CN107697177B - Deformable hexahedron rolling mechanism - Google Patents
Deformable hexahedron rolling mechanism Download PDFInfo
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- CN107697177B CN107697177B CN201710809555.4A CN201710809555A CN107697177B CN 107697177 B CN107697177 B CN 107697177B CN 201710809555 A CN201710809555 A CN 201710809555A CN 107697177 B CN107697177 B CN 107697177B
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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
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Abstract
A deformable hexahedron rolling mechanism comprises first to sixth cross surfaces, first to eighth vertexes, a second cross surface, a first cross surface and a fifth cross surface, wherein the second cross surface, the first cross surface and the fifth cross surface are connected with the first vertexes through a cross shaft; the second cross surface, the third cross surface and the first cross surface are connected with the second vertex through a cross shaft; the third cross surface, the fourth cross surface and the first cross surface are connected with a third vertex through a cross shaft: the fourth cross surface, the fifth cross surface and the first cross surface are connected with the fourth vertex through a cross shaft; the sixth cross surface, the fifth cross surface and the second cross surface are connected with the fifth vertex through a cross shaft; the sixth cross surface, the third cross surface and the second cross surface are connected with the sixth vertex through a cross shaft; the sixth cross surface, the fourth cross surface and the third cross surface are connected with the seventh vertex through a cross shaft; the sixth cross surface, the fourth cross surface and the fifth cross surface are connected with the eighth vertex through a cross shaft. The mechanism can realize movement in any direction through integral deformation, and can be used in the fields of teaching and the like.
Description
Technical Field
The invention relates to a rolling mechanism, in particular to a deformable hexahedron rolling mechanism.
Background
Chinese patent application CN101973319A discloses a rolling hexahedral walking mechanism. The mechanism consists of four branched chains and two cross rods, and can realize movement and steering in a plane under the action of inertia. The mechanism is only a branched chain in contact with the ground, the contact area is small, and the motion stability is poor.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: on the basis of the existing hexahedron rolling mechanism, the design of cross rods is adopted, the motion stability of the mechanism is enhanced, and the steering angle adjusting range of the mechanism is increased.
The technical scheme of the invention is as follows:
a deformable hexahedron rolling mechanism is characterized in that: includes first to sixth intersecting surfaces and first to eighth vertexes.
The first intersecting surface includes: the device comprises a first telescopic rod, a second telescopic rod, a first left upper connecting sheet, a first right upper connecting sheet, a first left lower connecting sheet, a first right lower connecting sheet, a third telescopic rod and a fourth telescopic rod; the first telescopic rod and the third telescopic rod are fixedly connected through a first upper right connecting sheet and a first lower right connecting sheet; the second telescopic rod and the fourth telescopic rod are fixedly connected through a first upper left connecting sheet and a first upper right connecting sheet; the first upper left connecting sheet and the first upper right connecting sheet, and the first lower left connecting sheet and the first lower right connecting sheet form rotating connection through the connecting shafts, and therefore connection of the first cross surface is completed.
The second intersecting surface includes: the first telescopic rod, the second telescopic rod, the third telescopic rod, the fourth telescopic rod, the fifth telescopic rod, the sixth telescopic rod, the second left upper connecting sheet, the second right upper connecting sheet, the second left lower connecting sheet, the second right lower connecting sheet, the seventh telescopic rod and the eighth telescopic rod; the fifth telescopic rod and the seventh telescopic rod are fixedly connected through a second upper right connecting sheet and a second lower right connecting sheet; the sixth telescopic rod and the eighth telescopic rod are fixedly connected through a second upper left connecting sheet and a second upper right connecting sheet; the second upper left connecting sheet and the second upper right connecting sheet as well as the second lower left connecting sheet and the second lower right connecting sheet form rotating connection through the connecting shafts, and therefore connection of the second cross surface is completed.
The third intersecting surface includes: a ninth telescopic rod, a tenth telescopic rod, a third left upper connecting sheet, a third right upper connecting sheet, a third left lower connecting sheet, a third right lower connecting sheet, an eleventh telescopic rod and a twelfth telescopic rod; the ninth telescopic rod is fixedly connected with the eleventh telescopic rod through a third upper right connecting sheet and a third lower right connecting sheet; the tenth telescopic rod is fixedly connected with the twelfth telescopic rod through a third upper left connecting sheet and a third upper right connecting sheet; the third upper left connecting sheet and the third upper right connecting sheet as well as the third lower left connecting sheet and the third lower right connecting sheet form rotary connection through connecting shafts, and therefore connection of a third cross surface is completed.
The fourth intersecting surface includes: a thirteenth telescopic rod, a fourteenth telescopic rod, a fourth upper left connecting sheet, a fourth upper right connecting sheet, a fourth lower left connecting sheet, a fourth lower right connecting sheet, a fifteenth telescopic rod and a sixteenth telescopic rod; the thirteenth telescopic rod is fixedly connected with the fifteenth telescopic rod through a fourth upper right connecting sheet and a fourth lower right connecting sheet; the fourteenth telescopic rod is fixedly connected with the sixteenth telescopic rod through a fourth upper left connecting sheet and a fourth upper right connecting sheet; the fourth upper left connecting sheet and the fourth upper right connecting sheet as well as the fourth lower left connecting sheet and the fourth lower right connecting sheet form rotating connection through connecting shafts, and therefore connection of the fourth cross surface is completed.
