CN112896360A - Single-power moving six-rod robot - Google Patents
Single-power moving six-rod robot Download PDFInfo
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- CN112896360A CN112896360A CN202110204783.5A CN202110204783A CN112896360A CN 112896360 A CN112896360 A CN 112896360A CN 202110204783 A CN202110204783 A CN 202110204783A CN 112896360 A CN112896360 A CN 112896360A
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The utility model provides a six pole robots are removed to single power, this robot uses six pole mechanisms in space as the basis, six pole mechanisms are removed to single power are single closed chain link mechanism in space, by first long bracing piece (1), first short bracing piece (2), first type hemisphere (3), second short bracing piece (4), flange (5), motor mount pad (6), third short bracing piece (7), second type hemisphere (8), second long bracing piece (9), motor (10), fourth short bracing piece (11), first right connecting rod (12), second right connecting rod (13), afterbody bracing piece (14), left connecting rod (15) are constituteed. The robot can directly move and turn by controlling the positive and negative rotation of the motor, and can be well applied to the fields of education, entertainment, military and the like.
Description
Technical Field
The invention relates to a single-power moving six-rod robot, in particular to a single-power moving six-rod robot which is based on a spatial six-rod mechanism and drives a mechanism to move straight and turn by controlling the positive and negative rotation of a motor.
Background
Considering a ground moving device from the angle of freedom of mechanics, at least two degrees of freedom are needed to realize moving and steering, that is, at least two power machines are needed to drive and control. If the moving and steering functions can be realized by one power machine, the structural complexity of the moving device is greatly simplified, and the control difficulty can be effectively reduced.
Chinese patent CN109531558A discloses a "single power moving five-bar robot", which is based on a space five-bar mechanism and realizes the integral forward and steering of the mechanism by the turning action of a power machine driving part.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: generally, a single degree of freedom mechanism can only realize one-way movement, but cannot realize steering.
The six-bar robot is moved to single power includes: the device comprises a first long support rod, a first short support rod, a first hemisphere, a second short support rod, a flange, a motor mounting seat, a third short support rod, a second hemisphere, a second long support rod, a motor, a fourth short support rod, a first right connecting rod, a second right connecting rod, a tail support rod and a left connecting rod.
The component structure of the mechanism is as follows:
the first long support rod is a rod piece with a circular section, and one end of the first long support rod is provided with a shaft connection;
the first short supporting rod and the second long supporting rod are rod pieces with circular sections, the long supporting rod is longer than the short supporting rod, one end of the long supporting rod is provided with a dome, and the other end of the long supporting rod is of a wedge-shaped structure; the second short supporting rod, the third short supporting rod and the fourth short supporting rod are the same as the first short supporting rod in structure and appearance size;
the first hemisphere is obtained by cutting a certain thickness along the normal direction of the plane of the hemisphere structure; the center of the plane of the first hemisphere is provided with a through hole for installing the flange, the plane is provided with three orthogonal circular grooves, the spherical surface is provided with three orthogonal through holes along the radius direction, and the structure and the overall dimension of the second hemisphere are the same as those of the first hemisphere;
the motor mounting seat is a circular rod piece and a thin plate supported by the circular rod piece, and the right thin plate is provided with four through holes for mounting a motor and a through hole with the diameter larger than that of a motor shaft;
the second right connecting rod is a rod piece with a rectangular section, a plurality of triangular lightening holes are formed in the second right connecting rod, one end of the second right connecting rod is provided with a shaft hole used for being connected with the motor mounting seat, and the other end of the second right connecting rod is provided with a stepped hole used for being connected with the first right connecting rod through a shaft;
the first right connecting rod is a rod piece with a rectangular section, one end of the first right connecting rod is provided with a through hole for shaft connection with the second right connecting rod, and the other end of the first right connecting rod is provided with a through hole for connection with the tail supporting rod;
