CN107953326B - Spherical robot elasticity expandes structure based on rope drive - Google Patents
Spherical robot elasticity expandes structure based on rope drive Download PDFInfo
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- CN107953326B CN107953326B CN201711176328.9A CN201711176328A CN107953326B CN 107953326 B CN107953326 B CN 107953326B CN 201711176328 A CN201711176328 A CN 201711176328A CN 107953326 B CN107953326 B CN 107953326B
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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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Abstract
The utility model provides a spherical robot elasticity expandes structure based on rope drive, includes fixing device, drive arrangement, transmission and expansion device, fixing device includes upper fixed plate, bottom plate and is used for connecting the fixed support aluminium post of upper and lower fixed plate, transmission module includes the final drive wheel, the surface of upper fixed plate is located to the final drive wheel, drive arrangement is connected with the final drive wheel and is provided power. The invention can accurately control the curved bar to unfold and fold; the rope driving and elastic structure can greatly reduce the volume and the weight of the unfolding structure, thereby further increasing the bearing capacity of the unfolding structure and being beneficial to realizing high-speed movement and quick response of the unfolding structure; meanwhile, the requirements on the precision and assembly of parts are reduced, the cost is reduced, the service life is prolonged, and the disassembly, the maintenance and the assembly are convenient.
Description
Technical Field
The invention relates to an elastic unfolding structure of a spherical robot based on rope driving, and belongs to the technical field of machinery.
Background
The deployable structure is a new leading edge of research in traditional mechanics. Because of the large geometric changes of the structure, the structure can be folded during transportation and unfolded during use. The deployable structure is its name in the field of aerospace; in the civil and mechanical engineering fields, it is also known as a telescopic or foldable structure.
At present, human beings move more and more in irregular complex terrains, and the demand for small-sized mechanical structures and deployable mechanical structures is more and more urgent along with many fields such as reconnaissance fire fighting, rescue exploration and nuclear industry. The existing unfolding structures are generally classified into a tension structure, a triple symmetric link structure, a polygonal polyhedral structure, a retractable plane structure, an expandable tension compression bar structure and an X-type expandable structure. Most of the unfolding structures adopt a separated motor and a driver or are driven by a transmission structure such as a gear, a belt and the like, which brings about a plurality of defects that 1. the mechanical structure and the electrical circuit are very complicated, the assembly and the disassembly are inconvenient, and the potential safety hazard is easily caused. 2. The inertia and the mass of the structure are increased, so that the bearing capacity of the mechanical platform where the structure is located is limited to a certain extent, and the quick response is not facilitated. 3. The discrete driver causes complication of the control system. 4. The manufacturing cost is increased.
In view of the above, it is obviously necessary to develop a spherical robot having a structure for searching, which solves the above-mentioned drawbacks.
Disclosure of Invention
The invention aims to provide a rope-driven elastic unfolding structure of a spherical robot, which can accurately control a curved lever to unfold and fold; the rope driving and elastic structure can greatly reduce the volume and the weight of the unfolding structure, thereby further increasing the bearing capacity of the unfolding structure and being beneficial to realizing high-speed movement and quick response of the unfolding structure; meanwhile, the requirements on the precision and assembly of parts are reduced, the cost is reduced, the service life is prolonged, and the disassembly, the maintenance and the assembly are convenient.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows: an elastic unfolding structure of a spherical robot based on rope driving comprises a fixing device, a driving device, a transmission device and an unfolding device,
the fixing device comprises an upper fixing plate, a lower fixing plate and a supporting aluminum column for connecting and fixing the upper fixing plate and the lower fixing plate,
the transmission module comprises a main transmission wheel which is arranged on the outer surface of the upper fixing plate, the driving device is connected with the main transmission wheel to provide power,
the unfolding device comprises a plurality of pairs of curved bars, each pair of curved bars comprises an upper curved bar and a lower curved bar respectively, the end part of the upper curved bar is fixedly provided with a rocker arm, the middle part of the upper curved bar and the middle part of the lower curved bar are fixedly connected through a connecting rod, the end parts of the upper curved bar and the lower curved bar are rotatably connected with the end part of the supporting aluminum column,
a driving rope is connected between the end of the rocker arm and the main driving wheel, a double-hook spring is connected between each pair of adjacent bent rods, one end of each double-hook spring is connected to the supporting aluminum columns of the front pair of bent rods, and the other end of each double-hook spring is connected to the connecting rod of the rear pair of bent rods.
