CN114161404B

CN114161404B - 6-rod bent rod stretching whole robot with solar power supply sliding block

Info

Publication number: CN114161404B
Application number: CN202111317463.7A
Authority: CN
Inventors: 徐佶; 冯晓东; 王奇; 冯达; 沈军; 娄晓峰
Original assignee: University of Shaoxing
Current assignee: University of Shaoxing
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2023-07-21
Anticipated expiration: 2041-11-09
Also published as: CN114161404A

Abstract

The invention discloses a 6-rod bent rod stretching whole robot of a solar power supply sliding block, which comprises 6 bent rods, wherein two ends of any one bent rod are hinged with 24n inhaul cables as hinging points, the 6 bent rods are connected through the inhaul cables to form a hollow outer frame in a bent rod stretching whole form, each bent rod is provided with a movable weight which moves independently along the bending direction of the bent rod, each bent rod is also provided with a driving piece for controlling the movable weights, the stretching whole advancing of the bent rod is realized by controlling the movement of a plurality of movable weights simultaneously, and a detachable solar power generation film is arranged in a formed outer frame space. The six-rod bent rod stretching whole movable structure formed by the invention has certain compression resistance and impact resistance, realizes quick movement by controlling the gravity center offset of a plurality of bent rods, is superior to the traditional stretching whole structure in the aspects of movement performance and environmental adaptability, can flexibly move even on the hollow ground, and can bring continuous energy sources for the movement of the six-rod bent rod stretching whole movable structure by internally arranging the solar power generation film.

Description

6-rod bent rod stretching whole robot with solar power supply sliding block

Technical Field

The invention relates to the technical field of prestressed cable rod structures, in particular to a 6-rod bent rod stretching integral robot with a solar power supply sliding block.

Background

The tensioning integral structure is a novel space structure system formed by a discrete compression bar and a continuous inhaul cable, and is widely applied to a plurality of disciplinary fields due to the characteristics of light weight, high strength, simple structure, high environmental robustness and deformability.

The existing 4 compression bars, 6 compression bars, 12 compression bars and 30 compression bar stretching whole structure robots are all straight bar stretching whole structures, the edges and corners of the traditional straight bar stretching whole structure are clear, and the movement efficiency is low and unstable.

In addition, if the stretching whole structure in the form of a curved bar such as a 2 bar and a 3 bar is adopted, a large gap exists in the whole structure system, the structure is unstable, particularly, when the hollow ground moves, some protruding objects are easily embedded into the gap, so that the stretching whole robot cannot move, and the stretching whole robot with a small number of curved bars cannot stably move along a straight line like wheels, so that the stretching whole robot has great defects. Second, if the structure is a multi-rod spherical tension integral structure (such as twelve rods or thirty rods), the manufacturing and shaping are relatively complex, the required driving is correspondingly increased, and effective control is difficult to realize. Finally, driving the whole tension integral structure to operate requires extremely large electricity consumption, and once the electricity is exhausted, the whole structure is completely in a paralysis state, so that the tension integral structure is a huge loss.

In order to solve the problems, the proposal is generated.

Disclosure of Invention

(one) solving the technical problems

Aiming at the defects of the prior art, the invention provides a 6-rod bent rod stretching whole robot with a solar power supply sliding block, which solves the problems in the background art.

(II) technical scheme

In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides a 6 pole knee stretch-draw whole robot of solar energy power supply slider, includes 6 knee bars, and the both ends of arbitrary knee bar are articulated to have 24n cables as the pin joint, and form the hollow outer frame of knee bar stretch-draw whole form through the cable connection between 6 knee bars, every all be equipped with on the knee bar along its crooked direction and carry out the activity pouring weight of independent removal, and still be equipped with the driver of control activity pouring weight on every knee bar, realize the stretch-draw whole marcing of knee bar through the removal of a plurality of activity pouring weights of simultaneous control, be provided with detachable solar energy power generation film in the outer frame space of formation, solar energy power generation film covers in the inside structural surface of knee bar skeleton to give the removal of activity pouring weight and provide the energy consumption.

Preferably, the driving piece comprises a motor, the output of motor is connected with the gear, follows the arc trend of knee lever is equipped with the rack in the bottom of its inner wall, and the gear meshes with the rack mutually, the movable weight is connected in one side of motor, the movable weight is including the slider that has the quality, and the slider passes through the connecting block to be connected in motor one side, be equipped with ball bearing on the slider, follow the arc trend of knee lever has seted up the guide rail groove in the bottom of its inner wall, and ball bearing removes in the guide rail groove.