the tail supporting rod is integrally of a T-shaped structure and consists of two parts, wherein one end of the tail supporting rod (14-1) is provided with a dome, the other end of the tail supporting rod is provided with a round hole connected with the tail supporting rod (14-2), the end part of the tail supporting rod (14-2) in the horizontal direction is provided with a stepped shaft connected with a left connecting rod, the bottom of the vertical rod piece is provided with the dome, and the stepped shaft at the upper end is used for connecting a first right connecting rod and the tail supporting rod (14-1);
the left connecting rod is a rod piece with a rectangular section, one end of the left connecting rod is provided with a shaft hole connected with the tail supporting rod, and the other end of the left connecting rod is provided with a shaft hole connected with the first long supporting rod;
output shafts at two sides of the motor are arranged in D-shaped holes of the flanges, the flanges at two sides are respectively connected with a first hemisphere and a second hemisphere through bolts, the motor is connected with a motor mounting seat through bolts, a first long support rod, a first short support rod and a second short support rod are respectively arranged with round holes on the spherical surface of the first hemisphere in an interference fit manner, a second long support rod, a third short support rod and a fourth short support rod are arranged with round holes on the spherical surface of the second hemisphere in an interference fit manner, the first long support rod and the second long support rod are ensured to be arranged on a straight line, the first short support rod and the fourth short support rod are arranged on a straight line, the second short support rod and the third short support rod are arranged on a straight line, a through hole of a first right connecting rod is rotationally connected with the motor mounting seat, the second right connecting rod is rotationally connected with the first right connecting rod through a shaft, and a tail support rod is rotationally connected with the second right connecting rod, one end of the left connecting rod is rotationally connected with the tail supporting rod, and the other end of the left connecting rod is rotationally connected with the first long supporting rod;
the first long support rod, the first short support rod and the second short support rod are in contact with the second long support rod, the third short support rod and the fourth short support rod to form an isosceles triangle, and the robot moves and turns through the structure; the tail supporting rod performs rolling motion and mainly plays a supporting role.
The motor is a double-side output shaft motor.
The invention has the beneficial effects that: the single-power six-rod robot is a single-degree-of-freedom mechanism, and the mechanism is driven to move straight and turn by controlling the positive and negative rotation of the motor. The mechanism has simple structure and is easy to manufacture and process. In the civil field, the moving mechanism recognition opportunity is provided for primary and middle school students, and the moving mechanism recognition opportunity can be used for manufacturing toys and teaching aids; in the military field, the system can be further designed and transformed into a military detection robot.
Drawings
FIG. 1 is a schematic diagram of the assembly of a single-power-driven six-bar robot
FIG. 2 is a view showing the structure of the first long support bar
FIG. 3 is a view showing the structure of the second short strut
FIG. 4 is a diagram of a first hemisphere of a structure
FIG. 5 Structure of the motor mounting base
FIG. 6 is a view showing the first right link
FIG. 7 is a second right link structure view
FIG. 8 shows the structure of the rear support rod (14-1)
FIG. 9 structure of the rear support rod (14-2)
FIG. 10 is a schematic view of a left link
FIG. 11 is a schematic diagram of the moving gait of the single-power moving six-bar robot in the straight-going state
FIG. 12 is a schematic gait diagram of a single power mobile six-bar robot performing a turning gait I
FIG. 13 is a schematic gait diagram of a single-power-driven six-bar robot performing a turning gait two
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the single-power moving six-bar robot is a spatial single-closed chain mechanism, including: the device comprises a first long support rod (1), a first short support rod (2), a first hemisphere (3), a second short support rod (4), a flange (5), a motor mounting seat (6), a third short support rod (7), a second hemisphere (8), a second long support rod (9), a motor (10), a fourth short support rod (11), a first right connecting rod (12), a second right connecting rod (13), a tail support rod (14) and a left connecting rod (15).