Preferably, the driving device is a steering engine, the steering engine is arranged between the upper fixing plate and the lower fixing plate, and a gear of the steering engine extends out to be connected with the main driving wheel to control the rotation of the main driving wheel.
Preferably, the deployment device is provided with 6 pairs of curved rods.
In the invention, the upper curved rod is arranged on the outer surface of the upper fixing plate and is rotatably connected with the supporting aluminum column.
The steering engine is connected with the main driving wheel, the main driving wheel rotates, the curved rod receives traction force of the driving rope in the unfolding direction and receives traction force of the spring in the folding direction, the rocker arm and the curved rod are fixedly connected and can be regarded as a whole, the rotating point is positioned in the middle of the whole, two ends of the whole are respectively subjected to two forces, and the whole robot structure can be used for adjusting the unfolding and folding states under the action of the two forces.
The edge of the main transmission U-shaped wheel is uniformly provided with small holes, the tail end of each rocker arm is provided with a small hole, and two sections of the driving rope are provided with lock catches which are connected with the main transmission U-shaped wheel and the rocker arms.
It should be noted that 6 pairs of bent levers are respectively arranged above the upper and lower fixing plates, each pair of bent levers is supported by an aluminum column, the tail ends of the bent levers are coaxially, horizontally and longitudinally connected through a screw rod and a bearing, and the bent levers can freely rotate along the shafts.
In the invention, one end of each driving rope is connected to the rocker arm, the other end of each driving rope is connected to the edge of the main driving wheel, one driving rope is connected to one rocker arm, each rocker arm controls one pair of bent levers, the interval between each pair of adjacent bent levers is the same, and the interval between each pair of adjacent driving ropes is also the same, thus ensuring the consistency of the whole structure.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
the invention can accurately control the curved bar to unfold and fold; the rope driving and elastic structure can greatly reduce the volume and the weight of the unfolding structure, thereby further increasing the bearing capacity of the unfolding structure and being beneficial to realizing high-speed movement and quick response of the unfolding structure; meanwhile, the requirements on the precision and assembly of parts are reduced, the cost is reduced, the service life is prolonged, and the disassembly, the maintenance and the assembly are convenient.
Drawings
Fig. 1 is a schematic top view of the present invention.
Fig. 2 is a side view of the present invention showing a simple structure.
Fig. 3 is a schematic structural diagram of the spherical robot applied to the present invention in a furled state.
Fig. 4 is a schematic structural view of the spherical robot applied to the present invention in a deployed state.
Wherein: 1. an upper fixing plate; 2. a lower fixing plate; 3. supporting the aluminum column; 4. a connecting rod; 5. an upper curved bar; 6. a lower curved bar; 7. a double hook spring; 8. a main transmission wheel; 9. a rocker arm; 10. the rope is driven.
Detailed Description
The invention is further described with reference to the following figures and examples:
the first embodiment is as follows: referring to fig. 1 and 2, an elastic deployment structure of a spherical robot based on rope driving comprises a fixing device, a driving device, a transmission device and a deployment device,
the fixing device comprises an upper fixing plate 1, a lower fixing plate 2 and a supporting aluminum column 3 for connecting and fixing the upper and lower fixing plates,
the transmission module comprises a main transmission wheel 6, the main transmission wheel 6 is arranged on the outer surface of the upper fixing plate 1, the driving device is connected with the main transmission wheel 1 to provide power,
the unfolding device comprises a plurality of pairs of bent rods, each pair of bent rods respectively comprises an upper bent rod 5 and a lower bent rod 6, the end part of the upper bent rod 5 is fixedly provided with a rocker arm 9, the middle part of the upper bent rod 5 and the middle part of the lower bent rod 6 are fixedly connected through a connecting rod 4, the end parts of the upper bent rod 5 and the lower bent rod 6 are rotatably connected with the end part of the supporting aluminum column 3,
a driving rope 10 is connected between the end part of the rocker arm 9 and the main driving wheel 8, a double-hook spring 7 is connected between each pair of adjacent curved bars, one end of the double-hook spring 7 is connected on the supporting aluminum column 3 of the front pair of curved bars, and the other end of the double-hook spring 7 is connected on the connecting rod 4 of the rear pair of curved bars.
