CN111086570A - Tetrahedral wheel type robot - Google Patents
Tetrahedral wheel type robot Download PDFInfo
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- CN111086570A CN111086570A CN202010078608.1A CN202010078608A CN111086570A CN 111086570 A CN111086570 A CN 111086570A CN 202010078608 A CN202010078608 A CN 202010078608A CN 111086570 A CN111086570 A CN 111086570A
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- vertex
- branched chain
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- branch chain
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
Abstract
The application belongs to the field of ground mobile robots, and particularly relates to a tetrahedral wheel type robot which comprises first to fourth vertex components and first to sixth branch chains; the four vertex components have the same structure and size; the six branched chains have the same structure and size; vertex supporting discs on the first vertex to the fourth vertex are respectively connected with the first branch chain, the third branch chain, the sixth branch chain, the fourth branch chain, the fifth branch chain, the sixth branch chain, the second branch chain, the third branch chain and the fourth branch chain in a revolute pair mode through a rotating shaft; the connecting robot is in a regular tetrahedron shape; the robot can realize the functions of straight movement, turning and obstacle crossing by controlling and driving the robot to change two moving modes of wheel type rolling and polyhedral type rolling, overcomes the defect that the existing wheel type robot can only move on a flat hard road, reduces the impact between a mechanism and the ground by design, has simple structure, is easy to manufacture and realize engineering, and can be used for manufacturing a reconnaissance robot.
Description
Technical Field
The application belongs to the field of ground mobile robots, and particularly relates to a tetrahedral wheel type robot.
Background
The existing tetrahedron robot can achieve the purposes of moving and steering through deformation. Chinese patent CN201810286062.1 proposes a tetrahedron mobile robot, which makes the branched chains turn inwards or outwards by controlling the steering engine to rotate forwards and backwards, so that the tetrahedron deforms to achieve the purpose of moving and steering. However, due to the structural characteristics, the moving speed is low, the rotating angle is relatively fixed, and due to the fact that the branched chains form the flat rods, the contact impact with the ground in the moving process is large, and the damage to the machine body is obvious.
Disclosure of Invention
In order to solve the problems, the invention provides a tetrahedral wheeled robot, which is characterized in that the mechanical design and practical optimization are carried out on the vertexes and the branched chains of the tetrahedral wheeled robot on the basis of a tetrahedral structure, so that the tetrahedral wheeled robot can generate deformation per se, change different moving modes and avoid tipping and collision, and therefore, the ground moving capability and the adaptability are realized.
In order to achieve the purpose of the invention, the technical scheme of the invention is as follows:
a tetrahedral wheeled robot comprising: the first vertex, the second vertex, the third vertex, the fourth vertex, the first branched chain, the second branched chain, the third branched chain, the fourth branched chain, the fifth branched chain, the sixth branched chain, and the characteristic is that: the first vertex consists of an omnidirectional wheel, a vertex supporting disk and a motor; the second vertex, the third vertex and the fourth vertex have the same structure and size as the first vertex;
the first branch chain consists of a branch chain thin rod, a branch chain wide rod and a steering engine; the three revolute pairs are arranged in total, and the axes of the three revolute pairs are parallel to each other; the structures and the sizes of the second branched chain, the third branched chain, the fourth branched chain, the fifth branched chain and the sixth branched chain are completely the same as those of the first branched chain;
the connection relation of the vertex and the branch chain is as follows:
the vertex supporting disc on the first vertex is respectively connected with any one end of the first branched chain, the third branched chain and the sixth branched chain through a rotating shaft in a rotating pair manner;
the vertex supporting disc on the second vertex is respectively connected with any one end of the fourth branched chain, the fifth branched chain and the sixth branched chain through a rotating shaft in a rotating pair manner;
the vertex supporting disk on the third vertex is respectively connected with any one end of the second branched chain, the third branched chain and the fourth branched chain through a rotating shaft in a rotating pair manner;
and the vertex supporting disk on the fourth vertex is respectively connected with any one end of the first branched chain, the second branched chain and the fifth branched chain through a rotating shaft in a rotating pair mode.
