CN107953326A - A kind of ball shape robot elasticity deployed configuration based on rope driving - Google Patents
A kind of ball shape robot elasticity deployed configuration based on rope driving Download PDFInfo
- Publication number
- CN107953326A CN107953326A CN201711176328.9A CN201711176328A CN107953326A CN 107953326 A CN107953326 A CN 107953326A CN 201711176328 A CN201711176328 A CN 201711176328A CN 107953326 A CN107953326 A CN 107953326A
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- Prior art keywords
- curved bar
- deployed configuration
- driving wheel
- driving
- rope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
A kind of ball shape robot elasticity deployed configuration based on rope driving, including fixing device, driving device, transmission device and expanding unit, the fixing device includes upper mounted plate, bottom plate and the support aluminium column for connecting fixed upper bottom plate, the transmission module includes main driving wheel, the main driving wheel is arranged on the outer surface of upper mounted plate, and the driving device is connected with main driving wheel provides power.The present invention can accurately control curved bar to be unfolded and collapsed；The volume and weight of deployed configuration can greatly be mitigated using rope driving and elastic construction, so as to further increase the bearing capacity of deployed configuration, be advantageously implemented the high-speed motion and quick response of deployed configuration；Meanwhile the requirement to element precision and assembling is reduced, and reduce cost and help to prolong the service life, easy to disassemble, maintenance and assembling.
Description
Technical field
The present invention relates to a kind of ball shape robot elasticity deployed configuration based on rope driving, belong to field of mechanical technique.
Background technology
Deployable structure is a recent studies on forward position of traditional mechanism.Because this class formation can produce very big geometric form
Shape changes, so being unfolded when can be folded, use in transport.Deployable structure is its title in space industry；Civilian
And mechanical engineering field, it is also referred to as scalable or folding structure.
At present, the mankind are movable more and more in irregular complicated landform, and with scout fire-fighting, rescue exploration and
The various fields such as nuclear industry are more and more urgent to small-sized machine structure and deployable mechanical structure demand.Existing deployed configuration is big
Body is divided into tension structure, three-fold symmetry link mechanism, polygon polyhedral structure, collapsible planar structure, can open up tensioning compression bar
Structure and X-type deployable structure.These deployed configurations are passed using the motor and driver of separate type or by gear, belt etc. mostly
Dynamic structure driven can so bring many shortcomings:1. mechanical structure and electric wiring are very cumbersome, it has not been convenient to assembly or disassembly,
Easily trigger security risk.2. adding the inertia and quality of structure, bearing capacity of mechanical platform receives one where causing it
Fixed limitation, is unfavorable for quick response.3. the driver of discrete result in the complication of control system.It is manufactured into 4. adding
This.
In view of this, develop a kind of structure be used for explore ball shape robot, solution said structure the defects of, it is clear that be
It is necessary.
The content of the invention
The goal of the invention of the present invention is to provide a kind of ball shape robot elasticity deployed configuration based on rope driving, it can be with
Accurate control curved bar is unfolded and is collapsed；The volume of deployed configuration can greatly be mitigated using rope driving and elastic construction
And weight, so as to further increase the bearing capacity of deployed configuration, it is advantageously implemented the high-speed motion of deployed configuration and quick sound
Should；Meanwhile the requirement to element precision and assembling is reduced, reduce cost and help to prolong the service life, easy to disassemble,
Safeguard and assemble.
To achieve the above object of the invention, the technical solution adopted by the present invention is：A kind of spherical machine based on rope driving
People's elasticity deployed configuration, including fixing device, driving device, transmission device and expanding unit,
The fixing device includes upper mounted plate, bottom plate and the support aluminium column for connecting fixed upper bottom plate,
The transmission module includes main driving wheel, and the main driving wheel is arranged on the outer surface of upper mounted plate, the driving device with
Main driving wheel connection provides power,
The expanding unit includes plural number includes upper curved bar and lower curved bar, the end of the upper curved bar respectively to curved bar, each pair curved bar
Portion is fixed with rocking arm, and the middle part of the middle part of the upper curved bar and lower curved bar connects fixation by connecting rod, the upper curved bar, under
The end of curved bar is rotatably connected on the end of support aluminium column,
Driving rope is connected between the end of the rocking arm and main driving wheel, double hook spring is connected between adjacent each pair curved bar,
One end of double hook spring is connected on the previous support aluminium column to curved bar, and the other end of double hook spring is connected to latter to curved bar
In connecting rod.
Preferably, the driving device is steering engine, and the steering engine is arranged between upper mounted plate and bottom plate, its gear is stretched
Go out and be connected with main driving wheel, control the rotation of main driving wheel.
Preferably, the expanding unit is equipped with 6 pairs of curved bars.
In the present invention, upper curved bar is arranged on the outer surface of upper mounted plate, and is rotatablely connected with support aluminium column.