The fifth intersecting surface includes: a seventeenth telescopic rod, an eighteenth telescopic rod, a fifth left upper connecting sheet, a fifth right upper connecting sheet, a fifth left lower connecting sheet, a fifth right lower connecting sheet, a nineteenth telescopic rod and a twentieth telescopic rod; the seventeenth telescopic rod and the nineteenth telescopic rod are fixedly connected through a fifth upper right connecting sheet and a fifth lower right connecting sheet; the eighteenth telescopic rod is fixedly connected with the twentieth telescopic rod through a fifth left upper connecting sheet and a fifth right upper connecting sheet; the fifth left upper connecting sheet and the fifth right upper connecting sheet as well as the fifth left lower connecting sheet and the fifth right lower connecting sheet form rotating connection through connecting shafts, and therefore the connection of the fifth cross surface is completed.
The sixth intersecting surface includes: a twenty-first telescopic rod, a twenty-second telescopic rod, a sixth left upper connecting sheet, a sixth right upper connecting sheet, a sixth left lower connecting sheet, a sixth right lower connecting sheet, a twenty-third telescopic rod and a twenty-fourth telescopic rod; the twenty-first telescopic rod and the twenty-third telescopic rod are fixedly connected through a sixth upper right connecting sheet and a sixth lower right connecting sheet; the twenty-second telescopic rod and the twenty-fourth telescopic rod are fixedly connected through a sixth left upper connecting sheet and a sixth right upper connecting sheet; and the sixth left upper connecting sheet and the sixth right upper connecting sheet as well as the sixth left lower connecting sheet and the sixth right lower connecting sheet form rotary connection through connecting shafts, so that the connection of a sixth cross surface is completed.
The first vertex includes: the first third fork rod, the first left cross shaft, the first middle cross shaft and the first right cross shaft; the first three-fork rod is uniformly provided with three connecting ports which are respectively connected with the first left cross shaft, the first middle cross shaft and the first right cross shaft to form a revolute pair.
The second vertex includes: the first third fork rod, the first left cross shaft, the first middle cross shaft and the first right cross shaft are arranged on the left side of the first cross shaft; and three connecting ports are uniformly distributed on the second three-fork rod and are respectively connected with the second left cross shaft, the second middle cross shaft and the second right cross shaft to form a revolute pair.
The third vertex includes: a third fork rod, a third left cross, a third middle cross and a third right cross; and three connecting ports are uniformly distributed on the third three-fork rod and are respectively connected with the third left cross shaft, the third middle cross shaft and the third right cross shaft to form a revolute pair.
The fourth vertex includes: a fourth third fork rod, a fourth left cross, a fourth middle cross and a fourth right cross; and the fourth three-fork rod is uniformly provided with three connecting ports which are respectively connected with the fourth left cross shaft, the fourth middle cross shaft and the fourth right cross shaft to form a revolute pair.
The fifth vertex includes: a fifth third yoke, a fifth left cross, a fifth middle cross, and a fifth right cross; and three connecting ports are uniformly distributed on the fifth three-fork rod and are respectively connected with the fifth left cross shaft, the fifth middle cross shaft and the fifth right cross shaft to form a revolute pair.
The sixth vertex includes: a sixth third yoke, a sixth left cross, a sixth middle cross and a sixth right cross; and three connecting ports are uniformly distributed on the sixth three-fork rod and are respectively connected with the sixth left cross shaft, the sixth middle cross shaft and the sixth right cross shaft to form a revolute pair.
The seventh vertex includes: a seventh third yoke, a seventh left cross, a seventh middle cross, and a seventh right cross; and the seventh three-fork rod is uniformly provided with three connecting ports which are respectively connected with the seventh left cross shaft, the seventh middle cross shaft and the seventh right cross shaft to form a revolute pair.
The eighth vertex includes: an eighth third fork rod, an eighth left cross, an eighth middle cross and an eighth right cross; and the eighth three-fork rod is uniformly provided with three connecting ports which are respectively connected with the eighth left cross shaft, the eighth middle cross shaft and the eighth right cross shaft to form a revolute pair.
The first left cross shaft, the first middle cross shaft and the first right cross shaft on the first vertex are respectively connected with the sixth telescopic rod, the second telescopic rod and the seventeenth telescopic rod on the second cross surface, the second telescopic rod and the fifth cross surface to form a revolute pair.
And the second left cross shaft, the second middle cross shaft and the second right cross shaft on the second vertex are respectively connected with the fifth telescopic rod of the second cross surface, the tenth telescopic rod of the third cross surface and the third telescopic rod of the first cross surface to form a revolute pair.
And a third left cross shaft, a third middle cross shaft and a third right cross shaft at the third vertex are respectively connected with a ninth telescopic rod at the third cross surface, a fourteenth telescopic rod at the fourth cross surface and a fourth telescopic rod at the first cross surface to form a revolute pair.
And a fourth left cross shaft, a fourth middle cross shaft and a fourth right cross shaft on the fourth vertex are respectively connected with a thirteenth telescopic rod on the fourth cross surface, an eighteenth telescopic rod on the fifth cross surface and a first telescopic rod on the first cross surface to form a revolute pair.
And a fifth left cross shaft, a fifth middle cross shaft and a fifth right cross shaft at the fifth vertex are respectively connected with a twenty-second telescopic rod of the sixth cross surface, a nineteenth telescopic rod of the fifth cross surface and an eighth telescopic rod of the second cross surface to form a revolute pair.
And the sixth left cross shaft, the sixth middle cross shaft and the sixth right cross shaft at the sixth vertex are respectively connected with the twenty-third telescopic rod at the sixth cross surface, the eleventh telescopic rod at the third cross surface and the seventh telescopic rod at the second cross surface to form a revolute pair.
And the seventh left cross shaft, the seventh middle cross shaft and the seventh right cross shaft at the seventh vertex are respectively connected with the twenty-fourth telescopic rod of the sixth cross surface, the sixteenth telescopic rod of the fourth cross surface and the twelfth telescopic rod of the third cross surface to form a revolute pair.
