CN111845193A - Large-width deformation ratio wheel type paper folding principle robot - Google Patents
Large-width deformation ratio wheel type paper folding principle robot Download PDFInfo
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- CN111845193A CN111845193A CN202010652127.7A CN202010652127A CN111845193A CN 111845193 A CN111845193 A CN 111845193A CN 202010652127 A CN202010652127 A CN 202010652127A CN 111845193 A CN111845193 A CN 111845193A
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- paper folding
- wheel
- hub
- robot
- gear
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2900/00—Purpose of invention
- B60B2900/50—Improvement of
- B60B2900/551—Handling of obstacles or difficult terrains
Abstract
The invention discloses a large-width deformation ratio wheel type paper folding principle robot which comprises two paper folding wheels with variable widths and a shell, wherein the two paper folding wheels are symmetrically arranged on two sides of the shell, each paper folding wheel is correspondingly connected with a group of expansion devices for controlling the width change of the paper folding wheels, a driving device for driving the paper folding wheels and a transmission device, the driving device and the transmission device are arranged in the shell, and the paper folding wheels comprise variable-width frameworks. The adjustable width of this robot keeps the wheel footpath unchangeable when changing on a large scale, and overall structure is simple compact, easily control.
Description
Technical Field
The invention relates to the technical field of variable-width robots, in particular to a variable-width robot based on a paper folding principle.
Background
In uneven road surfaces in disaster areas, narrow gaps of cave or unknown complex road surface environments, a new challenge is posed to the adaptability and trafficability of the robot, and the width adjustability is a typical requirement. The deformable robot moving platform of track that uses commonly at present forms through the spare part assembly of a certain amount, and inner structure is complicated, and the assembly process is loaded down with trivial details, leads to the robot than heavier and make for a long time, and the deformation mode is single simultaneously, can't realize the adjustable in the robot width. The deformable paper folding principle robot based on the paper folding concept can solve the problems of complex assembly, heaviness, single form and the like to a certain extent, but still has the problems of small deformation ratio, difficulty in width deformation and the like; the existing variable-width paper folding principle robot limits the application range of the robot at the cost of improving the overall height, and is difficult to meet the adaptability and the trafficability of the robot to unknown narrow and complex environments.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a large-width deformation ratio wheel type paper folding principle robot, which can adjust the width to change in a large range and keep the wheel diameter unchanged, and has a simple and compact integral structure and easy control.
The technical scheme of the invention is as follows: the large-width deformation ratio wheel type paper folding principle robot comprises two paper folding wheels with variable widths and a shell, wherein the two paper folding wheels are symmetrically arranged on two sides of the shell, each paper folding wheel is correspondingly connected with a group of expansion devices for controlling the width change of the paper folding wheels, driving devices for driving the paper folding wheels and transmission devices, the driving devices and the transmission devices are arranged in the shell, and the paper folding wheels comprise variable-width frameworks. The paper folding principle robot is of a symmetrical structure as a whole.
The paper folding wheel further comprises a first wheel hub and a second wheel hub, the variable-width framework comprises an annular structure formed by connecting a plurality of wheel units of the three-pump derivative structure end to end, the two end faces of the annular structure are an outer end face and an inner end face respectively, wheel hub mounting holes are formed in the outer end face and the inner end face respectively, the first wheel hub is mounted on the outer end face, the second wheel hub is mounted on the inner end face, and a through hole is formed in the center of the first wheel hub and the center of the second wheel hub. Wherein, the first wheel hub and second wheel hub can consolidate the paper folding wheel.
And a buffer part is arranged on the outer edge of the paper folding wheel. The buffer parts are used as supporting points and contact points of the paper folding wheels and the ground, and play roles in buffering and protecting.