The first vertex comprises an omnidirectional wheel, a vertex supporting plate and a motor; the center of the vertex supporting disk is provided with a through hole which is used for being connected with the omnidirectional wheel through a motor; the vertex supporting disc is provided with three U-shaped openings, and the coplanar included angle of the axes of the three U-shaped openings is 120 degrees; two mounting holes are formed in two sides of the U-shaped opening of the top supporting disk.
The first branched chain consists of a branched chain thin rod, a branched chain wide rod and a steering engine, wherein the branched chain thin rod is fixedly connected with a connecting hole of a steering engine body through a bolt; the branch chain wide rod is fixedly connected with a steering engine rudder plate connecting hole through a bolt; through the connection, the branched chain can flexibly rotate around the rotating shaft of the steering engine and can be rotatably connected with the U-shaped opening of the top supporting disc through the mounting hole.
The shape of the branched chain slender rod and the branched chain wide rod of the first branched chain is similar to a sector, points on the rods corresponding to the centers of the mounting holes at the two ends of the branched chain are used as arc starting points, the distance between the two points is used as a radius, and an interference avoiding gap is formed in the branched chain slender rod.
The invention has the beneficial effects that:
the tetrahedral wheel type robot realizes the functions of integral rolling straight movement, turning and obstacle crossing of the robot by two moving modes of wheel type rolling and polyhedral rolling, overcomes the defect that the existing wheel type robot can only move on a flat hard road, reduces the impact between a mechanism and the ground by the design of a fan-shaped rod piece compared with a flat rod mechanism, has simple structure and low cost, is easy to manufacture and realize engineering, and can be used for manufacturing a reconnaissance robot.
Drawings
FIG. 1 is a three-dimensional view of a tetrahedral wheeled robot;
FIG. 2 is a first vertex three-dimensional view;
FIG. 3 is a three-dimensional view of the vertex support tray;
FIG. 4 is a three-dimensional view of a first branch chain;
FIG. 5 is a first side elevational view of the crotch;
FIG. 6 is a three-dimensional view of a wheeled movement pattern;
fig. 7A, 7B, 7C, 7D and 7E are exploded views of obstacle crossing gaits of a tetrahedral wheeled robot:
fig. 7A obstacle-surmounting gait initial pose
Figure 7B obstacle crossing gait center of gravity shift motion
FIG. 7C obstacle crossing gait obstacle crossing action
Figure 7D obstacle crossing gait posture recovery actions
FIG. 7E obstacle surmounting gait completion action;
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
A tetrahedral wheel robot, as shown in figure 1, comprises a first vertex I, a second vertex II, a third vertex III, a fourth vertex IV, a first branch A1, a second branch A2, a third branch A3, a fourth branch A4, a fifth branch A5 and a sixth branch A6, and is characterized in that: the first vertex I consists of an omnidirectional wheel I-1, a vertex supporting disk I-2 and a motor I-3; the second vertex II, the third vertex III and the fourth vertex IV have the same structure and size as the first vertex I;
the first branched chain A1 consists of a branched chain thin rod A1-1, a branched chain wide rod A1-2 and a steering engine A1-3; the three revolute pairs are arranged in total, and the axes of the three revolute pairs are parallel to each other; the structures and the sizes of the second branch A2, the third branch A3, the fourth branch A4, the fifth branch A5 and the sixth branch A6 are completely the same as those of the first branch A1;
the connection relation of the vertex and the branch chain is as follows:
a vertex supporting disk I-2 on the first vertex I is respectively connected with any one end of a first branched chain A1, a third branched chain A3 and a sixth branched chain A6 through a rotating shaft in a rotating pair mode;
a vertex supporting disk I-2 on a second vertex II is respectively connected with any one end of a fourth branched chain A4, a fifth branched chain A5 and a sixth branched chain A6 through a rotating shaft in a rotating pair mode;
a vertex supporting disk I-2 on a third vertex III is respectively connected with any one end of a second branched chain A2, a third branched chain A3 and a fourth branched chain A4 through a rotating shaft in a rotating pair mode;
and a vertex support disk I-2 on the fourth vertex IV is respectively connected with any one end of the first branch chain A1, the second branch chain A2 and the fifth branch chain A5 through a rotating shaft in a rotating pair mode.