The first long support rod (1) is a rod piece with a circular section, and one end of the first long support rod is provided with a shaft connection;
the first short supporting rod (2) and the second long supporting rod (9) are rod pieces with circular sections, the long supporting rod is longer than the short supporting rod, one end of the long supporting rod is provided with a dome, and the other end of the long supporting rod is of a wedge-shaped structure; the second short supporting rod (4), the third short supporting rod (7) and the fourth short supporting rod (11) have the same structure and the same external dimension as the first short supporting rod (2);
the first hemisphere (3) is obtained by cutting a certain thickness along the normal direction of the plane of the hemisphere structure; a through hole for installing a flange is formed in the center of the plane of the first hemisphere (3), three orthogonal circular grooves are formed in the plane, three orthogonal through holes are formed in the spherical surface along the radius direction, and the structure and the overall dimension of the second hemisphere (9) are the same as those of the first hemisphere (3);
the motor mounting seat (6) is a circular rod piece and a thin plate supported by the circular rod piece, and the right thin plate is provided with four through holes for mounting a motor and a through hole with the diameter larger than that of a motor shaft;
the second right connecting rod (12) is a rod piece with a rectangular section, a plurality of triangular lightening holes are formed in the rod piece, one end of the rod piece is provided with a shaft hole used for being connected with the motor mounting seat (6), and the other end of the rod piece is provided with a stepped hole used for being connected with the first right connecting rod (13) in a shaft mode;
the first right connecting rod (13) is a rod piece with a rectangular section, one end of the first right connecting rod is provided with a through hole for shaft connection with the second right connecting rod (12), and the other end of the first right connecting rod is provided with a through hole for connection with the tail supporting rod (14);
the tail supporting rod (14) is of a T-shaped structure integrally and consists of two parts, wherein one end of the tail supporting rod (14-1) is provided with a dome, the other end of the tail supporting rod is provided with a round hole connected with the tail supporting rod (14-2), the end part of the tail supporting rod (14-2) in the horizontal direction is provided with a stepped shaft connected with a left connecting rod (15), the bottom of the vertical rod piece is provided with the dome, and the stepped shaft at the upper end is used for connecting a first right connecting rod (13) and the tail supporting rod (14-1);
the left connecting rod (15) is a rod piece with a rectangular cross section, one end of the left connecting rod is provided with a shaft hole connected with the tail supporting rod (14-2), and the other end of the left connecting rod is provided with a shaft hole connected with the first long supporting rod (1);
output shafts on two sides of a motor (10) are arranged in a D-shaped hole of a flange, the flanges on the two sides are respectively connected with a first hemisphere (3) and a second hemisphere (8) through bolts, the motor is connected with a motor mounting seat (6) through bolts, a first long support rod (1), a first short support rod (2) and a second short support rod (4) are respectively arranged with round holes on the spherical surface of the first hemisphere (3) in an interference fit manner, a second long support rod (9), a third short support rod (7) and a fourth short support rod (11) are arranged with round holes on the spherical surface of the second hemisphere (8) in an interference fit manner, the first long support rod (1) and the second long support rod (9) are ensured to be on the same straight line, the first short support rod (2) and the fourth short support rod (11) are ensured to be on the same straight line, the second short support rod (4) and the third short support rod (7) are ensured to be on the same straight line, the through hole of the first right connecting rod (12) is rotationally connected with the motor mounting seat (6), the second right connecting rod (13) is rotationally connected with the first right connecting rod (12) through a shaft, the tail supporting rod (14) is rotationally connected with the second right connecting rod (13), one end of the left connecting rod (15) is rotationally connected with the tail supporting rod (14), and the other end of the left connecting rod is rotationally connected with the first long supporting rod (1);
the specific use method comprises the following steps:
the single-power mobile robot can realize ground straight-going and steering. Fig. 11 illustrates a movement of the robot in a cycle in a straight-moving state as shown in fig. 11(a) - (f), where fig. 11(a) is an initial state of the robot, the robot is driven by the driving motor, the supporting rods on the quasi-hemisphere touch the ground alternately to form a triangular supporting area, and the robot is driven by the driving motor continuously to turn forward along one side of the triangular supporting area respectively to urge the robot to move forward continuously, and the tail supporting rod is always in contact with the ground during the whole forward movement process to perform a sliding movement, so that the robot needs to complete six steps in a cycle.
The single-power moving six-rod robot can realize steering action. The steering action is of two types: a first steering mode and a second steering mode.
Fig. 12 is a gait diagram of a first steering mode of the robot. The robot firstly reaches the state of fig. 12(a) under the drive of the motor in the forward direction, the motor is driven in the reverse direction, the tail supporting rod is driven by the motor to overturn in space, when the state of fig. 12(b) is reached, the robot tilts, the supporting triangular area changes, the motor keeps rotating in the reverse direction and continues to be driven, the whole robot has only three supporting points, when the position of fig. 12(c) is reached, the tail supporting rod touches the ground, then the state of the robot is shown in fig. 12(d), and finally the state of the robot reaches the state of fig. 12 (d).
