Expansion link (A8) connects and composes revolute pair；Cross axle (J3), the 4th right cross axle (J4) are respectively with the 4th in the 4th left cross axle (J2) on the 4th summit (J), the 4th 13rd expansion link (D1) of cross facet (D), the 18th expansion link (E2) of the 5th cross facet (E), the of the first cross facet (A) One expansion link (A1) connects and composes revolute pair；Cross axle (K3), the 5th right cross axle (K4) are respectively with the 6th in the 5th left cross axle (K2) on the 5th summit (K), the 5th 22nd expansion link (F2) of cross facet (F), the 19th expansion link (E7) of the 5th cross facet (E), the second cross facet (B) 8th expansion link (B8) connects and composes revolute pair；Cross axle (L3), the 6th right cross axle (L4) are respectively with the 6th in the 6th left cross axle (L2) on the 6th summit (L), the 6th 23rd expansion link (F7) of cross facet (F), the 11st expansion link (C7) of the 3rd cross facet (C), the second cross facet (B) 7th expansion link (B7) connects and composes revolute pair；Cross axle (M3), the 7th right cross axle (M4) are respectively with the 6th in the 7th left cross axle (M2) on the 7th summit (M), the 7th 24th expansion link (F8) of cross facet (F), the 16th expansion link (D8) of the 4th cross facet (D), the 3rd cross facet (C) 12nd expansion link (C8) connects and composes revolute pair；Cross axle (N3), the 8th right cross axle (N4) are respectively with the 6th in the 8th left cross axle (N2) on the 8th summit (N), the 8th 21st expansion link (F1) of cross facet (F), the 15th expansion link (D7) of the 4th cross facet (D), the 5th cross facet (E) 20th expansion link (E8) connects and composes revolute pair；Thus the connection of deformable hexahedron rolling mechanism is completed.
- A kind of 2. deformable hexahedron rolling mechanism according to claim 1, it is characterised in that：First expansion link (A1) is provided with outer bar (A1b), interior bar (A1c), and one end is provided with the first fixing hole (A1a), and the other end is provided with First fork configuration (A1d)；Described second to the 24th expansion link (A2, A7, A8, B1, B2, B7, B8, C1, C2, C7, C8, D1, D2, D7, D8, E1, E2, E7, E8, F1, F2, F7, F8) structure is identical with the first expansion link (A1)；Sinking in the middle part of first upper left connection sheet (A3), one end is provided with left fixing hole (A3a), and the other end is provided with right fixing hole (A3c), Middle part is provided with center connecting hole (A3b)；Described second to the 6th upper left connection sheet (B3, C3, D3, E3, F3), the first to the 6th upper right connection sheet (A4, B4, C4, D4, E4, F4), the first to the 6th lower-left connection sheet (A5, B5, C5, D5, E5, F5), the first to the 6th bottom right connection sheet (A6, B6, C6, D6, E6, F6) structure is identical with the first upper left connection sheet (A3)；One or three fork arm (G1) is three bifurcation structures, and each bifurcated is provided with cross axle connecting hole；Second to the 8th 3 fork arm (H1, I1, J1, K1, L1, M1, N1) structure is identical with the one or three fork arm (G1).
- A kind of 3. deformable hexahedron rolling mechanism according to claim 1, it is characterised in that：A kind of deformable hexahedron rolling mechanism can realize straight trip and turning function；Step of keeping straight on is as follows：A1. the first to the 24th expansion link (A1, A2, A7, A8, B1, B2, B7, B8, C1, C2, C7, C8, D1, D2, D7, D8, E1, E2, E7, E8, F1, F2, F7, F8) it is in most short status；A2. the 9th expansion link (C1), the 11st expansion link (C7), the 18th expansion link (E2), the 19th expansion link (E7) are synchronous Extend to most long；A3. the 9th expansion link (C1), the 11st expansion link (C7), the 18th expansion link (E2), the 19th expansion link (E7) are synchronous Foreshorten to original state；A4. the tenth expansion link (C2), the 12nd expansion link (C8), the 17th expansion link (E1), the 20th expansion link (E8) are synchronous Extend to most long；A5. the tenth expansion link (C2), the 12nd expansion link (C8), the 17th expansion link (E1), the 20th expansion link (E8) are synchronous Foreshorten to original state；Replace successively, complete straight trip campaign of the mechanism along the first summit (G) to the 4th summit (J) direction；Divertical motion step is as follows：B1. the first to the 24th expansion link (A1, A2, A7, A8, B1, B2, B7, B8, C1, C2, C7, C8, D1, D2, D7, D8, E1, E2, E7, E8, F1, F2, F7, F8) it is in most short status；B2. the 9th expansion link (C1), the 11st expansion link (C7), the 18th expansion link (E2), the 19th expansion link (E7) are synchronous Extend to most long；5th expansion link (B1), the 8th expansion link (B8), the 14th expansion link (D2), the 15th expansion link (D7) are same Step is extended to midpoint；B3. the 9th expansion link (C1), the 11st expansion link (C7), the 18th expansion link (E2), the 19th expansion link (E7), the 5th Expansion link (B1), the 8th expansion link (B8), the 14th expansion link (D2), the 15th expansion link (D7) synchronously foreshorten to initial shape State.
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