CN207172071U - A kind of scalable modular unit structure twisted - Google Patents
A kind of scalable modular unit structure twisted Download PDFInfo
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- CN207172071U CN207172071U CN201720975371.0U CN201720975371U CN207172071U CN 207172071 U CN207172071 U CN 207172071U CN 201720975371 U CN201720975371 U CN 201720975371U CN 207172071 U CN207172071 U CN 207172071U
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- steering wheel
- connecting rod
- rocking arm
- base
- modular unit
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Abstract
The utility model discloses a kind of scalable modular unit structure twisted, the base of both sides including steering wheel frame and above and below the steering wheel frame, several drive mechanisms are arranged between steering wheel frame and the base of each side, each drive mechanism includes steering wheel, disk rocking arm and connecting rod, steering wheel is arranged on steering wheel frame, the output axis connection of disk rocking arm and steering wheel, the other end of disk rocking arm are connected with connecting rod, and the other end of connecting rod is connected with the base.The utility model improves the structure of existing snake-shaped robot, realize can simultaneous retractable twisting function, save manufacturing cost, improve structural module degree, can be widely applied to robotic technology field.
Description
Technical field
Robotic technology field is the utility model is related to, more particularly to a kind of scalable modular unit knot twisted
Structure.
Background technology
At present, the research of snake-shaped robot at home and abroad causes highest attention, due to mechanism design, control method increasingly into
It is ripe, thus snake-shaped robot is applied as inevitable.However, the snake-shaped robot of existing research, which can only largely be realized, can twist work(
Can, realize that telescopic snake-shaped robot is also less, be provided simultaneously with twisting and Telescopic it is less.And existing snakelike machine
Device people's majority is applied in various dangerous operating environments：Search after calamity, detected in the environment for having harmful material,
Or cave is detected, and the application in service robot field does not almost have.The shortcomings that prior art is：Lack and be provided simultaneously with stretching
Contracting and the mechanism design of twisting ability, manufacturing cost is high, and structural module degree is not high.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of modularization for being provided simultaneously with stretching and twisting ability
Cellular construction, overcome only and possess the problems such as single twisting function, with high costs and integrated level be low.
In order to solve the above technical problems, technical scheme used by the utility model：
A kind of scalable modular unit structure twisted, including steering wheel frame and the both sides above and below the steering wheel frame
Several drive mechanisms are arranged between the base of base, the steering wheel frame and each side, each drive mechanism includes steering wheel, circle
Disk rocking arm and connecting rod, the steering wheel are arranged on steering wheel frame, the output axis connection of the disk rocking arm and steering wheel, disk rocking arm
The other end is connected with connecting rod, and the other end of the connecting rod is connected with the base.
Further, the disk rocking arm is disposed with rolling bearing and cylindrical plug part with one end that the connecting rod is connected,
The connecting rod is disposed with first boss with one end that the disk rocking arm is connected, and the first boss runs through the inner ring of rolling bearing
And docked with cylindrical plug part, the other end of the disk rocking arm be disposed be fixedly connected with the output shaft of steering wheel it is circular thin
Piece.
Further, the end face center arrangement of the cylindrical plug part towards connecting rod has a U-lag, the first boss it is upper
Portion is U-shaped columnar projections, and the disk rocking arm is connected by U-lag and U-shaped columnar projections with connecting rod.
Further, the end face center arrangement of the cylindrical plug part towards connecting rod has U-shaped columnar projections, and described first is convex
The upper end of platform is disposed with U-lag, and the disk rocking arm is connected by U-shaped columnar projections and U shape grooves with connecting rod.
Further, the connection end of the disk rocking arm and the connecting rod is justified towards the side of connecting rod, surface along first through hole
Circumferential direction is disposed with first raised and the second projection, described first raised and the second raised sector region circumferentially formed
It is exactly the slewing area of the connecting rod.
Further, the quantity of the base is two, and the base center arrangement has a region, is arranged in the region
There are several ball hinged supports to match with the drive mechanism, one end that the connecting rod is connected with the base is disposed with spheroid
It is connected with the ball hinged support.
Further, the structure that the steering wheel frame is fixedly connected for vertical integrative-structure or upper and lower two parts, the steering wheel
The structure of frame is symmetrical above and below, and all there is the mounting bracket of several installation steering wheels steering wheel frame top and bottom by star arrangement.
Further, the drive mechanism quantity of the steering wheel frame upper and lower ends is three, steering wheel frame upper and lower ends difference cloth
It is equipped with three mounting brackets.
