CN206654116U - A kind of bionical fighter toy of pillworm - Google Patents
A kind of bionical fighter toy of pillworm Download PDFInfo
- Publication number
- CN206654116U CN206654116U CN201720259607.0U CN201720259607U CN206654116U CN 206654116 U CN206654116 U CN 206654116U CN 201720259607 U CN201720259607 U CN 201720259607U CN 206654116 U CN206654116 U CN 206654116U
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- CN
- China
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- shell
- steering wheel
- body case
- afterbody
- pillworm
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Abstract
A kind of bionical fighter toy of pillworm, provided with the shell body for driving body case among the head shell by being arranged in order be hinged setting, multi-disc and afterbody shell forms, the shell body that drive body case and afterbody shell are put together among head shell, multi-disc is spherical, body case and afterbody shell are driven among head shell, multi-disc and is realized by multiple steering wheels and shrinks and opens, when No.1 steering wheel, No. two steering wheels and middle steering wheel act, make head shell, multi-disc centre drives body case and afterbody shell expands into strip or is punctured into spherical.Adapt to the deformation of different road surface environment and wheeled interchangeable body variable geometry, the robot has stronger environment self-adaption ability, can change the configuration of itself according to the change of environment and the requirement of task to adapt to complete unpredictable operating environment task.
Description
Technical field
Technical scheme of the present utility model is related to robot field, specifically a kind of bionical metamorphic robotic of pillworm
People.
Background technology
The external research to fighter toy is more early, and more than ten years, the earliest research of spheroid fighter toy are so far
Since the Haier nurse professor of Helsinki, Finland University of Science and Technology, then, the state such as the U.S., Japan, Iran, Canada, Sweden
Family has also carried out the research of fighter toy in succession, just from the point of view of current achievement in research, external technology relative maturity.
The Antonio Bicchi of Italian University of Pisa devised spheroid fighter toy Sphericle in 1997.
This robot ball-car kinematic system, i.e., a lorry is placed in the inside of spheroid, various sensings are housed on dolly
Device, battery, motor and control system, these equipment constitute weight mass block, increase rubbing between wheel and spherical shell
Power is wiped, robot advances by the synchronous axial system of wheel to realize, robot, which turns to, to be rotated by wheel differential to realize.This driving
Referred to as car drives.This robot can be moved continuously, but its adaptability has certain limitation, such as work as spheroid
Tracks it is not flat enough when, make to produce gap between the wheel of dolly and housing due to jolting and vibrating, machine will be made
People's bias motion track；When faster rotating wheel is too fast, robot can also be influenceed by occurring sliding phenomenon between housing and wheel
Translational speed；And when spheroid and object collide, dolly may separate with spheroid, and robot will lose motion
Kinetic energy.
Also a kind of driving makes moving mass block drive, and the type of drive of use is also moving mass block type of drive, but
It is that these people do not make entity model machine, simply establishes the mathematical modeling of this robot, have studied this robot
Paths planning method.By the continuous research driven to moving mass block, this type of drive can realize fighter toy
Omnibearing ambulation, but realize that the difficulty that omnidirectional walks is quite big by controlling the coordination of 4 balancing weights mobile.Counterweight simultaneously
Distribution mode of the block in spherical shell have impact on the quality of driving moment, and then have impact on robot movement velocity.
State's interior spheroid fighter toy research is later, but development speed is quickly, wherein domestic colleges and universities are to fighter toy
Research be made that outstanding contribution.Such as the dual drive fighter toy that Harbin Institute of Technology develops, mainly pass through theory
Analysis, the means such as analogue simulation and experimental verification, develops a kind of new dual drive fighter toy.This robot is in ball
Two direct current generators are placed in the same horizontal line in internal portion.Due to lacking a relative stabilized platform, driving in ball interior
The output torque of motor deviates the center of gravity of fighter toy, to the direct torque source of rolling before robotically-driven spheroid
In the gravity torque of relative contact point.The mode for being diverted through rack and pinion engagement of this fighter toy drives ball interior
Component is turned to realize.
Xian Electronics Science and Technology University develops a kind of fighter toy of propulsion plant similar to methane molecule structure, its wheel
Stepper motor is housed, the stepper motor is both the drive device and balance weight body of fighter toy on spoke.Beijing Aviation space flight is big
The eccentric massblock driving fighter toy developed is learned, eccentric moment is produced by changing the position of centre of gravity of fighter toy
Realize the operation forward of robot.
