CN114029930A

CN114029930A - 6-rod curved rod tensioning integral movable structure

Info

Publication number: CN114029930A
Application number: CN202111317416.2A
Authority: CN
Inventors: 冯晓东; 徐佶; 王奇; 撒剑波; 樊杨彪; 王晓煜
Original assignee: University of Shaoxing
Current assignee: University of Shaoxing
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2022-02-11
Anticipated expiration: 2041-11-09
Also published as: CN114029930B

Abstract

The invention discloses a 6-rod curved bar tensioning integral movable structure which comprises 6 curved bars, wherein two ends of any curved bar are hinged with 24n inhaul cables as hinged points, the 6 curved bars are connected through the inhaul cables to form a curved bar tensioning integral body, and when the structure is in standing, adaptive point positions on a plurality of curved bars are adjusted according to different terrains to support to form an integral balance state; a driving device is arranged in the formed curved bar stretching whole body, so that a movable structure of the curved bar stretching whole body is formed, and the curved bar stretching whole body can be driven to move. The whole structure of the invention is similar to a sphere in shape, has higher motion stability compared with the traditional straight rod structure, and is superior to the traditional tension integral structure in motion performance and motion environmental adaptability; and the overall stress of the six-rod curved rod tensioning overall movable structure is more balanced, the six-rod curved rod tensioning overall movable structure has better compression resistance and impact resistance, the protection can be improved for the robot and the carried load, and the six-rod curved rod tensioning overall movable structure has higher structural stability.

Description

6-rod curved rod tensioning integral movable structure

Technical Field

The invention relates to the technical field of prestressed cable-rod structures, in particular to a 6-rod curved rod tensioning integral movable structure.

Background

The integral tensioning structure is a novel space structure system consisting of discrete compression bars and continuous inhaul cables, and is widely applied to multiple subject fields due to the characteristics of light weight, high strength, simple structure, high environmental robustness and deformability.

The existing stretching integral robot with 4 compression bars, 6 compression bars, 12 compression bars and 30 compression bars is a straight bar stretching integral structure, the edges and corners of the traditional straight bar stretching integral structure are clear, the movement efficiency is not high and stable, dead angles which cannot be reached during movement are generated, the number of the bars is increased, if the 30-bar stretching integral structure is adopted, certain gaps exist in an integral structure system due to the fact that 2 compression bars and 4 compression bars and the like can be compensated to a certain extent, the structure is not stable enough, the problems that the movement is not flexible, dead angles exist, the stability is not enough and the like are solved, along with the number of structural bars, the number of members to be controlled is increased accordingly, and the high-efficiency control is difficult.

In order to solve the problems, the scheme is developed accordingly.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a 6-rod curved rod tensioning integral movable structure, which solves the problems in the background technology.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: a6-rod curved bar tensioning integral movable structure comprises 6 curved bars, wherein two ends of any curved bar are hinged with 24n inhaul cables as hinged points, the curved bars are connected through the inhaul cables to form a hollow outer frame in a curved bar tensioning integral form, and when the structure is in standing, adaptive points on 3 curved bars are always supported to form an integral balance state; the outer frame is provided with a driving device which can drive the whole curved bar to stretch and move.

Preferably, each curved rod bends outwards with the radian of 120 degrees, a spherical space is formed inside, each curved rod extends outwards with the radian of 15 degrees at the node of each end, and the radian of the whole curved rod is 150 degrees, so that the whole structure is closer to a sphere in shape. The outer envelope surface of the formed main structure of the outer frame is composed of two basic figures of 12 isosceles triangles and 8 equilateral triangles, wherein each side of each equilateral triangle is provided with a guy cable, and both sides of each isosceles triangle are provided with the guy cables, and one side of each isosceles triangle is provided with no guy cable.

Preferably, the driving device comprises a movable weight block arranged on each curved bar and a driving piece for driving the movable weight block to move, the movable weight blocks move along the trend of the corresponding curved bars under the driving of the driving piece, the curved bars correspondingly rotate along with the change of the positions of the movable blocks under the action of gravity of the movable blocks, and the movement of the plurality of movable weight blocks is controlled simultaneously to realize the integral stretching and moving of the curved bars.

Preferably, the driving piece includes the built-in suspension excitation coil in the upper and lower two sides of bent bar inner wall to lead to with the direct current, wherein two side coil winding opposite direction about, still include the driving excitation coil of two sides for no iron core about the bent bar inner wall, and lead to with the alternating current, and then can form curved magnetic suspension guide rail inside the bent bar, in the magnetic suspension guide rail that forms was located to the activity pouring weight, it included the pouring weight outer box, arranged solid pouring weight, two opposite driving magnet of magnetic pole, suspension magnet in the pouring weight outer box in, suspension magnet bonds downside on solid pouring weight, and two opposite driving magnet of magnetic pole regard as a unit, and the left and right sides of solid iron piece all sets up a unit.