Preferably, the outward bending radian of each curved rod is 120 degrees, a spherical space is formed inside, the outward extending radian of each curved rod at the nodes at the two ends is 15 degrees, and the radian of the whole curved rod is 150 degrees, so that the whole structure is similar to a sphere in shape.

Preferably, the outer wrapping surface of the formed main body structure of the outer frame is composed of 12 isosceles triangles and 8 isosceles triangles, wherein each side of each isosceles triangle is a guy cable, guy cables are arranged on two sides of each isosceles triangle, each arc rod is bent outwards without guy cable, and the whole solar power generation film is arranged into the structure surface of the inner part of the bent rod framework, wherein the structure surface of the inner part of the bent rod framework is correspondingly arranged with the 8 isosceles triangles and the 12 isosceles triangles.

Preferably, three sides of the solar power generation film are provided with magic tapes, the magic tapes are divided into a magic tape thorn hair part and a magic tape round hair part, and a part connected with the rigid inhaul cable is reserved in the middle of the magic tape, and the magic tapes are directly adhered on the rigid inhaul cable to fix the solar power generation film.

(III) beneficial effects

After the technical scheme is adopted, compared with the prior art, the invention has the following advantages:

1. the six-rod bent rod stretching whole movable structure formed by the invention has certain compression resistance and impact resistance, and simultaneously realizes rapid movement by controlling the gravity center deflection of a plurality of bent rods, which is superior to the prior stretching whole structure in both movement performance and environmental adaptability, and can flexibly move even on the hollow ground.

2. The six-rod crank stretching integral movable structure formed by the invention has the advantages that the solar power generation film is arranged in the integral movable structure, so that continuous energy can be brought to the movement of the crank, and the robot formed by the six-rod crank stretching integral structure can carry small-sized equipment and can better move in rugged and severe environments, so that the six-rod crank stretching integral structure can be applied to the fields of engineering rescue detection or space task execution and the like; and secondly, the integral stable operation of the bent rod can reduce the impact on the solar power generation film, so that the damage of the bent rod is reduced, and the service life is prolonged.

Drawings

FIG. 1 is a schematic diagram of the present invention;

FIG. 2 is a perspective view of a wire frame according to the present invention

FIG. 3 is a schematic diagram of an improved solar power generation film of the present invention;

FIG. 4 is a schematic view of a single curved bar construction of the present invention;

FIG. 5 is a schematic view of the internal structure of the single curved bar of the present invention after being disassembled;

FIG. 6 is a schematic view of a solar power generation film structure according to the present invention;

FIG. 7 is a front view of a solar power generation film structure of the present invention;

FIG. 8 is a schematic diagram of the overall mechanism balance state 1 according to the present invention;

FIG. 9 is a schematic diagram of the overall mechanism balance state 3 according to the present invention;

FIG. 10 is a schematic view showing the sliding state of the whole mechanism of the present invention;

FIG. 11 is a schematic diagram of the overall mechanism of the present invention in equilibrium 2.

In the figure: 1. a curved bar; 2. a guy cable; 3. a solar power generation film; 4. a motor; 5. a gear; 6. a rack; 7. a slide block; 8. a ball bearing; 9. a guide rail groove; 10. a magic tape; 101. a barbed portion; 102. a rounded hair portion; 11. an equipment box; 12. the slide block is driven.

Detailed Description

The invention is further illustrated by the figures and examples.

As shown in fig. 1-7: the utility model provides a 6 pole knee-lever stretch-draw whole robot of solar energy power supply slider, the major structure is the outer frame of knee-lever stretch-draw whole form, comprises 6 arc depression bars, 24 cable 2 and 12 articulated joints, and every arc pole outwards protrudes, and inside forms a spherical space, and in addition every knee-lever 1 is at both ends node punishment outside one section distance, makes whole structure more be close the spheroid in the shape, and the component of whole motion structure has rigidity.

The 6-bar crank stretching whole movable structure consists of 6 arc-shaped sliding rails and 24 inhaul cables 2, each sliding rail is provided with one mass sliding block 7 (2 or even a plurality of mass sliding blocks 7 can be arranged for increasing the reaction efficiency of movement, but the control aspect is more complicated, therefore, the scheme takes one sliding block 7 as an example), the mass center of the structure is adjusted by sliding the sliding block 7 on the rails, the relative position of the mass center and the ground-contacting surface of the bottom surface is changed, the structural movement is realized, and each sliding rail extends outwards for a certain distance at the nodes at the two ends, so that the structure movement is more flexible and efficient.