Fig. 13 is a schematic gait diagram of the second steering mode of the robot. The robot firstly reaches the state of fig. 13(a) under the forward driving of the motor, the motor is driven reversely at the moment, the tail supporting rod is driven by the motor to overturn in space, when the state of fig. 13(c) is reached, the robot tilts, the supporting triangular area changes, the whole robot has only three supporting points, and when the position of fig. 13(d) is reached, the tail supporting rod touches the ground, and finally the position of fig. 13(d) is reached.
All other turns are similar to turn two.
Claims (3)
1. The utility model provides a six pole robots are removed to single power which characterized in that: a single-power moving six-bar robot-space single-closed-chain mechanism, comprising: the device comprises a first long support rod (1), a first short support rod (2), a first hemisphere (3), a second short support rod (4), a flange (5), a motor mounting seat (6), a third short support rod (7), a second hemisphere (8), a second long support rod (9), a motor (10), a fourth short support rod (11), a first right connecting rod (12), a second right connecting rod (13), a tail support rod (14) and a left connecting rod (15);
the first long support rod (1) is a rod piece with a circular section, and one end of the first long support rod is provided with a shaft connection;
the first short supporting rod (2) and the second long supporting rod (9) are rod pieces with circular sections, the long supporting rod is longer than the short supporting rod, one end of the long supporting rod is provided with a dome, and the other end of the long supporting rod is of a wedge-shaped structure; the second short supporting rod (4), the third short supporting rod (7) and the fourth short supporting rod (11) have the same structure and the same external dimension as the first short supporting rod (2);
the first hemisphere (3) is obtained by cutting a certain thickness along the normal direction of the plane of the hemisphere structure; a through hole for installing a flange is formed in the center of the plane of the first hemisphere (3), three orthogonal circular grooves are formed in the plane, three orthogonal through holes are formed in the spherical surface along the radius direction, and the structure and the overall dimension of the second hemisphere (9) are the same as those of the first hemisphere (3);
the motor mounting seat (6) is a circular rod piece and a thin plate supported by the circular rod piece, and the right thin plate is provided with four through holes for mounting a motor and a through hole with the diameter larger than that of a motor shaft;
the second right connecting rod (12) is a rod piece with a rectangular section, a plurality of triangular lightening holes are formed in the rod piece, one end of the rod piece is provided with a shaft hole used for being connected with the motor mounting seat (6), and the other end of the rod piece is provided with a stepped hole used for being connected with the first right connecting rod (13) in a shaft mode;
the first right connecting rod (13) is a rod piece with a rectangular section, one end of the first right connecting rod is provided with a through hole for shaft connection with the second right connecting rod (12), and the other end of the first right connecting rod is provided with a through hole for connection with the tail supporting rod (14);
the tail supporting rod (14) is of a T-shaped structure integrally and consists of two parts, wherein one end of the tail supporting rod (14-1) is provided with a dome, the other end of the tail supporting rod is provided with a round hole connected with the tail supporting rod (14-2), the end part of the tail supporting rod (14-2) in the horizontal direction is provided with a stepped shaft connected with a left connecting rod (15), the bottom of the vertical rod piece is provided with the dome, and the stepped shaft at the upper end is used for connecting a first right connecting rod (13) and the tail supporting rod (14-1);
the left connecting rod (15) is a rod piece with a rectangular cross section, one end of the left connecting rod is provided with a shaft hole connected with the tail supporting rod (14-2), and the other end of the left connecting rod is provided with a shaft hole connected with the first long supporting rod (1);
output shafts on two sides of a motor (10) are arranged in a D-shaped hole of a flange, the flanges on the two sides are respectively connected with a first hemisphere (3) and a second hemisphere (8) through bolts, the motor is connected with a motor mounting seat (6) through bolts, a first long support rod (1), a first short support rod (2) and a second short support rod (4) are respectively arranged with round holes on the spherical surface of the first hemisphere (3) in an interference fit manner, a second long support rod (9), a third short support rod (7) and a fourth short support rod (11) are arranged with round holes on the spherical surface of the second hemisphere (8) in an interference fit manner, the first long support rod (1) and the second long support rod (9) are ensured to be on the same straight line, the first short support rod (2) and the fourth short support rod (11) are ensured to be on the same straight line, the second short support rod (4) and the third short support rod (7) are ensured to be on the same straight line, the through hole of first right connecting rod (12) forms to rotate with motor mount pad (6) and is connected, and second right connecting rod (13) forms to rotate through the axle with first right connecting rod (12) and is connected, and afterbody bracing piece (14) forms to rotate with second right connecting rod (13) and is connected, and left connecting rod (15) one end forms to rotate with afterbody bracing piece (14) and is connected, and the other end forms to rotate with first long bracing piece (1) and is connected.