Beneficial effect：The base of the utility model both sides including steering wheel frame and above and below the steering wheel frame, the steering wheel
Several drive mechanisms are arranged between frame and the base of each side, each drive mechanism includes steering wheel, disk rocking arm and connecting rod,
The utility model realizes snake-shaped robot both flexibles, and can by improving the arrangement of steering wheel and the structure of drive mechanism
The function of twisting ability, saves manufacturing cost, improves structural module degree, can be widely applied to robot technology neck
Domain.
Brief description of the drawings
Fig. 1 is straightened configuration figure of the present utility model；
Fig. 2 is pinned sheepshank composition of the present utility model；
Fig. 3 is twisting structure chart of the present utility model；
Fig. 4 is the exploded view of steering wheel frame of the present utility model, drive mechanism and connecting rod；
Fig. 5 is the front view of disk rocking arm of the present utility model；
Fig. 6 is the sectional view of disk rocking arm of the present utility model；
Fig. 7 is the front view of connecting rod of the present utility model；
Fig. 8 is the sectional view of connecting rod of the present utility model；
Fig. 9 is the axonometric drawing of connecting rod of the present utility model；
Figure 10 is the top view of steering wheel frame of the present utility model；
Figure 11 is the mapping of datum axle of the present utility model.
Reference：1st, steering wheel frame；2nd, disk rocking arm；3rd, connecting rod；4th, base；5th, steering wheel；12nd, mounting bracket；21st, the axis of rolling
Hold；22nd, cylindrical plug part；23rd, first is raised；24th, second is raised；25th, first through hole；26th, the second through hole；27th, U-shaped hole；
28th, thin rounded flakes；221st, U-lag；222nd, third through-hole；281st, fourth hole；282nd, fifth hole；31st, U-shaped columnar projections；
34th, spheroid；35th, first boss；41st, ball hinged support；42nd, the 6th through hole.
Embodiment
Specific embodiment of the present utility model is described further with reference to Figure of description 1 to Figure 11.
Embodiment 1：
A kind of scalable modular unit structure twisted, it is characterised in that：Including steering wheel frame 1 and positioned at the steering wheel
Several drive mechanisms, each driving are arranged between the base 4 of the base 4 of both sides above and below frame, the steering wheel frame 1 and each side
Mechanism includes steering wheel 5, disk rocking arm 2 and connecting rod 3, and the steering wheel 5 is arranged on steering wheel frame 1, the disk rocking arm 2 and steering wheel 5
Output axis connection, the other end of disk rocking arm 2 is connected with connecting rod 3, and the other end of the connecting rod 3 is connected with the base 4.
Further, the structure that the steering wheel frame 1 is fixedly connected for vertical integrative-structure or upper and lower two parts, the steering wheel
The structure of frame 1 is symmetrical above and below, and the upper and lower ends of steering wheel frame 1 are respectively disposed with the mounting bracket 12 of three installation steering wheels 5, steering wheel frame
It is in star arrangement that three mounting brackets 12 of 1 top and bottom, which are all,.The location of described mounting bracket 12 is an equilateral triangle,
After installing steering wheel 5, the output shaft of the steering wheel 5 is located at the summit of the equilateral triangle.The star arrangement mode can ensure rudder
The structure of frame 1 it is symmetrical, and then make entirety of the present utility model be a normal structure, the uniform force during flexible twisting
And there is aesthetic.In order to mitigate weight, material and cost are saved, the center section of the steering wheel frame 1 is engraved structure.Institute
It is a L-type structure to state mounting bracket 12, and the surface of the L-type structure and the steering wheel frame 1 forms the installation of a rectangle frame
Region, the installation region can accommodate a steering wheel 5.The L-type sheet metal structural is disposed with first with the junction of steering wheel frame 1 and added
Strengthening tendons, connection of first reinforcement to mounting bracket 12 and steering wheel frame 1 have reinforcement effect.
Further, the disk rocking arm 2 is disposed with first through hole 25, rolling bearing 21 with one end that the connecting rod 3 is connected
With cylindrical plug part 22, outer ring and the first through hole 25 of the rolling bearing 21 coordinate, the inner ring and cylinder of rolling bearing 21
Plug member 22 coordinates, outer ring and first through hole 25, the cylindrical plug part 22 and the rolling bearing 21 of rolling bearing 21
Inner ring is interference fit.The end face center arrangement of the cylindrical plug part 22 towards connecting rod connecting rod 3 has U-lag 221, U-shaped
The bottom center of groove 221 is disposed with third through-hole 222, and one end that the connecting rod 3 is connected with the disk rocking arm 2 is disposed with first
Boss 35, the axis of the axis and connecting rod 3 of the first boss 35 are mutually perpendicular to.The top of the first boss 35 is U-shaped post
Shape projection 31, the disk rocking arm 2 are fixedly connected with U shapes columnar projections 31 through third through-hole 222 by self-tapping screw, entered
And realize the relative rotation between connecting rod 3 and disk rocking arm 2.