Utility model content
To solve the problems, such as above-mentioned various technological deficiencies, the utility model proposes the spheroid metamorphic robotic that a kind of pillworm is bionical
People, the deformation and wheeled interchangeable body variable geometry, the robot for adapting to different road surface environment have
Stronger environment self-adaption ability, the configuration of itself can be changed according to the change of environment and the requirement of task to adapt to complete not
Predictable operating environment task.
For now above-mentioned technical purpose, used technical scheme is：A kind of bionical fighter toy of pillworm, provided with by successively
Arrangement is hinged the head shell set, the shell body of body case and afterbody shell composition is driven in multi-disc centre, in head shell, multi-disc
Between to drive the shell body that body case and afterbody shell are put together be spherical, head shell passes through No.1 telescoping mechanism and No.1 steering wheel
One end connects, and the middle body case of driving that the other end and head shell of No.1 steering wheel are hinged connects, on No.1 telescoping mechanism
Provided with travel wheel, afterbody shell is connected by No. two telescoping mechanisms with No. two steering wheel one end, the other end and afterbody of No. two steering wheels
The middle body case of driving that shell is hinged is connected, and driven pulley is provided with No. two telescoping mechanisms, is driven in vitro among adjacent two panels
The middle steering wheel telescoping mechanism of shell, moving device is provided with the lower section of middle steering wheel telescoping mechanism, when No.1 steering wheel, No. two steering wheels
When being acted with middle steering wheel, make head shell, multi-disc centre drives body case and afterbody shell expands into strip or is punctured into ball
Shape.
No.1 telescoping mechanism described in the utility model by be arranged on the No.1 arc-shaped slide rail of head shell, No.1 slide bar and
The big U supports composition of No.1, one end connection No.1 slide bar of the big U supports of No.1, its other end connection No.1 steering wheel, No.1 are slided pavilion and set
Put in No.1 arc-shaped slide rail.
No. two telescoping mechanisms described in the utility model by be arranged on No. two arc-shaped slide rails of afterbody shell, No. two slide bars and
No. two big U supports composition, one end of No. two big U supports connect No. two slide bars, and its other end connection No.1 steering wheel, No. two sliding pavilions are set
Put in No. two arc-shaped slide rails.
Body case is driven among described in the utility model and is provided with four.
The afterbody of No. two telescoping mechanisms described in the utility model is provided with magnet.
Moving device described in the utility model is motor-driven driving wheel, and motor and driving wheel are respectively equipped with 2, often
Individual one travel wheel of motor connection is individually controlled.
The utility model beneficial effect is：Merged with reference to bionic principle with Modern mechanical design shrink it is more reasonable.Steering wheel
Connection improves the sensitivity of motion, and structure is more firm.Spherical contraction distortion mechanism is more coordinated.
Brief description of the drawings
Fig. 1 is integrated model extended configuration schematic diagram of the present utility model；
Fig. 2 is the extended configuration schematic diagram of integrated model half of the present utility model；
Fig. 3 is that integrated model of the present utility model rolls up balling-up view；
Fig. 4 is moving device Local map of the present utility model；
Fig. 5 is middle steering wheel telescoping mechanism schematic diagram of the present utility model；
In figure：1st, head shell, 2, it is middle drive body case, 3, support frame, 4, afterbody shell, 5, cushion block, 6, driven pulley, 7,
Magnet, 8, No. two slide bars, 9, No. two steering wheels, 10, No. three steering wheels, 11, bolt, 12, No. four steering wheels, 13, moving device, 14, five
Number steering wheel, 15, steering wheel support, 16, No.1 steering wheel, 17, the small U supports of No.1,18, No.1 19, No. two arc-shaped slide rails of big U supports,
20th, travel wheel, 21, No. two big U supports, 22, No. two arc-shaped slide rails, 23, right driving wheel, 24, right driving motor, 25, left driving
Wheel, 26, left driving motor, 27 No.1s slide pavilion.