2. A single power mobile six-bar robot as recited in claim 1, wherein: the first long support rod (1), the first short support rod (2) and the second short support rod (4) are in contact with the ground through the second long support rod (9), the third short support rod (7) and the fourth short support rod (11) to form an isosceles triangle, and the robot moves and turns through the structure; the tail support rod (14) performs rolling and swinging motions and mainly plays a supporting role.
3. A single power mobile six-bar robot as recited in claim 1, wherein: the motor (6) is a motor with double-side output shafts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110204783.5A CN112896360B (en) | 2021-02-24 | 2021-02-24 | Single-power moving six-rod robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110204783.5A CN112896360B (en) | 2021-02-24 | 2021-02-24 | Single-power moving six-rod robot |
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| CN112896360A true CN112896360A (en) | 2021-06-04 |
| CN112896360B CN112896360B (en) | 2022-03-04 |
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| CN202110204783.5A Active CN112896360B (en) | 2021-02-24 | 2021-02-24 | Single-power moving six-rod robot |
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| CN103612686A (en) * | 2013-12-10 | 2014-03-05 | 罗定职业技术学院 | Six-foot upright walking robot |
| US20160001831A1 (en) * | 2013-12-27 | 2016-01-07 | Sebastien Cotton | Multi-Legged Running Robot |
| CN105690375A (en) * | 2016-04-01 | 2016-06-22 | 北京交通大学 | Single degree-of-freedom four-bar mobile robot and control method thereof |
| CN109531558A (en) * | 2018-11-29 | 2019-03-29 | 北京交通大学 | Single-power moves five bar robots |
| CN110979497A (en) * | 2019-11-13 | 2020-04-10 | 北京交通大学 | Passive driving type detection robot based on sea urchin bionics |
| CN111452032A (en) * | 2020-04-13 | 2020-07-28 | 北京交通大学 | Single-power steerable mobile two-rod robot |
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2021
- 2021-02-24 CN CN202110204783.5A patent/CN112896360B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070108022A1 (en) * | 2005-11-15 | 2007-05-17 | Neu Franklin D | Sequential stepped movement staging device |
| CN102416986A (en) * | 2011-11-01 | 2012-04-18 | 北京航空航天大学 | Six-foot ant robot |
| CN103407515A (en) * | 2013-07-23 | 2013-11-27 | 北京交通大学 | Dual-mode travel mechanism |
| CN103612686A (en) * | 2013-12-10 | 2014-03-05 | 罗定职业技术学院 | Six-foot upright walking robot |
| US20160001831A1 (en) * | 2013-12-27 | 2016-01-07 | Sebastien Cotton | Multi-Legged Running Robot |
| CN105690375A (en) * | 2016-04-01 | 2016-06-22 | 北京交通大学 | Single degree-of-freedom four-bar mobile robot and control method thereof |
| CN109531558A (en) * | 2018-11-29 | 2019-03-29 | 北京交通大学 | Single-power moves five bar robots |
| CN110979497A (en) * | 2019-11-13 | 2020-04-10 | 北京交通大学 | Passive driving type detection robot based on sea urchin bionics |
| CN111452032A (en) * | 2020-04-13 | 2020-07-28 | 北京交通大学 | Single-power steerable mobile two-rod robot |
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| CN112896360B (en) | 2022-03-04 |
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