Further, the other end of the disk rocking arm 2 is disposed with the second through hole 26 and thin rounded flakes with the junction of steering wheel 5
28, the thin rounded flakes 28 are fixed on the disk rocking arm 2 towards the side of steering wheel 5, the thin rounded flakes 28 and described second
Through hole 26 is arranged for concentric shafts.The thin rounded flakes 28 are evenly distributed in the circumferential direction 4 groups of through holes, and every group of through hole includes
3 fifth holes 282, one end that the disk rocking arm 2 connects steering wheel 5 are disposed with 4 U-shaped holes matched with every group of fifth hole
27, the U-shaped hole 27 is through hole, and the length of each U-shaped hole 27 can accommodate 3 fifth holes 282.Pass through 4 self tappings
The thin rounded flakes 28 are fixedly connected by screw with the disk rocking arm 2, and 3 fifth holes 282 of every group of arrangement are to pacify
The relative position of thin rounded flakes 28 and disk rocking arm 2 can be adjusted during dress.The center arrangement of the thin rounded flakes 28 has
Four through holes 281, the disk rocking arm 2 are fixedly connected with the output shaft of steering wheel 5 through fourth hole 281 by self-tapping screw, entered
And realize steering wheel 5 and drive the rotation of disk rocking arm 2.
Therefore the utility model can realize the utility model knot by two relative rotations at the above-mentioned both ends of disk rocking arm 2
The flexible twisting function of structure.
Further, the quantity of the base 4 is two, and the base 4 is disc-shape, and the center arrangement of base 4 has
One circumferential area, it is evenly distributed in the circumferential direction in the region to have 3 ball hinged supports to match with the drive mechanism
41, the connecting rod 3 is disposed with spheroid 34 with one end that the base 4 is connected and is connected with the ball hinged support 41, the connecting rod 3
The relative rotation of any direction can occur with base 4, and then realize twisting of the present utility model.The base 4 is on edge edge
Circumferencial direction has been evenly arranged 6 the 6th through holes 42, convenient to be connected with other modular unit structures.In order to mitigate weight, section
About material and cost, the base 4 take hollow processing, have a manhole in the center arrangement of circumferential area, along circle
Circumferential direction is disposed with three U-shaped through holes.
Further, the junction of the spheroid 34 and connecting rod 3 is disposed with the second reinforcement, to the company of spheroid 34 and connecting rod 3
Connect with reinforcement effect.
Further, the disk rocking arm 2 is logical along first towards the side of connecting rod 3, surface with one end that the connecting rod 3 is connected
The circumferential directions of hole 25 have the first projection 23 and the second projection 24, the 23 and second raised 24 place circumference of the first projection
The sector region of upper formation is exactly the slewing area of the connecting rod 3.Using drive mechanism and the downward straight configuration of follower as
With reference to first projection 23 and the second projection 24 are located on the right side of disk rocking arm 2, and first projection 23 and second is raised
24 left side straight line is same point-blank, and the straight line is parallel with the symmetry axis of disk rocking arm 2.When the disk rocking arm 2
When being in full reduced state with the connecting rod 3, first raised 23 pairs of connecting rods 3 have position-limiting action, when the disk rocking arm 2 and institute
Connecting rod 3 is stated in when stretching state entirely, second raised 24 pairs of connecting rods 3 have position-limiting action.
If keeping one or two drive mechanisms motionless, other drive mechanisms turn to certain bits according to work requirements
Put, so that it may reach the gap tilt effect of the base 4, so as to realize twisting function.
Embodiment 2：
The present embodiment and the difference of embodiment 1 are that the disk rocking arm 2 of the present embodiment is without the first projection 23 and second
Raised 24 two structures, but position-limiting action is realized by software control.
Embodiment 3：
The present embodiment and the difference of embodiment 1 be, the cylindrical plug part 22 of the present embodiment is towards the end face of connecting rod 3
Center arrangement has U-shaped columnar projections, and the upper end of the first boss 35 of connecting rod one end is disposed with U shape grooves, the disk rocking arm
2 are connected by U-shaped columnar projections and U-lag with connecting rod 3.
Embodiment of the present utility model is explained in detail above in conjunction with accompanying drawing, but the utility model is not limited to
Embodiment is stated, in the technical field those of ordinary skill possessed knowledge, this practicality can also not departed from
Various equivalent variations are made on the premise of new objective, these equivalent changes are all contained in what the application claim was limited
In the range of.
Claims (8)
- A kind of 1. scalable modular unit structure twisted, it is characterised in that：Including steering wheel frame (1) and positioned at the steering wheel Several drive mechanisms are arranged between the base (4) of the base (4) of frame (1) both sides up and down, the steering wheel frame (1) and each side, Each drive mechanism includes steering wheel (5), disk rocking arm (2) and connecting rod (3), and the steering wheel (5) is arranged on steering wheel frame (1), The disk rocking arm (2) and the output axis connection of steering wheel (5), the other end of disk rocking arm (2) are connected with connecting rod (3), the company The other end of bar (3) is connected with the base (4).
- A kind of 2. scalable modular unit structure twisted according to claim 1, it is characterised in that：The disk Rocking arm (2) is disposed with rolling bearing (21) and cylindrical plug part (22), the connecting rod with one end that the connecting rod (3) is connected (3) one end being connected with the disk rocking arm (2) is disposed with first boss (35), and the first boss (35) runs through rolling bearing (21) inner ring simultaneously docks with cylindrical plug part (22), and the other end of the disk rocking arm (2) is disposed with defeated with steering wheel (5) The thin rounded flakes (28) that shaft is fixedly connected.
- A kind of 3. scalable modular unit structure twisted according to claim 2, it is characterised in that：The cylinder Plug member (22) has U-lag (221) towards the end face center arrangement of connecting rod (3), and the top of the first boss (35) is U-shaped Columnar projections (31), the disk rocking arm (2) are connected by U-lag (221) and U-shaped columnar projections (31) with connecting rod (3).
- A kind of 4. scalable modular unit structure twisted according to claim 2, it is characterised in that：The cylinder Plug member (22) has U-shaped columnar projections, the upper end of the first boss (35) towards the end face center arrangement of connecting rod (3) U-lag is disposed with, the disk rocking arm (2) is connected by U-shaped columnar projections and U-lag with connecting rod (3).
- A kind of 5. scalable modular unit structure twisted according to claim 2, it is characterised in that：The disk The connection end of rocking arm (2) and the connecting rod (3) is towards the side of connecting rod (3), and surface is along first through hole (25) circumferential directions There are first raised (23) and second raised (24), the fan that described first raised (23) and second raised (24) are circumferentially formed Shape region is exactly the slewing area of the connecting rod (3).
- A kind of 6. scalable modular unit structure twisted according to claim 1, it is characterised in that：The base (4) quantity is two, and base (4) center arrangement has a region, and several and the drive are disposed with the region The ball hinged support (41) that motivation structure matches, the connecting rod (3) and one end that the base (4) is connected be disposed with spheroid (34) with Ball hinged support (41) connection.
- 7. a kind of scalable modular unit structure twisted according to any one of claim 1 to 6, its feature exist In：The structure that the steering wheel frame (1) is fixedly connected for vertical integrative-structure or upper and lower two parts, the knot of the steering wheel frame (1) Structure is symmetrical above and below, and all there is the mounting bracket (12) of several installation steering wheels (5) steering wheel frame (1) top and bottom by star arrangement.
- A kind of 8. scalable modular unit structure twisted according to claim 7, it is characterised in that：The steering wheel The drive mechanism quantity of frame (1) upper and lower ends is three, and steering wheel frame (1) upper and lower ends are respectively disposed with three mounting brackets (12)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720975371.0U CN207172071U (en) | 2017-08-04 | 2017-08-04 | A kind of scalable modular unit structure twisted |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720975371.0U CN207172071U (en) | 2017-08-04 | 2017-08-04 | A kind of scalable modular unit structure twisted |
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| Publication Number | Publication Date |
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| CN207172071U true CN207172071U (en) | 2018-04-03 |
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| CN201720975371.0U Active CN207172071U (en) | 2017-08-04 | 2017-08-04 | A kind of scalable modular unit structure twisted |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443364A (en) * | 2017-08-04 | 2017-12-08 | 广州小瓦智能科技有限公司 | A kind of scalable modular unit structure twisted |
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- 2017-08-04 CN CN201720975371.0U patent/CN207172071U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443364A (en) * | 2017-08-04 | 2017-12-08 | 广州小瓦智能科技有限公司 | A kind of scalable modular unit structure twisted |
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