The crease lines of the three-pump derived structure wheel units are made of flexible materials, the panels are made of rigid materials, the three-pump derived structure wheel units are of symmetrical structures, and the panel of each three-pump derived structure wheel unit comprises two small end faces, two folding faces and two connecting faces. The three-pump derived structure wheel unit is derived based on a three-pump paper folding structure unit, each three-pump derived structure wheel unit is provided with six panels, the small end face is a parallelogram, the folding face and the connecting face are trapezoidal, one side of the small end face is connected with one side of the folding face, one side of the connecting face is connected with the other side of the folding face, when the three-pump derived structure wheel unit is folded, the connecting face is close to the folding face in an overturning mode, two folding faces are close to each other, two connecting faces are close to each other, and the distance between the two small end faces is gradually reduced. The small end surfaces at two sides of the wheel units of the three-pump derived structure form the outer end surface and the inner end surface of the variable-width framework together, and the flexible material has the characteristics of fatigue resistance, wear resistance and strong toughness, so that the variable-width framework of the paper folding wheel can deform in width; the rigid material can provide enough strength, the flexible material can adopt grid fiber transparent adhesive tapes, and the rigid material can adopt thin copper sheets.
The telescopic device comprises an electromagnet, a permanent magnet, a baffle and a spring, wherein one end of the spring is connected with the baffle, the baffle is connected with the permanent magnet, the baffle and the permanent magnet are arranged at the through hole of the first hub, an end cover is further arranged on the outer side of the through hole of the first hub, the other end of the spring is fixed at the through hole of the second hub, and the electromagnet is located in the shell. Wherein, the electro-magnet does not have magnetic attraction between the time of not switching on and the permanent magnet, and the paper folding wheel widens under the effect of spring force, and when the electro-magnet switched on, under magnetic attraction and spring force combined action, the resultant force that first wheel hub received changes, and the width of paper folding wheel changes.
The permanent magnet, the spring and the electromagnet are positioned on the same axis, and the electromagnet is connected with the control electric plate which adjusts the current of the electromagnet. Wherein, through control current size, change the magnetic attraction of electro-magnet and permanent magnet, adjust the folding degree of widen skeleton, and then the width variation of regulation and control paper folding wheel. The electromagnet is installed in the shell, is positioned on the same axis with the permanent magnet, the spring and the first gear, and can stably provide driving force for width deformation of the paper folding wheel.
The electromagnet is installed on the electromagnet support through a bolt, and an electromagnet support installation hole is formed in the shell.
The transmission device comprises a transmission sleeve, a thrust bearing, a first gear and a second gear, one end of the transmission sleeve is connected with a second hub, the middle of the transmission sleeve is installed on the side wall of the shell through the thrust bearing, the other end of the transmission sleeve is connected with the hub end of the first gear, the gear end of the first gear is meshed with the second gear, and the second gear is connected with the driving device. The transmission device can transmit the rotation of the driving motor to the paper folding wheel, and the second thrust bearing can bear axial load to guarantee the rotation of the paper folding wheel.
The first gear and the second gear are both bevel gears, and the driving device adopts a motor. Wherein the bevel gear can change the direction of the transmission force.
The hub end of the second gear is connected with the output shaft of the motor, the motor is installed on the motor support through bolts, and a motor support installation hole is formed in the shell.
Compared with the prior art, the invention has the following beneficial effects:
according to the large-width deformation ratio wheel type paper folding principle robot, a paper folding wheel made based on a paper folding structure is a multi-mechanism assembly body, the paper folding structure characteristics and crease distribution characteristics are fully utilized, the integrated forming is realized, and the width of the paper folding wheel can be continuously changed within a large range only by changing the current magnitude and applying a single-degree-of-freedom magnetic force in the axial direction. The paper folding wheel is manufactured by adopting a manufacturing method of distributing and forming a rigid material and a flexible material, so that the paper folding characteristics of the wheel are reserved, the bearing capacity of the wheel is improved, and the preparation process is simple.
The large-width deformation ratio wheel type paper folding principle robot has the advantages that the electromagnet is electrified through the control electroplate to adsorb the wheel of the permanent magnet to be widened, or the wheel is stretched under the action of the spring to be widened after power failure, the driving and the control of the width deformation are simple and reliable, the assembly is simple, and the paper folding wheel has a large width ratio.