The present invention connects main driving wheel by steering engine, and main driving wheel rotates so that curved bar receives driving rope in expansion direction
Tractive force, be subject to the tractive force of spring collapsing direction, be fixedly connected between rocking arm and curved bar, they can be regarded as to one
Overall, for run-on point among entirety, overall both ends are subject to two power, under the action of two power, can be used for adjusting respectively
Save the expansion rounding state of whole robot architecture.
The U-shaped wheel edge of main transmission of the present invention is uniformly arranged aperture, and each rocking arm end sets aperture, the two sections of settings of driving rope
Lock, the U-shaped wheel of connection main transmission and rocking arm.
It should be noted that 6 pairs of curved bars are separately positioned on the top of bottom plate, aluminium column branch is used between each pair curved bar
Support, curved bar end is longitudinally connected by screw rod and coaxial bearing level, and curved bar can be freely rotated along axis.
In the present invention, one end of rope is driven to be connected on rocking arm, the other end is connected to the edge of main driving wheel, a drive
Running rope is connected on a rocking arm, each a pair of of curved bar of rocking arm control, while the interval between adjacent each pair curved bar is identical, adjacent
Interval between each driving rope is also identical, this ensure that the uniformity of total.
Since above-mentioned technical proposal is used, the present invention has following advantages compared with prior art：
The present invention can accurately control curved bar to be unfolded and collapsed；Can greatly it be mitigated using rope driving and elastic construction
The volume and weight of deployed configuration, so as to further increase the bearing capacity of deployed configuration, is advantageously implemented the height of deployed configuration
Speed movement and quick response；Meanwhile the requirement to element precision and assembling is reduced, reduce cost and help to extend use
Service life, easy to disassemble, maintenance and assembling.
Brief description of the drawings
Fig. 1 is the overlooking the structure diagram of the present invention.
Fig. 2 is the side view structure rough schematic of the present invention.
Fig. 3 is that the present invention is applied to structure diagram of the ball shape robot under rounding state.
Fig. 4 is that the present invention is applied to the structure diagram of ball shape robot in the deployed state.
Wherein：1st, upper mounted plate；2nd, bottom plate；3rd, aluminium column is supported；4th, connecting rod；5th, upper curved bar；6th, lower curved bar；7th, it is double
Hook spring；8th, main driving wheel；9th, rocking arm；10th, driving rope.
Embodiment
The invention will be further described with reference to the accompanying drawings and embodiments：
Embodiment one：Referring to shown in Fig. 1, Fig. 2, a kind of ball shape robot elasticity deployed configuration based on rope driving, including it is solid
Determine device, driving device, transmission device and expanding unit,
The fixing device includes upper mounted plate 1, bottom plate 2 and the support aluminium column 3 for connecting fixed upper bottom plate,
The transmission module includes main driving wheel 6, and the main driving wheel 6 is arranged on the outer surface of upper mounted plate 1, the driving device
It is connected with main driving wheel 1 and power is provided,
The expanding unit includes plural number includes upper curved bar 5 and lower curved bar 6 respectively to curved bar, each pair curved bar, the upper curved bar 5
End be fixed with rocking arm 9, the middle part of the upper curved bar 5 and the middle part of lower curved bar 6 by connecting rod 4 connect fix, it is described on
Curved bar 5, the end of lower curved bar 6 are rotatably connected on the end of support aluminium column 3,
Driving rope 10 is connected between the end of the rocking arm 9 and main driving wheel 8, double hook bullet is connected between adjacent each pair curved bar
Spring 7, one end of double hook spring 7 are connected on the previous support aluminium column 3 to curved bar, and the other end of double hook spring 7 is connected to latter
To in the connecting rod 4 of curved bar.
In the present embodiment, the driving device is steering engine, and the steering engine is arranged between upper mounted plate and bottom plate, its tooth
Wheel is stretched out to be connected with main driving wheel, controls the rotation of main driving wheel.
In the present embodiment, the expanding unit is equipped with 6 pairs of curved bars.
In the present invention, upper curved bar is arranged on the outer surface of upper mounted plate, and is rotatablely connected with support aluminium column.
Referring to shown in Fig. 3, Fig. 4, the present apparatus is applied on ball shape robot, and the present invention connects main driving wheel by steering engine,
Main driving wheel rotates so that and curved bar receives the tractive force of driving rope in expansion direction, is subject to the tractive force of spring in gathering direction,
It is fixedly connected between rocking arm and curved bar, they can be regarded to an entirety as, run-on point is positioned at overall middle, overall both ends point
It is not subject to two power, under the action of two power, can be used for the expansion rounding state for adjusting whole robot architecture.
In the present invention, one end of rope is driven to be connected on the aperture of rocking arm end, the other end is connected to the side of main driving wheel
Edge, a driving rope are connected on a rocking arm, each a pair of of curved bar of rocking arm control, while the interval between adjacent each pair curved bar
Identical, the interval between adjacent each driving rope is also identical, this ensure that the uniformity of total.