As shown in FIG. 2, a first vertex I comprises an omnidirectional wheel I-1, a vertex support disc I-2 and a motor I-3; the vertex supporting disk I-2 is shown in figure 3, and is provided with a through hole I-2-3 in the center and is used for being connected with the omni wheel I-1 through a motor I-3; the vertex supporting disk I-2 is provided with three U-shaped openings I-2-1, and the coplanar included angle of the axes of the three U-shaped openings I-2-1 is 120 degrees; two mounting holes I-2-2 are arranged on two sides of the U-shaped opening I-2-1.
As shown in FIG. 4, the first branched chain A1 is composed of a branched chain thin rod A1-1, a branched chain wide rod A1-2 and a steering engine A1-3. The branched chain thin rod A1-1 is fixedly connected with a connecting hole of a steering engine A1-3 body through a bolt; the branched chain wide rod A1-2 is fixedly connected with a steering engine A1-3 rudder disc connecting hole through a bolt; through the connection, the branched chain can flexibly rotate around the rotating shaft of the steering engine and can be rotatably connected with the U-shaped opening I-2-1 of the vertex supporting disc I-2 through the mounting hole I-2-2.
As shown in FIG. 5, the branched slender rod A1-1 and the branched slender rod A1-2 of the first branched chain A1 are shaped like a fan, points on the rods corresponding to the centers of the mounting holes at the two ends of the branched chain are used as arc starting points, the distance between the two points is used as a radius, and an interference avoiding gap is formed in the branched slender rod A1-1.
The working process is as follows: a tetrahedron wheel type robot can realize the integral rolling straight walking gait and steering gait of the robot. As shown in fig. 6, a branched thin rod A1-1 and a branched wide rod A1-2 of a first branched chain A1, a second branched chain A2, a third branched chain A3, a fourth branched chain A4, a fifth branched chain A5 and a sixth branched chain A6 of the robot are folded inwards, three vertexes of a first vertex I, a second vertex II, a third vertex III and a fourth vertex IV are grounded, and a motor I-3 controls an omnidirectional wheel I-1 to complete the overall rolling straight walking gait and the steering gait of the robot.
A tetrahedron wheel type robot can realize the integral obstacle crossing gait of the robot. Firstly, a tetrahedral wheel type robot is in an initial pose of obstacle-crossing gait as shown in figure 7A; when the mechanism is ready to cross obstacles, three grounding branched chains of the steering engine driving mechanism enable the grounding branched chain close to the obstacle end to be folded inwards, and the other two grounding branched chains are expanded outwards as shown in the attached figure 7B; when the projection of the gravity center of the tetrahedral wheeled robot on the ground exceeds the obstacle vertical surface, obstacle crossing gait obstacle crossing action shown in the attached figure 7C is realized; when the support rod pieces are alternately arranged in the obstacle crossing direction and contact with the upper plane of the obstacle, the obstacle crossing gait posture recovery initial action shown in fig. 7D is realized; with the shift of the center of mass to the center of the mechanism, the obstacle-crossing gait posture recovery completing action shown in fig. 7E is realized. Thus, a complete obstacle crossing gait of the robot is realized, and the figures 7A, 7B, 7C, 7D and 7E are exploded views of obstacle crossing gaits of a left wheel mechanism of the tetrahedral wheel type robot.