In this embodiment, the driving device is a steering engine, the steering engine is arranged between the upper fixing plate and the lower fixing plate, and a gear of the steering engine extends out to be connected with the main driving wheel to control the rotation of the main driving wheel.
In this embodiment, the deployment device is provided with 6 pairs of curved rods.
In the invention, the upper curved rod is arranged on the outer surface of the upper fixing plate and is rotatably connected with the supporting aluminum column.
Referring to fig. 3 and 4, the device is applied to a spherical robot, the steering engine is connected with the main driving wheel, the main driving wheel rotates, the curved rod receives traction force of the driving rope in the unfolding direction and receives traction force of the spring in the folding direction, the rocker arm and the curved rod are fixedly connected and can be regarded as a whole, the rotating point is positioned in the middle of the whole, two ends of the whole are respectively subjected to two forces, and the device can be used for adjusting the unfolding and folding state of the whole robot structure under the action of the two forces.
In the invention, one end of the driving rope is connected to a small hole at the tail end of the rocker arm, the other end of the driving rope is connected to the edge of the main driving wheel, one driving rope is connected to one rocker arm, each rocker arm controls one pair of bent levers, the interval between each pair of adjacent bent levers is the same, and the interval between each pair of adjacent driving ropes is also the same, thus ensuring the consistency of the whole structure.
Claims (3)
1. The utility model provides a spherical robot elasticity expandes structure based on rope drive which characterized in that: comprises a fixing device, a driving device, a transmission device and a spreading device,
the fixing device comprises an upper fixing plate, a lower fixing plate and a supporting aluminum column for connecting and fixing the upper fixing plate and the lower fixing plate,
the transmission device comprises a main transmission wheel which is arranged on the outer surface of the upper fixing plate, the driving device is connected with the main transmission wheel to provide power,
the unfolding device comprises a plurality of pairs of curved bars, each pair of curved bars comprises an upper curved bar and a lower curved bar respectively, the end part of the upper curved bar is fixedly provided with a rocker arm, the middle part of the upper curved bar and the middle part of the lower curved bar are fixedly connected through a connecting rod, the end parts of the upper curved bar and the lower curved bar are rotatably connected with the end part of the supporting aluminum column,
a driving rope is connected between the end of the rocker arm and the main driving wheel, a double-hook spring is connected between each pair of adjacent bent rods, one end of each double-hook spring is connected to the supporting aluminum columns of the front pair of bent rods, and the other end of each double-hook spring is connected to the connecting rod of the rear pair of bent rods.
2. The elastic deployment structure of a rope-driven spherical robot according to claim 1, wherein: the driving device is a steering engine, and the steering engine is arranged between the upper fixing plate and the lower fixing plate.
3. The elastic deployment structure of a rope-driven spherical robot according to claim 1, wherein: the deployment device is provided with 6 pairs of curved rods.
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 |
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| 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 |
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| CN107953326A CN107953326A (en) | 2018-04-24 |
| CN107953326B true CN107953326B (en) | 2020-11-17 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860661B (en) * | 2018-07-19 | 2020-05-15 | 北京空间技术研制试验中心 | Driving mechanism |
| CN114029930B (en) * | 2021-11-09 | 2023-06-23 | 绍兴文理学院 | 6 whole movable structure of pole bent lever stretch-draw |
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 |
| 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 |
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| CN107953326A (en) | 2018-04-24 |
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