Preferably, the inner diameter of the magnetic suspension guide rail is formed to be less than 1.4 times of the side length of the movable weight.

Preferably, the driving part comprises a motor, the output end of the motor is connected with a gear, a rack is arranged at the bottom of the inner wall of the driving part along the arc-shaped trend of the curved bar, the gear is meshed with the rack, and the movable weight is connected to one side of the motor.

Preferably, the movable weight comprises a sliding block with mass, the sliding block is connected to one side of the motor through a connecting block, a roller is arranged on the sliding block, a guide rail groove is formed in the bottom of the inner wall of the sliding block along the arc-shaped trend of the curved bar, and the roller moves in the guide rail groove.

(III) advantageous effects

After adopting the technical scheme, compared with the prior art, the invention has the following advantages: according to the six-rod curved rod tensioning whole body formed by the method, the radian of 6 curved rods which are outwards bent is 120 degrees, the radian of each curved rod at two end nodes is respectively outwards extended by a distance of 15 degrees, and the radian of the whole curved rod is 150 degrees, so that the whole structure is close to a sphere in shape, compared with the traditional straight rod structure, the six-rod curved rod tensioning whole body has higher motion stability and better motion flexibility, and is superior to the traditional tensioning whole body structure in motion performance and motion environment adaptability; and the six-rod curved bar tensioning integral movable structure has more balanced integral stress, better compression resistance and impact resistance, can improve the protection of the robot and the carried load, and has higher structural stability.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of a movable structure of the present invention;

FIG. 3 is a schematic structural view of a driving member after disassembling the curved bar according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a driving member after the curved bar is cut away according to a first embodiment of the present invention;

FIG. 5 is a schematic illustration showing a disassembly process of a solid weight structure according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a coil arrangement used in one embodiment of the present invention;

fig. 7 is a schematic structural view of a driving member after disassembling the curved bar according to the second embodiment of the present invention.

In the figure: 1. a curved bar; 2. a cable; 3. a suspension excitation coil; 4. a drive field coil; 5. a weight outer box; 6. a solid iron block; 7. a drive magnet; 8. a levitating magnet; 9. a motor; 10. a gear; 11. a solid weight; 12. a roller; 13. a guide rail groove; 14. an equipment box; 15. a movable weight; 16. a rack.

Detailed Description

The invention is explained in more detail below with reference to the figures and examples.

As shown in fig. 1-6: the utility model provides a whole movable structure of 6 pole bent lever stretch-draw, includes 6 bent levers 1, the both ends of arbitrary bent lever 1 are articulated as the pin joint has 24n cable 2 (this scheme adopts 24 as an example), and connect the hollow outer frame that forms the whole form of bent lever 1 stretch-draw between a plurality of bent levers 1 through cable 2, when stewing, have many bent levers 1 (can be a bent lever 1 when the level land, pot hole topography can be for the adaptation position on 2-3 bent levers 1) to support and form whole balanced state according to different topography.

Specifically, each curved bar 1 is bent outwards, the radian is 120 degrees, a spherical space is formed inside the curved bar 1, the radian of each curved bar 1 is 15 degrees at the node of each end, the radian of the whole curved bar 1 is 150 degrees, and the whole structure is close to a sphere in shape.

Specifically, the outer envelope surface of the main structure is composed of two basic figures of 12 isosceles triangles and 8 equilateral triangles, wherein each side of each equilateral triangle is provided with a guy cable 2, the two sides of each isosceles triangle are provided with guys cables 2, and one side of each isosceles triangle is not provided with a guy cable 2.

The outer frame is provided with a driving device which can drive the bent rod 1 to stretch integrally to advance. The driving device comprises a movable weight block arranged on each curved bar 1 and a driving piece for driving the movable weight block to move, the movable weight block moves along the direction of the corresponding curved bar 1 under the driving of the driving piece, the curved bar 1 correspondingly rotates along with the change of the position of the movable block under the action of gravity of the movable block, and the movement of the plurality of movable weight blocks is controlled simultaneously to realize the integral stretching and pulling of the curved bar 1.

The internal/middle part of the whole structure can be fixed with a device box 14 for placing needed devices and fully utilizing the internal space. Mountable equipment box 14 can be placed to the inside structure, places the required equipment of task, like detector, cell-phone, GPS positioning device etc. and the better task of accomplishing also can install some small-size equipment in bent lever 1 equipment box, and then can regulate and control electric current size and direction in real time, control solid pouring weight motion. The whole motion system realizes wireless communication with the PC through radio, and the mobile system performs wireless control by using transmitted data.

Example one

Referring to fig. 2-5, the present embodiment is described with respect to a driving device, the driving element includes a suspension excitation coil 3 embedded in the upper and lower surfaces of the inner wall of the curved bar 1 and supplied with direct current, wherein the winding directions of the coils on the upper and lower surfaces are opposite, and further includes a driving excitation coil 4 without an iron core on the left and right surfaces of the inner wall of the curved bar 1 and supplied with alternating current, so as to form an arc magnetic suspension guide rail inside the curved bar 1, the movable weight is disposed in the formed magnetic suspension guide rail, and includes a weight outer box 5, a solid weight disposed in the weight outer box 5, two driving magnets 7 with opposite magnetic poles, and a suspension magnet 8, the suspension magnet 8 is adhered to the upper and lower sides of the solid weight, the two driving magnets 7 with opposite magnetic poles are used as a unit, and a unit is disposed on each of the left and right sides of the solid iron block 6. The magnetic suspension track structure has the advantages that the coil in the magnetic suspension track is electrified to generate a magnetic field, so that the solid weight block in the curved track is suspended and moves, the gravity center of the whole structure is changed according to the movement of the solid weight block, the structure is driven to move, and the structure is more sensitive in driving response and can move faster compared with other driving modes due to the fact that the influence of friction force is avoided.

The magnetic suspension tracks in each curved bar 1 can be independently controlled without mutual interference, and when individual magnetic suspension driving rods are in failure, other solid weights 11 can be driven to move, and the structure can be driven to move in all directions by controlling the solid weights 11 with different numbers.

The inner walls of the upper and lower surfaces of the magnetic suspension guide rail are made of magnetic conduction materials, and the inner walls of the left and right surfaces of the magnetic suspension guide rail are made of insulation materials.

The structure simple manufacture of this embodiment can dismantle fast and install, and the transportation is very convenient. When the structure is used, the whole structure can be disassembled into three parts, namely the magnetic suspension guide rail, the solid weight 6 and the inhaul cable 2, so that the structure is convenient to store and transport. The equipment box can be installed and dismantled according to the demand.

The operation of the device is further explained as follows: the upper surface and the lower surface of the curved bar 1 are internally provided with suspension excitation coils 3 for suspending the solid weight block 11, the coils are provided with iron cores to enhance the magnetism when the electric power is on, the winding directions of the coils on the upper surface and the lower surface are opposite, and the solid weight block is suspended through repulsive force. The left and right surfaces of the curved bar 1 are driving magnet exciting coils 4 without iron cores, the coil at each side is formed by 8-shaped winding of an electric wire, and a traveling wave magnetic field is formed when the curved bar is electrified, so that the solid weight blocks slide.

The magnets on the upper and lower surfaces of the solid weight 11 are S-pole outward or N-pole outward at the same time, and the winding directions of the coils on the upper and lower surfaces of the guide rail are correspondingly selected to form repulsive force, so that the solid weight is suspended. When the power is not on, the solid weight block is absorbed on the upper wall or the lower inner wall of the guide rail; when the solid weight block 11 is attached to the lower inner wall, the attaching surface generates repulsive force which is larger than the sum of gravity and the attraction force of the weight block magnet to the inner wall, the solid weight block is jacked upwards, the distance between the lower part of the solid weight block is gradually increased, the repulsive force is reduced, the distance between the upper part of the solid weight block is reduced, the repulsive force is gradually increased, and finally the solid weight block is suspended after balance is achieved. When the solid weight block is adsorbed on the inner wall of the guide rail, the adsorption surface generates repulsive force which is larger than the attractive force of the weight block magnet to the inside, the solid weight block is pushed downwards, the distance of the upper part is gradually increased, the repulsive force is reduced, the distance of the lower part is reduced, the repulsive force is gradually increased, and finally the solid weight block is suspended after the solid weight block is balanced.

Wherein, the upper and lower inner walls of the curved bar 1 are magnetizers, the left and right inner walls are non-magnetizers, and the up-and-down distance of the floating block can be automatically adjusted by the repulsive force of the upper and lower surfaces in the structural movement. When the power supply is disconnected after the movement is finished, the floating block can be quickly adsorbed on the inner wall of the side close to the floating block.

The left and right surfaces of the solid weight block are two driving magnets 7 with opposite magnetic poles, when the left and right surfaces of the guide rail are electrified with required alternating current, a traveling wave magnetic field is generated inside the guide rail, the guide rail is similar to a magnetic suspension train (under the action of the alternating current, the magnetic field in the space between adjacent sections is N, S-level reciprocating alternation), and the moving speed and the moving direction of the floating block are controlled by adjusting the magnitude and the direction of the current to drive the solid weight block to move forwards and backwards. .

The length of the solid weight block side with the inner diameter of the guide rail being less than 1.4 times is used for preventing the solid weight block from turning over in the guide rail.

Wherein this embodiment is equipped with equipment box go-between 1 cable 2 go-between at the curved bar, can be used to fixed equipment box.

Example two

Referring to fig. 6, the present embodiment is designed for one way of drive replacement. The driving part comprises a motor 9, the output end of the motor 9 is connected with a gear 10, a rack 16 is arranged at the bottom of the inner wall of the motor 9 along the arc-shaped trend of the curved bar 1, the gear 10 is meshed with the rack, and a movable weight 15 is connected to one side of the motor 9. The movable weight 15 comprises a slide block 11 with mass, the slide block 11 is connected to one side of the motor 9 through a connecting block, a roller 12 is arranged on the slide block 11, a guide rail groove 13 is formed in the bottom of the inner wall of the slide block 11 along the arc-shaped trend of the curved bar 1, and the roller 12 moves in the guide rail groove 13.

The gear 10 in the driving device of the sliding block 11 slides back and forth along the rack 16 in the sliding rail to adjust the mass center of the structure, and the relative position of the mass center and the ground of the bottom surface is changed to realize the overall structure movement of the curved rod 1.

The guide rail groove 13 is formed in the side wall of the curved bar 1 and at the bottom of the inner wall of the curved bar, so that the sliding block 11 can move more smoothly.

In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and the protection scope must be determined by the scope of the claims.

Claims

1. The utility model provides a 6 whole movable structure of pole bent lever stretch-draw which characterized in that: the device comprises 6 curved rods, wherein 24n inhaul cables are hinged to two ends of any curved rod as hinged points, each curved rod bends outwards, the nodes at the two ends extend outwards for a radian distance respectively, a spherical space is formed inside the curved rods, the 6 curved rods are connected through the inhaul cables to form a curved rod tensioning whole, and when the device is in standing, adaptive point positions on the curved rods are adjusted according to different terrains to support to form a whole balance state; the formed curved bar tensioning whole is internally provided with a driving device, so that a movable structure of the curved bar tensioning whole is formed, and when the movable structure runs, the driving device drives the curved bar tensioning whole to move.

2. A 6-bar curved bar tensioned unitary movable structure according to claim 1 wherein: every the radian of curved bar incurve is 120, and every curved bar outwards extends respectively at both ends node and has the radian to be 15 distances, and the radian of whole root curved bar is 150, makes whole structure be close to the spheroid in the shape, and the outer envelope surface of the outer frame major structure of formation comprises two kinds of basic figure of 12 isosceles triangle, 8 equilateral triangle, and wherein each side of equilateral triangle is the cable, and there is the cable on the isosceles triangle both sides, does not have the cable on one side, and every arc pole incurve.

3. A 6-bar curved bar tensioned unitary movable structure according to claim 1 wherein: the driving device comprises a movable weight block arranged on each curved bar and a driving piece for driving the movable weight block to move, the movable weight block moves along the trend of the corresponding curved bar under the driving piece driving, and correspondingly rotates along with the change of the position of the movable block under the action of gravity of the movable block, and the movement of the plurality of movable weight blocks is controlled to realize the integral travel of the stretching of the curved bar.

4. A 6-bar curved bar tensioned global mobile structure according to claim 3 characterized by: the driving piece includes the built-in suspension excitation coil in the upper and lower two sides of bent bar inner wall to lead to with the direct current, wherein two sides coil winding opposite direction about, still include the driven excitation coil of two sides for no iron core about the bent bar inner wall, and lead to with the alternating current, produce travelling wave magnetic field, and then can form curved magnetic suspension guide rail inside the bent bar, in the magnetic suspension guide rail of formation was located to the activity pouring weight, it included the pouring weight outer box, arrange solid pouring weight, two driving magnet, the suspension magnet that the magnetic pole is opposite in the pouring weight outer box in, suspension magnet bonds downside on solid pouring weight, and two driving magnet that the magnetic pole is opposite are as a unit, and the left and right sides of solid iron piece all sets up a unit.

5. A6-bar curved bar tensioned global mobile structure according to claim 4 characterized by: the inner diameter of the formed magnetic suspension guide rail is less than 1.4 times of the side length of the movable weight block.

6. A 6-bar curved bar tensioned global mobile structure according to claim 3 characterized by: the driving piece comprises a motor, the output end of the motor is connected with a gear, a rack is arranged at the bottom of the inner wall of the driving piece along the arc-shaped trend of the curved bar, the gear is meshed with the rack, and the movable weight is connected to one side of the motor.

7. A 6-bar curved bar tensioned global mobile structure according to claim 6 characterized by: the movable weight block comprises a sliding block with mass, the sliding block is connected to one side of the motor through a connecting block, a roller is arranged on the sliding block, a guide rail groove is formed in the bottom of the inner wall of the sliding block along the arc-shaped trend of the curved rod, and the roller moves in the guide rail groove.