And the eighth left cross shaft, the eighth middle cross shaft and the eighth right cross shaft at the eighth vertex are respectively connected with the twenty-first telescopic rod at the sixth cross surface, the fifteenth telescopic rod at the fourth cross surface and the twentieth telescopic rod at the fifth cross surface to form a revolute pair.
Thereby completing the connection of the deformable hexahedral rolling mechanism.
The first telescopic rod is provided with an outer rod and an inner rod, one end of the first telescopic rod is provided with a first fixing hole, and the other end of the first telescopic rod is provided with a first fork-shaped structure.
The second to twenty-fourth telescopic rods have the same structure as the first telescopic rod.
The middle part of the first upper left connecting sheet sinks, one end of the first upper left connecting sheet is provided with a left fixing hole, the other end of the first upper left connecting sheet is provided with a right fixing hole, and the middle part of the first upper left connecting sheet is provided with a central connecting hole.
The structures of the second to sixth left upper connecting sheets, the first to sixth right upper connecting sheets, the first to sixth left lower connecting sheets, the first to sixth right lower connecting sheets are completely the same as the first left upper connecting sheet.
The first three-fork rod is of a three-fork structure, and each fork is provided with a cross shaft connecting hole.
The second to eighth three-fork rods have the same structure as the first three-fork rod.
The deformable hexahedron rolling mechanism can realize the functions of straight running and steering.
The straight-moving steps are as follows:
a1. the first to twenty-fourth telescopic rods are in the shortest state.
a2. The ninth telescopic rod, the eleventh telescopic rod, the eighteenth telescopic rod and the nineteenth telescopic rod are synchronously extended to the longest length.
a3. The ninth telescopic rod, the eleventh telescopic rod, the eighteenth telescopic rod and the nineteenth telescopic rod are synchronously shortened to the initial state.
a4. The tenth telescopic rod, the twelfth telescopic rod, the seventeenth telescopic rod and the twentieth telescopic rod are synchronously extended to the longest length.
a5. The tenth telescopic rod, the twelfth telescopic rod, the seventeenth telescopic rod and the twentieth telescopic rod are synchronously shortened to the initial state.
And sequentially alternating to finish the straight movement of the mechanism along the direction from the first vertex to the fourth vertex.
The steering movement steps are as follows:
b1. the first to twenty-fourth telescopic rods are in the shortest state.
b2. The ninth telescopic rod, the eleventh telescopic rod, the eighteenth telescopic rod and the nineteenth telescopic rod are synchronously extended to the longest length; the fifth telescopic rod, the eighth telescopic rod, the fourteenth telescopic rod and the fifteenth telescopic rod are synchronously extended to the middle point.
b3. The ninth telescopic rod, the eleventh telescopic rod, the eighteenth telescopic rod, the nineteenth telescopic rod, the fifth telescopic rod, the eighth telescopic rod, the fourteenth telescopic rod and the fifteenth telescopic rod are synchronously shortened to the initial state.
The invention has the beneficial effects that: the driving parts of the deformable hexahedral rolling mechanism are twenty-four telescopic rods, and the gravity center of the robot is changed by planning that part of the telescopic rods are matched with each other to stretch, so that the robot can realize the functions of straight movement and steering in four directions, namely front, rear, left and right directions when any cross surface lands; meanwhile, the connecting parts adopt a modular design, are convenient to disassemble, assemble, store and transport, and can be assembled into other three-line common-vertex structures such as tetrahedrons. Meanwhile, the mechanism is simple in structure, low in cost and easy to manufacture and realize engineering.
Drawings
FIG. 1 three-dimensional view of a deformable hexahedral rolling mechanism
FIG. 2 first intersection plane three-dimensional drawing
FIG. 3 is a three-dimensional view of the first telescoping rod
FIG. 4A three-dimensional view of a first upper left connecting sheet
FIG. 5 first vertex three-dimensional map
Figure 6 straight motion diagram of deformable hexahedral rolling mechanism
Figure 7 turning motion diagram of deformable hexahedral rolling mechanism
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A deformable hexahedral rolling mechanism, as shown in FIG. 1, includes first to sixth intersecting surfaces A, B, C, D, E, F, first to eighth vertices G, H, I, J, K, L, M, N.
As shown in fig. 1, the first intersecting plane a includes: the telescopic rod comprises a first telescopic rod A1, a second telescopic rod A2, a first left upper connecting sheet A3, a first right upper connecting sheet A4, a first left lower connecting sheet A5, a first right lower connecting sheet A6, a third telescopic rod A7 and a fourth telescopic rod A8; the first telescopic rod A1 and the third telescopic rod A7 are fixedly connected through a first right upper connecting sheet A4 and a first right lower connecting sheet A6; the second telescopic rod A2 and the fourth telescopic rod A8 are fixedly connected through a first upper left connecting sheet A3 and a first upper right connecting sheet A4; the first left upper connecting piece A3 and the first right upper connecting piece A4, the first left lower connecting piece A5 and the first right lower connecting piece A6 form a rotating connection through connecting shafts, and therefore the connection of the first cross surface A is completed.
As shown in fig. 1, the second intersecting plane B includes: a fifth telescopic rod B1, a sixth telescopic rod B2, a second left upper connecting sheet B3, a second right upper connecting sheet B4, a second left lower connecting sheet B5, a second right lower connecting sheet B6, a seventh telescopic rod B7 and an eighth telescopic rod B8; the fifth telescopic rod B1 and the seventh telescopic rod B7 are fixedly connected through a second right upper connecting sheet B4 and a second right lower connecting sheet B6; the sixth telescopic rod B2 and the eighth telescopic rod B8 are fixedly connected through a second left upper connecting sheet B3 and a second right upper connecting sheet B4; the second left upper connecting piece B3 and the second right upper connecting piece B4, and the second left lower connecting piece B5 and the second right lower connecting piece B6 form a rotary connection through connecting shafts, and therefore the connection of the second cross surface B is completed.