Claims (3)
- A kind of 1. ball shape robot elasticity deployed configuration based on rope driving, it is characterised in that：Including fixing device, driving dress Put, transmission device and expanding unit,The fixing device includes upper mounted plate, bottom plate and the support aluminium column for connecting fixed upper bottom plate,The transmission module includes main driving wheel, and the main driving wheel is arranged on the outer surface of upper mounted plate, the driving device with Main driving wheel connection provides power,The expanding unit includes plural number includes upper curved bar and lower curved bar, the end of the upper curved bar respectively to curved bar, each pair curved bar Portion is fixed with rocking arm, and the middle part of the middle part of the upper curved bar and lower curved bar connects fixation by connecting rod, the upper curved bar, under The end of curved bar is rotatably connected on the end of support aluminium column,Driving rope is connected between the end of the rocking arm and main driving wheel, double hook spring is connected between adjacent each pair curved bar, One end of double hook spring is connected on the previous support aluminium column to curved bar, and the other end of double hook spring is connected to latter to curved bar In connecting rod.
- 2. the ball shape robot elasticity deployed configuration according to claim 1 based on rope driving, it is characterised in that：It is described Driving device is steering engine, and the steering engine is arranged between upper mounted plate and bottom plate.
- 3. the ball shape robot elasticity deployed configuration according to claim 1 based on rope driving, it is characterised in that：It is described Expanding unit is equipped with 6 pairs of curved bars.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711176328.9A CN107953326B (en) | 2017-11-22 | 2017-11-22 | Spherical robot elasticity expandes structure based on rope drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711176328.9A CN107953326B (en) | 2017-11-22 | 2017-11-22 | Spherical robot elasticity expandes structure based on rope drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107953326A true CN107953326A (en) | 2018-04-24 |
| CN107953326B CN107953326B (en) | 2020-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711176328.9A Active CN107953326B (en) | 2017-11-22 | 2017-11-22 | Spherical robot elasticity expandes structure based on rope drive |
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| CN (1) | CN107953326B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860661A (en) * | 2018-07-19 | 2018-11-23 | 北京空间技术研制试验中心 | driving mechanism |
| CN114029930A (en) * | 2021-11-09 | 2022-02-11 | 绍兴文理学院 | 6-rod curved rod tensioning integral movable structure |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2000240C1 (en) * | 1990-11-23 | 1993-09-07 | Гирич В.Н. | Vehicle walking mover |
| EP2400158A2 (en) * | 2010-06-25 | 2011-12-28 | Martec Pty Ltd | Ceiling fan |
| CN102673667A (en) * | 2011-03-14 | 2012-09-19 | 陈伟 | Field skipping device with internal combustion power |
| CN103625572A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Quadruped robot leg with elastic four-rod mechanism |
| CN203681688U (en) * | 2013-11-28 | 2014-07-02 | 上海理工大学 | Stairway climbing mechanism |
| CN204402937U (en) * | 2014-05-19 | 2015-06-17 | 鸿锌企业股份有限公司 | Ceiling fan with synchronously-opened and-closed blades |
| CN205706946U (en) * | 2016-05-04 | 2016-11-23 | 南京工程学院 | A kind of polypody rolling robot |
-
2017
- 2017-11-22 CN CN201711176328.9A patent/CN107953326B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2000240C1 (en) * | 1990-11-23 | 1993-09-07 | Гирич В.Н. | Vehicle walking mover |
| EP2400158A2 (en) * | 2010-06-25 | 2011-12-28 | Martec Pty Ltd | Ceiling fan |
| CN102673667A (en) * | 2011-03-14 | 2012-09-19 | 陈伟 | Field skipping device with internal combustion power |
| CN203681688U (en) * | 2013-11-28 | 2014-07-02 | 上海理工大学 | Stairway climbing mechanism |
| CN103625572A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Quadruped robot leg with elastic four-rod mechanism |
| CN204402937U (en) * | 2014-05-19 | 2015-06-17 | 鸿锌企业股份有限公司 | Ceiling fan with synchronously-opened and-closed blades |
| CN205706946U (en) * | 2016-05-04 | 2016-11-23 | 南京工程学院 | A kind of polypody rolling robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860661A (en) * | 2018-07-19 | 2018-11-23 | 北京空间技术研制试验中心 | driving mechanism |
| CN108860661B (en) * | 2018-07-19 | 2020-05-15 | 北京空间技术研制试验中心 | Driving mechanism |
| CN114029930A (en) * | 2021-11-09 | 2022-02-11 | 绍兴文理学院 | 6-rod curved rod tensioning integral movable structure |
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| Publication number | Publication date |
|---|---|
| CN107953326B (en) | 2020-11-17 |
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