While particular embodiments of the present invention have been described above, it will be understood by those skilled in the art that these are by way of illustration only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (4)
1. A tetrahedral wheeled robot comprising: the novel rubber composition comprises a first peak (I), a second peak (II), a third peak (III), a fourth peak (IV), a first branch chain (A1), a second branch chain (A2), a third branch chain (A3), a fourth branch chain (A4), a fifth branch chain (A5) and a sixth branch chain (A6), and is characterized in that: the first vertex (I) consists of an omnidirectional wheel (I-1), a vertex supporting disk (I-2) and a motor (I-3); the second vertex (II), the third vertex (III) and the fourth vertex (IV) have the same structure and size as the first vertex (I);
the first branched chain (A1) consists of a branched chain thin rod (A1-1), a branched chain wide rod (A1-2) and a steering engine (A1-3); the three revolute pairs are arranged in total, and the axes of the three revolute pairs are parallel to each other; the structures and the sizes of the second branch chain (A2), the third branch chain (A3), the fourth branch chain (A4), the fifth branch chain (A5) and the sixth branch chain (A6) are completely the same as those of the first branch chain (A1);
the connection relation of the vertex and the branch chain is as follows:
a vertex supporting disk (I-2) on the first vertex (I) is respectively connected with any one end of the first branched chain (A1), the third branched chain (A3) and the sixth branched chain (A6) through a rotating shaft in a rotating pair manner;
the vertex supporting disk (I-2) on the second vertex (II) is respectively connected with any one end of the fourth branched chain (A4), the fifth branched chain (A5) and the sixth branched chain (A6) through a rotating shaft in a rotating pair mode;
a vertex supporting disk (I-2) on the third vertex (III) is respectively connected with any one end of the second branched chain (A2), the third branched chain (A3) and the fourth branched chain (A4) through a rotating shaft in a rotating pair manner;
and the vertex support disk (I-2) on the fourth vertex (IV) is respectively connected with any one end of the first branched chain (A1), the second branched chain (A2) and the fifth branched chain (A5) through a rotating shaft in a rotating pair mode.
2. A tetrahedral wheeled robot according to claim 1, characterised in that:
the first vertex (I) comprises an omnidirectional wheel (I-1), a vertex supporting disk (I-2) and a motor (I-3);
the center of the vertex supporting disk (I-2) is provided with a through hole (I-2-3) which is used for being connected with the omnidirectional wheel (I-1) through a motor (I-3);
the vertex supporting disk (I-2) is provided with three U-shaped openings (I-2-1), and the coplanar included angle of the axes of the three U-shaped openings (I-2-1) is 120 degrees;
two mounting holes (I-2-2) are arranged on two sides of the U-shaped opening (I-2-1) of the vertex supporting disk (I-2).
3. A tetrahedral wheeled robot according to claim 1, characterised in that: the first branched chain (A1) consists of a branched chain thin rod (A1-1), a branched chain wide rod (A1-2) and a steering engine (A1-3);
wherein the branched chain thin rod (A1-1) is fixedly connected with a connecting hole of the body of the steering engine (A1-3) through a bolt;
the branched chain wide rod (A1-2) is fixedly connected with a steering engine (A1-3) rudder plate connecting hole through a bolt;
through the connection, the branched chain can flexibly rotate around the rotating shaft of the steering engine and can be rotatably connected with the U-shaped opening (I-2-1) of the vertex supporting disk (I-2) through the mounting hole (I-2-2).
4. A tetrahedral wheeled robot according to claim 1, characterised in that: the shape of the branched chain slender rod (A1-1) and the branched chain wide rod (A1-2) of the first branched chain (A1) is similar to a sector, points on the rods corresponding to the centers of the mounting holes at the two ends of the branched chain are used as arc starting points, the distance between the two points is used as a radius, and an interference avoiding gap is formed in the branched chain slender rod (A1-1).
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| CN202010078608.1A CN111086570B (en) | 2020-02-03 | 2020-02-03 | Tetrahedral wheel type robot |
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| CN202010078608.1A CN111086570B (en) | 2020-02-03 | 2020-02-03 | Tetrahedral wheel type robot |
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| CN111086570B CN111086570B (en) | 2022-02-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114714378A (en) * | 2022-05-16 | 2022-07-08 | 上海工程技术大学 | Parallel type reconfigurable mountain forest mobile robot |
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Cited By (2)
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| CN114714378B (en) * | 2022-05-16 | 2023-05-26 | 上海工程技术大学 | Parallel reconfigurable mountain forest mobile robot |
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