As shown in fig. 1, the third intersecting surface C includes: a ninth telescopic rod C1, a tenth telescopic rod C2, a third left upper connecting sheet C3, a third right upper connecting sheet C4, a third left lower connecting sheet C5, a third right lower connecting sheet C6, an eleventh telescopic rod C7 and a twelfth telescopic rod C8; the ninth telescopic rod C1 is fixedly connected with the eleventh telescopic rod C7 through a third right upper connecting sheet C4 and a third right lower connecting sheet C6; the tenth telescopic rod C2 is fixedly connected with the twelfth telescopic rod C8 through a third left upper connecting sheet C3 and a third right upper connecting sheet C4; the third left upper connecting piece C3 and the third right upper connecting piece C4, the third left lower connecting piece C5 and the third right lower connecting piece C6 form a rotary connection through connecting shafts, and therefore the connection of the third cross surface C is completed.
As shown in fig. 1, the fourth intersecting plane D includes: a thirteenth telescopic rod D1, a fourteenth telescopic rod D2, a fourth left upper connecting piece D3, a fourth right upper connecting piece D4, a fourth left lower connecting piece D5, a fourth right lower connecting piece D6, a fifteenth telescopic rod D7 and a sixteenth telescopic rod D8; the thirteenth telescopic rod D1 and the fifteenth telescopic rod D7 are fixedly connected through a fourth upper right connecting piece D4 and a fourth lower right connecting piece D6; the fourteenth telescopic rod D2 and the sixteenth telescopic rod D8 are fixedly connected through a fourth left upper connecting sheet D3 and a fourth right upper connecting sheet D4; the fourth left upper connecting piece D3 and the fourth right upper connecting piece D4, the fourth left lower connecting piece D5 and the fourth right lower connecting piece D6 form a rotary connection through connecting shafts, and therefore the connection of the fourth cross surface D is completed.
As shown in fig. 1, the fifth intersecting plane E includes: a seventeenth telescopic rod E1, an eighteenth telescopic rod E2, a fifth left upper connecting piece E3, a second right upper connecting piece E4, a fifth left lower connecting piece E5, a fifth right lower connecting piece E6, a nineteenth telescopic rod E7 and a twentieth telescopic rod E8; the seventeenth telescopic rod E1 and the nineteenth telescopic rod E7 are fixedly connected through a fifth right upper connecting sheet E4 and a fifth right lower connecting sheet E6; the eighteenth expansion link E2 is fixedly connected with the twentieth expansion link E8 through a fifth left upper connecting sheet E3 and a fifth right upper connecting sheet E4; the fifth left upper connecting piece E3 and the fifth right upper connecting piece E4, the fifth left lower connecting piece E5 and the fifth right lower connecting piece E6 form a rotary connection through connecting shafts, and therefore the connection of the fifth cross surface E is completed.
As shown in fig. 1, the sixth intersecting surface F includes: a twenty-first telescopic rod F1, a twenty-second telescopic rod F2, a sixth left upper connecting sheet F3, a sixth right upper connecting sheet F4, a sixth left lower connecting sheet F5, a sixth right lower connecting sheet F6, a twenty-third telescopic rod F7 and a twenty-fourth telescopic rod F8; the twenty-first telescopic rod F1 and the twenty-third telescopic rod F7 are fixedly connected through a sixth right upper connecting sheet F4 and a sixth right lower connecting sheet F6; the twenty-second telescopic rod F2 and the twenty-fourth telescopic rod F8 are fixedly connected through a sixth left upper connecting sheet F3 and a sixth right upper connecting sheet F4; the sixth left upper connecting piece F3 and the sixth right upper connecting piece F4, the sixth left lower connecting piece F5 and the sixth right lower connecting piece F6 form a rotary connection through connecting shafts, and therefore the connection of the sixth cross surface F is completed.
As shown in fig. 1, the first vertex G includes: a first third fork lever G1, a first left cross G2, a first middle cross G3, a first right cross G4; the first three-fork rod G1 is uniformly provided with three connecting ports which are respectively connected with the first left cross shaft G2, the first middle cross shaft G3 and the first right cross shaft G4 to form a revolute pair.
As shown in fig. 1, the second vertex H includes: a second third fork H1, a second left cross H2, a second middle cross H3 and a second right cross H4; the second three-fork rod H1 is uniformly provided with three connecting ports which are respectively connected with a second left cross shaft H2, a second middle cross shaft H3 and a second right cross shaft H4 to form a revolute pair.
As shown in fig. 1, the third vertex I includes: a third fork lever I1, a third left cross I2, a third middle cross I3 and a third right cross I4; the third three-fork lever I1 is uniformly provided with three connecting ports which are respectively connected with a third left cross axle I2, a third middle cross axle I3 and a third right cross axle I4 to form a revolute pair.
As shown in fig. 1, the fourth vertex J includes: a fourth third yoke J1, a fourth left cross J2, a fourth middle cross J3, and a fourth right cross J4; the fourth third fork rod J1 is uniformly provided with three connecting ports, and is respectively connected with the fourth left cross shaft J2, the fourth middle cross shaft J3 and the fourth right cross shaft J4 to form a revolute pair.
As shown in fig. 1, the fifth vertex K includes: a fifth third fork lever K1, a fifth left cross K2, a fifth middle cross K3 and a fifth right cross K4; the fifth third fork lever K1 is uniformly provided with three connecting ports which are respectively connected with a fifth left cross shaft K2, a fifth middle cross shaft K3 and a fifth right cross shaft K4 to form a revolute pair.