This big width deformation ratio wheeled paper folding principle robot, other structures of robot are formed through 3D printing technology preparation, and the preparation time is short and reliable and stable. Each part structure of paper folding principle robot assembles conveniently, and the robot is light easily to be transported. The robot is suitable for the conditions of stable road surfaces and uneven road surfaces under the large-width working state; the paper folding wheel rim of the robot in a small-width working state is still continuous and can pass through narrow gaps to cross over higher broken stones. The invention can be used for detecting, searching and rescuing in special occasions such as narrow cave, narrow mine field and earthquake disaster area. This application utilizes the paper folding theory, has simplified the assembling process between the spare part, and then has reduced the preparation time of paper folding principle robot, realizes narrowing and crosses the seam.
Drawings
Fig. 1 is a schematic structural diagram of the robot with the large width deformation ratio and the wheel type paper folding principle.
Fig. 2 is a plan view of the robot based on the wheel type paper folding principle with large width deformation ratio.
Fig. 3 is a schematic structural diagram of the variable-width skeleton.
Fig. 4 is a schematic structural diagram of a single wheel unit with a three-pump derived structure.
Fig. 5 is a schematic configuration diagram of the large-width deformation when the width of the paper folding wheel of the wheel type paper folding principle robot is larger.
Fig. 6 is a schematic structural view in which the large-width deformation is smaller than the width of a paper folding wheel of the wheel type paper folding principle robot.
Fig. 7 is a partially enlarged schematic view of the structure of the paper folding wheel.
As shown in the figure, 1 is a paper folding wheel, 2 is a housing, 3 is a first hub, 4 is a second hub, 5 is a buffer member, 6 is an outer end face, 7 is an inner end face, 8 is a permanent magnet, 9 is a spring, 10 is an electromagnet, 11 is a first gear, 12 is a second gear, 13 is an end cover, 14 is a motor, 15 is a motor support, 16 is an electromagnet support, 17 is a transmission sleeve, 18 is a baffle plate, 19 is a thrust bearing, 20 is a sleeve mounting hole, 21 is a gear mounting hole, 22 is a hub mounting hole, 23 is a wheel unit with a three-pump derivative structure, 24 is a small end face, 25 is a folding face, and 26 is a connecting face.
Detailed Description
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Examples
The robot comprises two paper folding wheels 1 with variable widths and a shell 2, wherein the two paper folding wheels are symmetrically arranged on two sides of the shell, each paper folding wheel is correspondingly connected with a group of expansion devices for controlling the width change of the paper folding wheels, a driving device for driving the paper folding wheels and a transmission device, the driving device and the transmission device are arranged in the shell, and the paper folding wheels comprise variable-width frameworks.
As shown in fig. 3, the paper folding wheel further includes a first hub 3 and a second hub 4, the variable width skeleton includes an annular structure formed by connecting a plurality of wheel units of the three-pump derivative structure end to end, two end faces of the annular structure are an outer end face 6 and an inner end face 7, the outer end face and the inner end face are both provided with hub mounting holes 22, the first hub is mounted on the outer end face, the second hub is mounted on the inner end face, the centers of the first hub and the second hub are provided with through holes, and the edge face of the second hub is provided with two symmetrical sleeve mounting holes 20. Wherein, the first wheel hub and second wheel hub can consolidate the paper folding wheel.
And the outer edge of the paper folding wheel is provided with a buffer part 5. The buffer parts are used as supporting points and contact points of the paper folding wheels and the ground to play a role in buffering and protecting, and can be made of rubber.
As shown in fig. 4, the crease lines of the wheel unit 23 of three-pump derivative structure are made of flexible material, the panels are made of rigid material, the wheel unit of three-pump derivative structure is of symmetrical structure, and the panel of each wheel unit of three-pump derivative structure includes two small end faces 24, two folding faces 25 and two connecting faces 26. The three-pump derived structure wheel unit is derived based on a three-pump paper folding structure unit, each three-pump derived structure wheel unit is provided with six panels, the small end face is a parallelogram, the folding face and the connecting face are trapezoidal, one side of the small end face is connected with one side of the folding face, one side of the connecting face is connected with the other side of the folding face, when the three-pump derived structure wheel unit is folded, the connecting face is close to the folding face in an overturning mode, two folding faces are close to each other, two connecting faces are close to each other, and the distance between the two small end faces is gradually reduced. The small end surfaces at two sides of the wheel units of the three-pump derived structure form the outer end surface and the inner end surface of the variable-width framework together, and the flexible material has the characteristics of fatigue resistance, wear resistance and strong toughness, so that the variable-width framework of the paper folding wheel can deform in width; the rigid material can provide enough strength, the flexible material can adopt grid fiber transparent adhesive tapes, and the rigid material can adopt thin copper sheets.