The equipment box 11 can be fixed in the bent rod stretching integral structure, needed equipment is placed, the inner space is fully utilized, the detachable solar power generation film is covered on the inner surface of the structure, and the solar power generation film is connected with the inhaul cable 2 and is used for supplying power to the driving motor 4 and the internal equipment.

Referring to fig. 2, the solar power generation film 3 is composed of a solar power generation film power generation part, an electric energy transmission interface and a magic tape 10, wherein the solar power generation film power generation part is composed of solar cells, and is customized into an equilateral triangle and an isosceles triangle according to requirements, so that the surface of the stretch-draw whole robot is better covered.

As shown in fig. 6 (1) and (2), three sides of the solar power generation film power generation part (or two sides thereof are used according to the position) are provided with a magic tape 10, the magic tape 10 comprises a bristle part 101 and a round bristle part 102, the middle part is used for placing a guy cable 2 for fixing the solar power generation film on the guy cable 2, and the magic tape 10 can be torn open directly to detach the solar power generation film when the solar power generation film is not needed.

An electric energy transmission interface is arranged below the solar power generation film power generation part, and can be connected with a USB interface on the sliding rail sealing cover through a data line to supply power for the driving device and equipment. Meanwhile, the stable operation of the bent rod can reduce the impact on the solar power generation film, so that the damage of the film is reduced, and the service life is prolonged.

The solar power generation film 3 is integrally arranged into 8 equilateral triangles and 12 isosceles triangles which are correspondingly arranged on the surface of the structure in the bent rod framework.

It should be noted that, the stay cable 2 is connected to the inner ring of the whole structure of the curved bar 1, the stay cable 2 can meet at one point, thus the complete solar power generation film 3 can be arranged, but the area of the single solar power generation film is relatively small, the absorbed solar energy is less, and part of the film is positioned inside the bar and cannot receive the solar energy, the constraint of the stay cable to the curved bar is small, the curved bar is easy to turn sideways, and the overall stability is finally affected.

As an improvement, referring to the drawings 3 and 7 (3), the inhaul cable 2 is connected to the outer side of the bent rod 1, so that 8 solar power generation films 3 can be arranged on the inhaul cable 2, the area of a single film can be increased, the solar energy absorption is increased, the films with specific shapes can be automatically increased according to the requirements, and the structural stability is relatively good.

The solar power generation film 3 can be arranged according to the requirement, and various arrangements can be provided, and is not limited to the two types.

The whole structure is provided with the following description that batteries driven by sliding blocks 7 with the same mass are placed in battery boxes at the two ends of the bent rod 1, wire holes preset in a general guide rail of the batteries are connected, and in addition, the wire holes are preset in a sealing cover at one end of the guide rail for connecting the batteries with a driving device, so that 24-hour power supply of a solar power generation film can be realized, and the movement of a robot is not influenced. Two sides of the end part of the arc-shaped guide rail are respectively provided with a guy cable 2 connecting hole for connecting the guy cable 2; the upper part of the arc-shaped guide rail is covered with a shell at the upper part of the bent rod 1, which is used for protecting the guide rail and the driving device, and the shell is provided with a device box connecting port which can be used for fixing the device box.

The driving piece of control activity pouring weight includes motor 4, the output of motor 4 is connected with gear 5, along the arc trend of curved bar 1, be equipped with rack 6 in the bottom of its inner wall, gear 5 meshes with rack 6 mutually, the activity pouring weight is connected in one side of motor 4, the activity pouring weight is including the slider 7 that has the quality, slider 7 passes through the connecting block to be connected in motor 4 one side, be equipped with ball bearing 8 on the slider 7, along the arc trend of curved bar 1, guide rail groove 9 has been seted up in the bottom of its inner wall, ball bearing 8 removes in guide rail groove 9.

Wherein each drive slide 12 can be controlled independently without interfering with each other, and when an individual drive slide 12 fails, other drive slides 12 can be driven to move, and movement of the structure in all directions can be achieved by controlling different numbers of drive slides 12.

It should be noted that, as shown in fig. 5, the part of the slide 7 is shown in a schematic form in a cutaway view, and the driving slide 12 shown in fig. 8-11 is a whole slide, which includes the slide 7, the motor, and other components.

The whole movement system communicates wirelessly with the PC by radio, so that the movement system transmits all sensor data, such as the actual position, speed and direction of movement of the drive means, as well as data from the accelerometer, and the movement system is controlled wirelessly by using the transmitted data.