As shown in fig. 1, the sixth vertex L includes: a sixth third yoke L1, a sixth left cross L2, a sixth center cross L3, and a sixth right cross L4; the sixth third fork rod L1 has three connecting ports, which are connected to the sixth left cross shaft L2, the sixth middle cross shaft L3, and the sixth right cross shaft L4, respectively, to form a revolute pair.
As shown in fig. 1, the seventh vertex M includes: a seventh third yoke M1, a seventh left cross M2, a seventh middle cross M3, a seventh right cross M4; the seventh third fork lever M1 has three connecting ports, which are connected with the seventh left cross axle M2, the seventh middle cross axle M3, and the seventh right cross axle M4 to form a revolute pair.
As shown in fig. 1, the eighth vertex N includes: an eighth third fork lever N1, an eighth left cross N2, an eighth center cross N3, and an eighth right cross N4; the eighth third fork lever N1 has three connecting ports, which are connected to the eighth left cross N2, the eighth middle cross N3, and the eighth right cross N4, respectively, to form a revolute pair.
As shown in fig. 1, the first left cross G2, the first middle cross G3, and the first right cross G4 at the first vertex G are connected to the sixth telescopic rod B2 at the second intersecting surface B, the second telescopic rod a2 at the first intersecting surface a, and the seventeenth telescopic rod E1 at the fifth intersecting surface E, respectively, to form a revolute pair.
As shown in fig. 1, the second left cross H2, the second middle cross H3, and the second right cross H4 at the second vertex H are respectively connected to the fifth telescopic rod B1 at the second intersecting surface B, the tenth telescopic rod C2 at the third intersecting surface C, and the third telescopic rod a7 at the first intersecting surface a to form a revolute pair.
As shown in fig. 1, a third left cross shaft I2, a third middle cross shaft I3 and a third right cross shaft I4 at a third vertex I are respectively connected with a ninth telescopic rod C1 at a third intersecting surface C, a fourteenth telescopic rod D2 at a fourth intersecting surface D and a fourth telescopic rod a8 at a first intersecting surface a to form a revolute pair;
as shown in fig. 1, the fourth left cross J2, the fourth middle cross J3, and the fourth right cross J4 at the fourth vertex J are connected to the thirteenth telescopic rod D1 at the fourth intersecting surface D, the eighteenth telescopic rod E2 at the fifth intersecting surface E, and the first telescopic rod a1 at the first intersecting surface a, respectively, to form a revolute pair.
As shown in fig. 1, the fifth left cross K2, the fifth middle cross K3, and the fifth right cross K4 at the fifth vertex K are connected to the twenty-second telescopic rod F2 at the sixth intersecting surface F, the nineteenth telescopic rod E7 at the fifth intersecting surface E, and the eighth telescopic rod B8 at the second intersecting surface B, respectively, to form a revolute pair.
As shown in fig. 1, the sixth left cross shaft L2, the sixth middle cross shaft L3, and the sixth right cross shaft L4 at the sixth vertex L are connected to the twenty-third telescopic rod F7 at the sixth intersecting surface F, the eleventh telescopic rod C7 at the third intersecting surface C, and the seventh telescopic rod B7 at the second intersecting surface B, respectively, to form a revolute pair.
As shown in fig. 1, the seventh left cross axle M2, the seventh middle cross axle M3, and the seventh right cross axle M4 at the seventh vertex M are connected to the twenty-fourth telescopic rod F8 at the sixth intersecting surface F, the sixteenth telescopic rod D8 at the fourth intersecting surface D, and the twelfth telescopic rod C8 at the third intersecting surface C, respectively, to form a revolute pair.
As shown in fig. 1, the eighth left cross N2, the eighth middle cross N3, and the eighth right cross N4 at the eighth vertex N are connected to the twenty-first telescopic rod F1 at the sixth intersecting surface F, the fifteenth telescopic rod D7 at the fourth intersecting surface D, and the twentieth telescopic rod E8 at the fifth intersecting surface E, respectively, to form a revolute pair.
Thereby completing the connection of the deformable hexahedral rolling mechanism.
As shown in fig. 3, the first telescopic rod A1 has an outer rod A1b and an inner rod A1c, and has a first fixing hole A1a at one end and a first fork-shaped structure A1d at the other end.
The structures of the second to twenty-fourth telescopic rods A2, A7, A8, B1, B2, B7, B8, C1, C2, C7, C8, D1, D2, D7, D8, E1, E2, E7, E8, F1, F2, F7 and F8 are completely the same as that of the first telescopic rod A1.
As shown in FIG. 4, the first left upper connecting piece A3 sinks downwards at the middle part, one end is provided with a left fixing hole A3a, the other end is provided with a right fixing hole A3c, and the middle part is provided with a central connecting hole A3 b.
The second to sixth left upper connecting pieces B3, C3, D3, E3, F3, the first to sixth right upper connecting pieces A4, B4, C4, D4, E4, F4, the first to sixth left lower connecting pieces A5, B5, C5, D5, E5, F5, the first to sixth right lower connecting pieces A6, B6, C6, D6, E6 and F6 are completely identical in structure with the first left upper connecting piece A3.
As shown in fig. 5, the first third fork lever G1 has a three-forked structure, and each of the forks is formed with a cross-shaft coupling hole.
The structures of the second to eighth third forked rods H1, I1, J1, K1, L1, M1 and N1 are completely the same as that of the first third forked rod G1.