Embodiment
As illustrated, body shell and tail among a kind of bionical fighter toy device of pillworm, including head shell, multi-disc
Portion's shell, head shell, body shell and afterbody shell are arranged side by side among multi-disc, are vane type arc-like sheet, all housings
The shell body pieced together is spherical, is hinged and sets between housing and housing, No.1 telescopic machine is set inside described head shell
Structure, No.1 telescoping mechanism are connected with No.1 steering wheel, when No.1 steering wheel moves, drive No.1 telescoping mechanism to push away forward or return backward
Receive, realize the opening and closing of head shell, similarly, afterbody enclosure sets No. two telescoping mechanisms, No. two telescoping mechanisms with
No. two steering wheel connections, when No. two steering wheels move, realize the motion opposite with No.1 telescoping mechanism, head shell and afterbody shell
Opposite opening, flexible being realized by middle steering wheel telescoping mechanism of multi-disc centre body shell, when No.1 telescoping mechanism, No. two are stretched
Mechanism, multiple middle steering wheel telescoping mechanisms are shunk simultaneously when, shell body can be punctured into it is spherical, when No.1 telescoping mechanism,
No. two telescoping mechanisms, multiple middle steering wheel telescoping mechanisms are deployed simultaneously when, shell body expands into the strip shell of class pillworm
Body, it is adjacent to ground with driving wheel, driven pulley, travel wheel simultaneously and moves.
No.1 telescoping mechanism is connected by No.1 arc-shaped slide rail 19 by No.1 slide bar with the big U supports of No.1, and travel wheel is fixed
On No.1 arc-shaped slide rail, big U supports are fixedly connected with steering wheel, can also be fixed by small U supports with No.1 steering wheel；It is described with
Middle drive that head shell is hinged is fixedly connected with steering wheel support in body case, and No. two steering wheels and No. five steering wheels pass through steering wheel support
Connection, small U supports are bolted No. five steering wheels；Similarly, No. two are provided with driving body case among afterbody housing hinge
Steering wheel, No. two steering wheels, it is connected with No. three steering wheels by small U supports, steering wheel support, described support frame is connected with moving device,
Support frame is fixedly mounted on No. four steering wheels；Described afterbody enclosure fixes No. two arc-shaped slide rails, is provided with driven pulley
Cushion block is fixed on No. two arc-shaped slide rails, and magnet is housed inside No. two arc-shaped slide rails, when shrinking, the No.1 arc on head shell
Shape slide rail is connected with the internal magnets of No. two arc-shaped slide rails on afterbody shell.
First by mechanical analysis, the simultaneously statics property of mimic biology body general structure and fine structure is studied, and
Each part of organism kinetic property that relative motion and organism move in the environment in vivo.So as to board design machine
Device people shrinks mode.Then by multiple steering wheels that can accurately control, instead of toggle, multiple degrees of freedom can be completed
Action, realize the wheeled robot Counterchange roles of ball one.Deformable fighter toy is by deformable Stainless Steel Spherical Shell Punch（Shell body）,
Deformation device and wheel type drive device three parts are formed in ball.Head shell, 1/4 ball of the Stainless Steel Spherical Shell Punch by 1/4 spherical shell size
The afterbody housing of shell size, 4 or 3 are put together to drive body case composition among 1/2 spherical shell size, middle can drive body
Shell it is every it is a piece of be designed as 1/8 spherical shell size, the deformable compound humanoid robot includes 2 motor forces altogether, variable
The dilatation of shape spherical shell is realized by five steering wheels, is specially：No.1 steering wheel 16 drives the big U supports 18 of No.1 to rotate 45 °
Head shell is completed under the effect of No.1 arc-shaped slide rail 19 to shrink, No. two steering wheels 9 drive No. two big U supports 21 to rotate 45 ° two
The lower afterbody shell 4 of completing of number arc-shaped slide rail effect shrinks.No. three 14 3 steering wheel phases of steering wheel of steering wheel 12, five of steering wheel 10, four
Mutually coordinate the contraction of four bodys among completing.As shown in figure 4, fighter toy omnibearing ambulation is driven by 2 motor collaborations
Dynamic driving wheel realizes that wheel type drive device contains two motor, collaborate it by driven pulley to realize wheeled robot
Fast and stable moves.During linear motion：The left and right driving motor in the case where pillworm robot deploys, synchronously rotates in same direction band
Dynamic left and right driving wheel realizes robot forward-reverse motion.During steering：Left and right driving motor differential, which is realized, to be turned to.This is deformable
Robot is suitable for the external environment condition of Various Complex, the dilatation that can pass through deformable spherical shell according to the change of local environment
And change the configuration of itself, to complete unpredictable task.