The structure is simple to manufacture, can be quickly disassembled and installed, and is very convenient to transport. When the structure is to be used, the transportable component is installed on site, and when the structure is used, the whole structure can be disassembled into three parts of the sliding rail, the sliding block 7 and the inhaul cable 2, so that the structure is convenient to store and transport. The equipment box and the solar power generation film can be installed and detached according to requirements.

The following describes the moving process and the equilibrium state of the stretching whole robot in detail with reference to the attached drawings (for convenience of observation, the attached drawings are for demonstrating the removal of the solar power generation film and the upper cover of the curved rod).

Referring to fig. 8, the overall equilibrium state 1 (three-bar landing) or equilibrium state 2 (the entire structure of the slider is in a symmetrical position) may be initially selected depending on the topography. Wherein the equilibrium state 1 may be used for steady-state support with respect to a rugged environment.

Referring to fig. 9-11, taking forward movement as an example, the driving slide blocks 12-1 and 12-2 of the upper and lower rods slide forward from the middle, the whole structure rolls forward clockwise (fig. 9), after rolling 90 degrees, the driving slide blocks 12-3 and 12-4 slide forward from the middle, and meanwhile, the driving slide blocks 12-1 and 12-2 slide from the end to the middle (fig. 10), so that the state shown in fig. 11 is reached, and the movement of the stretch-draw robot is realized in a reciprocating manner.

When the turning is needed, the driving slide blocks 12-5 and 12-6 in the figure 9 can be correspondingly adjusted to realize the turning of the stretching whole robot.

The above-described embodiments are intended to suggest that, in view of the above description, various changes and modifications may be made by the worker without departing from the spirit of the invention. The technical scope of the present invention is not limited to the description, but the scope of protection must be determined according to the scope of claims.

Claims

1. A6 pole bent lever stretch-draw whole robots of solar energy power supply slider, its characterized in that: the bending device comprises 6 bending rods, wherein 24n inhaul cables are hinged at two ends of any bending rod as hinge points, and the 6 bending rods are connected through the inhaul cables to form a hollow outer frame in a bending rod stretching integral form; each curved bar is provided with a movable weight which moves independently along the bending direction of the curved bar, each curved bar is also provided with a driving piece for controlling the movable weights, the movement of the plurality of movable weights is controlled simultaneously to realize the stretching whole advancing of the curved bar, a detachable solar power generation film is arranged in the formed outer frame space, and the solar power generation film covers the structure surface inside the curved bar framework and provides energy consumption for the movement of the movable weights;

the radian of each curved rod outwards bending is 120 degrees, a spherical space is formed inside, each curved rod extends outwards for a distance of 15 degrees at the nodes at the two ends, and the radian of the whole curved rod is 150 degrees, so that the whole structure is similar to a sphere in shape.

2. The 6-bar curved bar tensioning robot of a solar powered slider of claim 1, wherein: the driving piece comprises a motor, the output of motor is connected with the gear, follows the arc trend of bent lever is equipped with the rack in the bottom of its inner wall, and the gear meshes with the rack mutually, the activity pouring weight is connected in one side of motor, the activity pouring weight is including the slider that has the quality, and the slider passes through the connecting block to be connected in motor one side, be equipped with ball bearing on the slider, follow the arc trend of bent lever has seted up the guide rail groove in the bottom of its inner wall, and ball bearing removes in the guide rail groove.

3. The 6-bar curved bar tensioning robot of a solar powered slider of claim 1, wherein: the outer wrapping surface of the formed outer frame main body structure is composed of 12 isosceles triangles and 8 isosceles triangles, wherein each side of each isosceles triangle is a guy cable, two sides of each isosceles triangle are provided with guy cables, one side of each isosceles triangle is not provided with a guy cable, each arc rod is outwards bent, and the solar power generation film is integrally arranged into the structure surface of the inner part of the bent rod framework, wherein the structure surface of the inner part of the bent rod framework is correspondingly arranged with the 8 isosceles triangles and the 12 isosceles triangles.

4. A 6-bar curved bar tensioning robot for a solar powered slider as defined in claim 3, wherein: the three sides of the solar power generation film are provided with magic tapes, the magic tapes are divided into a magic tape thorn hair part and a magic tape round hair part, and a part connected with a rigid inhaul cable is reserved in the middle of the magic tape and directly adhered to the rigid inhaul cable to fix the solar power generation film.