As shown in fig. 7, the telescopic device comprises an electromagnet 10, a permanent magnet 8, a baffle 18 and a spring 9, one end of the spring is connected with the baffle, the baffle is connected with the permanent magnet, the baffle and the permanent magnet are arranged at the through hole of the first hub, an end cover 13 is further arranged outside the through hole of the first hub, the other end of the spring is fixed at the through hole of the second hub, and the electromagnet is located in the shell. Wherein, the electro-magnet does not have magnetic attraction between the time of not switching on and the permanent magnet, and the paper folding wheel widens under the effect of spring force, and when the electro-magnet switched on, under magnetic attraction and spring force combined action, the resultant force that first wheel hub received changes, and the width of paper folding wheel changes.
The permanent magnet, the spring and the electromagnet are positioned on the same axis, and the electromagnet is connected with the control electric plate which adjusts the current of the electromagnet. Wherein, through control current size, change the magnetic attraction of electro-magnet and permanent magnet, adjust the folding degree of widen skeleton, and then the width variation of regulation and control paper folding wheel. The electromagnet is installed in the shell, is positioned on the same axis with the permanent magnet, the spring and the first gear, and can stably provide driving force for width deformation of the paper folding wheel.
The electromagnet is installed on the electromagnet support 16 through a bolt, and an electromagnet support installation hole is formed in the shell.
The transmission device comprises a transmission sleeve 17, a thrust bearing 19, a first gear 11 and a second gear 12, one end of the transmission sleeve is connected with a second hub, the middle part of the transmission sleeve is installed on the side wall of the shell through the thrust bearing, the other end of the transmission sleeve is connected with the hub end of the first gear, the gear end of the first gear is meshed with the second gear, the second gear is connected with a driving device, and two symmetrical gear installation holes 21 are formed in the hub of the first gear. The transmission device can transmit the rotation of the driving motor to the paper folding wheel, and the second thrust bearing can bear axial load to guarantee the rotation of the paper folding wheel.
The first gear and the second gear are bevel gears, and the driving device adopts a motor 14. Wherein the bevel gear can change the direction of the transmission force.
The hub end of the second gear is connected with the output shaft of the motor, the motor is installed on the motor support 15 through bolts, and a motor support installation hole is formed in the shell.
As shown in fig. 5 and 6, the wheel width is reduced by controlling the electromagnet to adsorb the permanent magnet wheel, or the wheel is stretched under the action of the spring to widen after the power is cut off.
As mentioned above, the present invention can be better realized, and the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; all equivalent changes and modifications made according to the present disclosure are intended to be covered by the scope of the claims of the present invention.
Claims (10)
1. The large-width deformation ratio wheel type paper folding principle robot is characterized by comprising two paper folding wheels with variable widths and a shell, wherein the two paper folding wheels are symmetrically arranged on two sides of the shell, each paper folding wheel is correspondingly connected with a group of expansion devices for controlling the width change of the paper folding wheels, a driving device for driving the paper folding wheels and a transmission device, the driving device and the transmission device are arranged in the shell, and the paper folding wheels comprise variable-width frameworks.
2. The robot of claim 1, wherein the paper folding wheel further comprises a first hub and a second hub, the frame capable of being widened comprises a ring structure formed by connecting a plurality of wheel units of three-pump derived structure end to end, the two end faces of the ring structure are an outer end face and an inner end face respectively, the outer end face and the inner end face are provided with hub mounting holes, the first hub is mounted on the outer end face, the second hub is mounted on the inner end face, and a through hole is formed in the center of the first hub and the center of the second hub.
3. The robot with the large width deformation ratio and the wheel type paper folding principle according to claim 1, wherein a buffer part is arranged on the outer edge of the paper folding wheel.
4. The wheel-type paper folding robot with large width deformation ratio of claim 2, wherein the folding lines of the wheel units with three-pump derived structure are made of flexible material, the panels are made of rigid material, the wheel units with three-pump derived structure are symmetrical structure, and the panel of each wheel unit with three-pump derived structure comprises two small end faces, two folding faces and two connecting faces.
5. The robot is characterized in that the telescopic device comprises an electromagnet, a permanent magnet, a baffle and a spring, one end of the spring is connected with the baffle, the baffle is connected with the permanent magnet, the baffle and the permanent magnet are installed at a through hole of a first hub, an end cover is further arranged outside the through hole of the first hub, the other end of the spring is fixed at the through hole of a second hub, and the electromagnet is located in a shell.
6. The robot with the large width deformation ratio and the wheel type paper folding principle according to claim 5, wherein the permanent magnet, the spring and the electromagnet are located on the same axis, and the electromagnet is connected with a control electric plate, and the control electric plate adjusts the current of the electromagnet.
7. The wheeled paper folding principle robot with the large width deformation ratio is characterized in that the electromagnet is mounted on the electromagnet support through bolts, and the outer shell is provided with electromagnet support mounting holes.
8. The large-width deformation ratio wheeled paper folding principle robot is characterized in that the transmission device comprises a transmission sleeve, a thrust bearing, a first gear and a second gear, one end of the transmission sleeve is connected with a second hub, the middle of the transmission sleeve is installed on the side wall of the shell through the thrust bearing, the other end of the transmission sleeve is connected with the hub end of the first gear, the gear end of the first gear is meshed with the second gear, and the second gear is connected with the driving device.
9. The large-width-deformation-ratio wheeled paper folding principle robot as claimed in claim 8, wherein the first gear and the second gear are bevel gears, and the driving device is a motor.
10. The wheeled paper folding principle robot with the large width deformation ratio as claimed in claim 9, wherein a hub end of the second gear is connected with an output shaft of a motor, the motor is mounted on a motor support through bolts, and a motor support mounting hole is formed in a housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010652127.7A CN111845193A (en) | 2020-07-08 | 2020-07-08 | Large-width deformation ratio wheel type paper folding principle robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010652127.7A CN111845193A (en) | 2020-07-08 | 2020-07-08 | Large-width deformation ratio wheel type paper folding principle robot |
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| Publication Number | Publication Date |
|---|---|
| CN111845193A true CN111845193A (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010652127.7A Withdrawn CN111845193A (en) | 2020-07-08 | 2020-07-08 | Large-width deformation ratio wheel type paper folding principle robot |
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| Country | Link |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276986A (en) * | 2021-06-10 | 2021-08-20 | 辽宁工程技术大学 | Multi-connecting-rod walking mechanism based on hydro-elastic wheel structure |
| CN113500883A (en) * | 2021-07-26 | 2021-10-15 | 西南大学 | Variable width wheel |
| CN113636047A (en) * | 2021-08-18 | 2021-11-12 | 江西理工大学 | Crawler-type underwater robot based on paper folding structure and control method thereof |
| CN114654445A (en) * | 2022-03-02 | 2022-06-24 | 上海工程技术大学 | Line-driven flexible robot |
| CN114802506A (en) * | 2022-03-30 | 2022-07-29 | 江西理工大学 | Paper folding robot with deformable wheels |
-
2020
- 2020-07-08 CN CN202010652127.7A patent/CN111845193A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276986A (en) * | 2021-06-10 | 2021-08-20 | 辽宁工程技术大学 | Multi-connecting-rod walking mechanism based on hydro-elastic wheel structure |
| CN113500883A (en) * | 2021-07-26 | 2021-10-15 | 西南大学 | Variable width wheel |
| CN113500883B (en) * | 2021-07-26 | 2022-08-26 | 西南大学 | Variable width wheel |
| CN113636047A (en) * | 2021-08-18 | 2021-11-12 | 江西理工大学 | Crawler-type underwater robot based on paper folding structure and control method thereof |
| CN114654445A (en) * | 2022-03-02 | 2022-06-24 | 上海工程技术大学 | Line-driven flexible robot |
| CN114654445B (en) * | 2022-03-02 | 2023-06-02 | 上海工程技术大学 | Line-driven flexible robot |
| CN114802506A (en) * | 2022-03-30 | 2022-07-29 | 江西理工大学 | Paper folding robot with deformable wheels |
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Application publication date: 20201030 |