The deformable hexahedral rolling mechanism can realize the functions of straight movement and steering;
as shown in fig. 6, the straight-going steps are as follows:
a1. the first to twenty-fourth telescopic rods A1, A2, A7, A8, B1, B2, B7, B8, C1, C2, C7, C8, D1, D2, D7, D8, E1, E2, E7, E8, F1, F2, F7 and F8 are in the shortest state.
a2. The ninth telescopic rod C1, the eleventh telescopic rod C7, the eighteenth telescopic rod E2 and the nineteenth telescopic rod E7 are synchronously extended to the longest length.
a3. The ninth telescopic rod C1, the eleventh telescopic rod C7, the eighteenth telescopic rod E2 and the nineteenth telescopic rod E7 are synchronously shortened to the initial state.
a4. The tenth telescopic rod C2, the twelfth telescopic rod C8, the seventeenth telescopic rod E1 and the twentieth telescopic rod E8 are synchronously extended to the longest length.
a5. The tenth telescopic rod C2, the twelfth telescopic rod C8, the seventeenth telescopic rod E1 and the twentieth telescopic rod E8 are synchronously shortened to the initial state.
Sequentially alternating to finish the straight movement of the mechanism along the direction from the first vertex G to the fourth vertex J;
as shown in fig. 7, the steering movement steps are as follows:
b1. the first to twenty-fourth telescopic rods A1, A2, A7, A8, B1, B2, B7, B8, C1, C2, C7, C8, D1, D2, D7, D8, E1, E2, E7, E8, F1, F2, F7 and F8 are in the shortest state.
b2. The ninth telescopic rod C1, the eleventh telescopic rod C7, the eighteenth telescopic rod E2 and the nineteenth telescopic rod E7 are synchronously extended to the longest length; the fifth telescopic rod B1, the eighth telescopic rod B8, the fourteenth telescopic rod D2 and the fifteenth telescopic rod D7 are synchronously extended to the middle point.
b3. The ninth telescopic rod C1, the eleventh telescopic rod C7, the eighteenth telescopic rod E2, the nineteenth telescopic rod E7, the fifth telescopic rod B1, the eighth telescopic rod B8, the fourteenth telescopic rod D2 and the fifteenth telescopic rod D7 are synchronously shortened to the initial state.
Claims (3)
1. A deformable hexahedron rolling mechanism is characterized in that: includes first to sixth intersecting surfaces (A, B, C, D, E, F), first to eighth vertices (G, H, I, J, K, L, M, N);
said first intersecting surface (a) comprising: the telescopic device comprises a first telescopic rod (A1), a second telescopic rod (A2), a first left upper connecting piece (A3), a first right upper connecting piece (A4), a first left lower connecting piece (A5), a first right lower connecting piece (A6), a third telescopic rod (A7) and a fourth telescopic rod (A8); the first telescopic rod (A1) and the third telescopic rod (A7) are fixedly connected through a first right upper connecting sheet (A4) and a first right lower connecting sheet (A6); the second telescopic rod (A2) and the fourth telescopic rod (A8) are fixedly connected through a first left upper connecting sheet (A3) and a first right upper connecting sheet (A4); the first left upper connecting piece (A3) and the first right upper connecting piece (A4), the first left lower connecting piece (A5) and the first right lower connecting piece (A6) form rotary connection through connecting shafts, and therefore connection of the first cross surface (A) is completed;
said second intersecting surface (B) comprising: a fifth telescopic rod (B1), a sixth telescopic rod (B2), a second left upper connecting piece (B3), a second right upper connecting piece (B4), a second left lower connecting piece (B5), a second right lower connecting piece (B6), a seventh telescopic rod (B7) and an eighth telescopic rod (B8); the fifth telescopic rod (B1) and the seventh telescopic rod (B7) are fixedly connected through a second right upper connecting sheet (B4) and a second right lower connecting sheet (B6); the sixth telescopic rod (B2) and the eighth telescopic rod (B8) are fixedly connected through a second left upper connecting sheet (B3) and a second right upper connecting sheet (B4); the second left upper connecting piece (B3) and the second right upper connecting piece (B4), the second left lower connecting piece (B5) and the second right lower connecting piece (B6) form rotary connection through connecting shafts, and therefore connection of a second cross surface (B) is completed;
said third intersecting surface (C) comprising: a ninth telescopic rod (C1), a tenth telescopic rod (C2), a third left upper connecting piece (C3), a third right upper connecting piece (C4), a third left lower connecting piece (C5), a third right lower connecting piece (C6), an eleventh telescopic rod (C7) and a twelfth telescopic rod (C8); the ninth telescopic rod (C1) and the eleventh telescopic rod (C7) are fixedly connected through a third right upper connecting sheet (C4) and a third right lower connecting sheet (C6); the tenth telescopic rod (C2) and the twelfth telescopic rod (C8) are fixedly connected through a third left upper connecting sheet (C3) and a third right upper connecting sheet (C4); the third left upper connecting piece (C3) and the third right upper connecting piece (C4), the third left lower connecting piece (C5) and the third right lower connecting piece (C6) form rotary connection through connecting shafts, and therefore connection of a third cross surface (C) is completed;
said fourth intersecting surface (D) comprising: a thirteenth telescopic rod (D1), a fourteenth telescopic rod (D2), a fourth left upper connecting sheet (D3), a fourth right upper connecting sheet (D4), a fourth left lower connecting sheet (D5), a fourth right lower connecting sheet (D6), a fifteenth telescopic rod (D7) and a sixteenth telescopic rod (D8); the thirteenth telescopic rod (D1) and the fifteenth telescopic rod (D7) are fixedly connected through a fourth upper right connecting sheet (D4) and a fourth lower right connecting sheet (D6); the fourteenth telescopic rod (D2) and the sixteenth telescopic rod (D8) are fixedly connected through a fourth left upper connecting sheet (D3) and a fourth right upper connecting sheet (D4); the fourth left upper connecting piece (D3) and the fourth right upper connecting piece (D4), the fourth left lower connecting piece (D5) and the fourth right lower connecting piece (D6) form rotary connection through connecting shafts, and therefore connection of a fourth cross surface (D) is completed;
said fifth intersecting surface (E) comprising: a seventeenth telescopic rod (E1), an eighteenth telescopic rod (E2), a fifth left upper connecting sheet (E3), a fifth right upper connecting sheet (E4), a fifth left lower connecting sheet (E5), a fifth right lower connecting sheet (E6), a nineteenth telescopic rod (E7) and a twentieth telescopic rod (E8); the seventeenth telescopic rod (E1) and the nineteenth telescopic rod (E7) are fixedly connected through a fifth right upper connecting sheet (E4) and a fifth right lower connecting sheet (E6); the eighteenth telescopic rod (E2) and the twentieth telescopic rod (E8) are fixedly connected through a fifth left upper connecting sheet (E3) and a fifth right upper connecting sheet (E4); the fifth left upper connecting piece (E3) and the fifth right upper connecting piece (E4), the fifth left lower connecting piece (E5) and the fifth right lower connecting piece (E6) form rotary connection through connecting shafts, and therefore the connection of the fifth cross surface (E) is completed;
said sixth intersecting surface (F) comprising: a twenty-first telescopic rod (F1), a twenty-second telescopic rod (F2), a sixth left upper connecting sheet (F3), a sixth right upper connecting sheet (F4), a sixth left lower connecting sheet (F5), a sixth right lower connecting sheet (F6), a twenty-third telescopic rod (F7) and a twenty-fourth telescopic rod (F8); the twenty-first telescopic rod (F1) and the twenty-third telescopic rod (F7) are fixedly connected through a sixth right upper connecting sheet (F4) and a sixth right lower connecting sheet (F6); the twenty-second telescopic rod (F2) and the twenty-fourth telescopic rod (F8) are fixedly connected through a sixth left upper connecting sheet (F3) and a sixth right upper connecting sheet (F4); the sixth left upper connecting piece (F3) and the sixth right upper connecting piece (F4), the sixth left lower connecting piece (F5) and the sixth right lower connecting piece (F6) form rotary connection through connecting shafts, and therefore connection of a sixth cross surface (F) is completed;
said first vertex (G) comprising: a first third fork lever (G1), a first left cross (G2), a first middle cross (G3) and a first right cross (G4); the first three-fork rod (G1) is uniformly provided with three connecting ports which are respectively connected with the first left cross shaft (G2), the first middle cross shaft (G3) and the first right cross shaft (G4) to form a revolute pair;
said second vertex (H) comprises: a second third fork lever (H1), a second left cross (H2), a second middle cross (H3) and a second right cross (H4); the second three-fork rod (H1) is uniformly provided with three connecting ports which are respectively connected with a second left cross shaft (H2), a second middle cross shaft (H3) and a second right cross shaft (H4) to form a revolute pair;
said third vertex (I) comprises: a third fork lever (I1), a third left cross (I2), a third middle cross (I3) and a third right cross (I4); the third three-fork rod (I1) is uniformly provided with three connecting ports which are respectively connected with a third left cross shaft (I2), a third middle cross shaft (I3) and a third right cross shaft (I4) to form a revolute pair;
said fourth vertex (J) comprises: a fourth third fork lever (J1), a fourth left cross (J2), a fourth middle cross (J3), a fourth right cross (J4); the fourth third fork rod (J1) is uniformly provided with three connecting ports which are respectively connected with a fourth left cross shaft (J2), a fourth middle cross shaft (J3) and a fourth right cross shaft (J4) to form a revolute pair;
said fifth vertex (K) comprising: a fifth third fork lever (K1), a fifth left cross (K2), a fifth middle cross (K3) and a fifth right cross (K4); the fifth third fork rod (K1) is uniformly provided with three connecting ports which are respectively connected with a fifth left cross shaft (K2), a fifth middle cross shaft (K3) and a fifth right cross shaft (K4) to form a revolute pair;
said sixth vertex (L) comprises: a sixth third yoke (L1), a sixth left cross (L2), a sixth middle cross (L3), and a sixth right cross (L4); the sixth third fork rod (L1) is uniformly provided with three connecting ports which are respectively connected with a sixth left cross shaft (L2), a sixth middle cross shaft (L3) and a sixth right cross shaft (L4) to form a revolute pair;
said seventh vertex (M) comprises: a seventh third fork lever (M1), a seventh left cross (M2), a seventh middle cross (M3), a seventh right cross (M4); the seventh third fork rod (M1) is uniformly provided with three connecting ports which are respectively connected with a seventh left cross shaft (M2), a seventh middle cross shaft (M3) and a seventh right cross shaft (M4) to form a revolute pair;
said eighth vertex (N) comprises: an eighth third fork lever (N1), an eighth left cross (N2), an eighth middle cross (N3) and an eighth right cross (N4); the eighth third fork rod (N1) is uniformly provided with three connecting ports which are respectively connected with an eighth left cross shaft (N2), an eighth middle cross shaft (N3) and an eighth right cross shaft (N4) to form a revolute pair;
a first left cross axle (G2), a first middle cross axle (G3) and a first right cross axle (G4) of the first vertex (G) are respectively connected with a sixth telescopic rod (B2) of the second cross surface (B), a second telescopic rod (A2) of the first cross surface (A) and a seventeenth telescopic rod (E1) of the fifth cross surface (E) to form a revolute pair;
a second left cross shaft (H2), a second middle cross shaft (H3) and a second right cross shaft (H4) of a second vertex (H) are respectively connected with a fifth telescopic rod (B1) of a second cross surface (B), a tenth telescopic rod (C2) of a third cross surface (C) and a third telescopic rod (A7) of a first cross surface (A) to form a revolute pair;
a third left cross shaft (I2), a third middle cross shaft (I3) and a third right cross shaft (I4) of a third vertex (I) are respectively connected with a ninth telescopic rod (C1) of a third cross surface (C), a fourteenth telescopic rod (D2) of a fourth cross surface (D) and a fourth telescopic rod (A8) of a first cross surface (A) to form a revolute pair;
a fourth left cross shaft (J2), a fourth middle cross shaft (J3) and a fourth right cross shaft (J4) at a fourth vertex (J) are respectively connected with a thirteenth telescopic rod (D1) at a fourth cross surface (D), an eighteenth telescopic rod (E2) at a fifth cross surface (E) and a first telescopic rod (A1) at a first cross surface (A) to form a revolute pair;
a fifth left cross shaft (K2), a fifth middle cross shaft (K3) and a fifth right cross shaft (K4) at a fifth vertex (K) are respectively connected with a twenty-second telescopic rod (F2) at a sixth cross surface (F), a nineteenth telescopic rod (E7) at a fifth cross surface (E) and an eighth telescopic rod (B8) at a second cross surface (B) to form a revolute pair;
a sixth left cross shaft (L2), a sixth middle cross shaft (L3) and a sixth right cross shaft (L4) at a sixth vertex (L) are respectively connected with a twenty-third expansion rod (F7) at a sixth cross surface (F), an eleventh expansion rod (C7) at a third cross surface (C) and a seventh expansion rod (B7) at a second cross surface (B) to form a revolute pair;
a seventh left cross shaft (M2), a seventh middle cross shaft (M3) and a seventh right cross shaft (M4) at a seventh vertex (M) are respectively connected with a twenty-fourth telescopic rod (F8) at a sixth cross surface (F), a sixteenth telescopic rod (D8) at a fourth cross surface (D) and a twelfth telescopic rod (C8) at a third cross surface (C) to form a revolute pair;
an eighth left cross shaft (N2), an eighth middle cross shaft (N3) and an eighth right cross shaft (N4) at an eighth vertex (N) are respectively connected with a twenty-first telescopic rod (F1) at a sixth cross surface (F), a fifteenth telescopic rod (D7) at a fourth cross surface (D) and a twentieth telescopic rod (E8) at a fifth cross surface (E) to form a revolute pair;
thereby completing the connection of the deformable hexahedral rolling mechanism.
2. A deformable hexahedral rolling mechanism according to claim 1, wherein:
the first telescopic rod (A1) is provided with an outer rod (A1b) and an inner rod (A1c), one end of the first telescopic rod is provided with a first fixing hole (A1a), and the other end of the first telescopic rod is provided with a first fork-shaped structure (A1 d);
the structures of the second to twenty-fourth telescopic rods (A2, A7, A8, B1, B2, B7, B8, C1, C2, C7, C8, D1, D2, D7, D8, E1, E2, E7, E8, F1, F2, F7 and F8) are completely the same as that of the first telescopic rod (A1);
the middle part of the first left upper connecting sheet (A3) sinks, one end is provided with a left fixing hole (A3a), the other end is provided with a right fixing hole (A3c), and the middle part is provided with a central connecting hole (A3 b);
the second to sixth left upper connecting pieces (B3, C3, D3, E3, F3), the first to sixth right upper connecting pieces (A4, B4, C4, D4, E4 and F4), the first to sixth left lower connecting pieces (A5, B5, C5, D5, E5 and F5), the first to sixth right lower connecting pieces (A6, B6, C6, D6, E6 and F6) are completely the same as the first left upper connecting piece (A3);
the first three-fork rod (G1) is of a three-fork structure, and each fork is provided with a cross shaft connecting hole;
the second to eighth third forks (H1, I1, J1, K1, L1, M1 and N1) are identical in structure with the first third fork (G1).
3. A deformable hexahedral rolling mechanism according to claim 1, wherein:
the deformable hexahedral rolling mechanism can realize the functions of straight movement and steering;
the straight-moving steps are as follows:
a1. the first to twenty-fourth telescopic rods (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 the shortest state;
a2. the ninth telescopic rod (C1), the eleventh telescopic rod (C7), the eighteenth telescopic rod (E2) and the nineteenth telescopic rod (E7) are synchronously extended to the longest length;
a3. the ninth telescopic rod (C1), the eleventh telescopic rod (C7), the eighteenth telescopic rod (E2) and the nineteenth telescopic rod (E7) are synchronously shortened to the initial state;
a4. the tenth telescopic rod (C2), the twelfth telescopic rod (C8), the seventeenth telescopic rod (E1) and the twentieth telescopic rod (E8) are synchronously extended to the longest length;
a5. the tenth telescopic rod (C2), the twelfth telescopic rod (C8), the seventeenth telescopic rod (E1) and the twentieth telescopic rod (E8) are synchronously shortened to the initial state;
sequentially alternating to finish the straight movement of the mechanism along the direction from the first vertex (G) to the fourth vertex (J);
the steering movement steps are as follows:
b1. the first to twenty-fourth telescopic rods (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 the shortest state;
b2. the ninth telescopic rod (C1), the eleventh telescopic rod (C7), the eighteenth telescopic rod (E2) and the nineteenth telescopic rod (E7) are synchronously extended to the longest length; the fifth telescopic rod (B1), the eighth telescopic rod (B8), the fourteenth telescopic rod (D2) and the fifteenth telescopic rod (D7) are synchronously extended to the middle point;
b3. the ninth telescopic rod (C1), the eleventh telescopic rod (C7), the eighteenth telescopic rod (E2), the nineteenth telescopic rod (E7), the fifth telescopic rod (B1), the eighth telescopic rod (B8), the fourteenth telescopic rod (D2) and the fifteenth telescopic rod (D7) are synchronously shortened to the initial state.
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