Claims (6)
- A kind of 1. bionical fighter toy of pillworm, it is characterised in that：Provided with the head shell by being arranged in order be hinged setting（1）、 Body case is driven among multi-disc（2）With afterbody shell（4）The shell body of composition, head shell（1）, body case and tail are driven among multi-disc Portion's shell（4）The shell body being put together is spherical, head shell（1）Pass through No.1 telescoping mechanism and No.1 steering wheel（16）One end Connection, No.1 steering wheel（16）The other end and head shell（1）Body case is driven among being hinged（2）Connection, stretches in No.1 Mechanism is provided with travel wheel（20）, afterbody shell（4）Pass through No. two telescoping mechanisms and No. two steering wheels（9）One end connects, No. two rudders Machine（9）The other end and afterbody shell（4）Body case is driven among being hinged（2）Connection, on No. two telescoping mechanisms be provided with from Driving wheel（6）, body case is driven in adjacent two panels centre（2）Middle steering wheel telescoping mechanism, in the lower section of middle steering wheel telescoping mechanism Provided with moving device（13）, when No.1 steering wheel, No. two steering wheels and middle steering wheel act, make head shell（1）, drive among multi-disc Body case and afterbody shell（4）Expand into strip or be punctured into spherical.
- A kind of 2. bionical fighter toy of pillworm as claimed in claim 1, it is characterised in that：Described No.1 telescoping mechanism by It is arranged on head shell（1）No.1 arc-shaped slide rail（19）, No.1 slide bar（27）With the big U supports of No.1（18）Composition, the big U of No.1 Support（18）One end connection No.1 slide bar（27）, its other end connection No.1 steering wheel（16）, No.1 slide bar（27）It is arranged on one Number arc-shaped slide rail（19）It is interior.
- A kind of 3. bionical fighter toy of pillworm as claimed in claim 1, it is characterised in that：No. two described telescoping mechanisms by It is arranged on afterbody shell（4）No. two arc-shaped slide rails（22）, No. two slide bars（8）With No. two big U supports（21）Composition, No. two big U Support（21）One end connect No. two slide bars（8）, its other end connection No.1 steering wheel（16）, No. two slide bars（8）It is arranged on No. two Arc-shaped slide rail（22）It is interior.
- A kind of 4. bionical fighter toy of pillworm as claimed in claim 1, it is characterised in that：Body case is driven among described （2）Provided with four.
- A kind of 5. bionical fighter toy of pillworm as claimed in claim 1, it is characterised in that：No. two described telescoping mechanisms Afterbody is provided with magnet（7）.
- A kind of 6. bionical fighter toy of pillworm as claimed in claim 1, it is characterised in that：Described moving device（13）For Motor-driven driving wheel, motor and driving wheel are respectively equipped with 2, and each one travel wheel of motor connection is individually controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720259607.0U CN206654116U (en) | 2017-03-17 | 2017-03-17 | A kind of bionical fighter toy of pillworm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720259607.0U CN206654116U (en) | 2017-03-17 | 2017-03-17 | A kind of bionical fighter toy of pillworm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206654116U true CN206654116U (en) | 2017-11-21 |
Family
ID=60315219
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720259607.0U Expired - Fee Related CN206654116U (en) | 2017-03-17 | 2017-03-17 | A kind of bionical fighter toy of pillworm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206654116U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583703A (en) * | 2018-05-14 | 2018-09-28 | 河南科技大学 | A kind of bionical fighter toy of crawler type pillworm |
| CN112775988A (en) * | 2021-01-06 | 2021-05-11 | 武汉理工大学 | Spherical robot |
| CN115027588A (en) * | 2022-07-18 | 2022-09-09 | 北京航空航天大学 | Deformable double-posture bionic pillworm robot and deformation method thereof |
-
2017
- 2017-03-17 CN CN201720259607.0U patent/CN206654116U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583703A (en) * | 2018-05-14 | 2018-09-28 | 河南科技大学 | A kind of bionical fighter toy of crawler type pillworm |
| CN108583703B (en) * | 2018-05-14 | 2020-10-16 | 河南科技大学 | Crawler-type pillworm bionic deformation robot |
| CN112775988A (en) * | 2021-01-06 | 2021-05-11 | 武汉理工大学 | Spherical robot |
| CN115027588A (en) * | 2022-07-18 | 2022-09-09 | 北京航空航天大学 | Deformable double-posture bionic pillworm robot and deformation method thereof |
| CN115027588B (en) * | 2022-07-18 | 2023-07-21 | 北京航空航天大学 | Deformable double-posture bionic pillworm robot and deformation method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171121 Termination date: 20180317 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |