CN219946277U - Reconfigurable unit and foldable robot formed by same - Google Patents
Reconfigurable unit and foldable robot formed by same Download PDFInfo
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- CN219946277U CN219946277U CN202321094206.6U CN202321094206U CN219946277U CN 219946277 U CN219946277 U CN 219946277U CN 202321094206 U CN202321094206 U CN 202321094206U CN 219946277 U CN219946277 U CN 219946277U
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- 238000005096 rolling process Methods 0.000 description 5
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Abstract
The utility model discloses a reconfigurable unit which can be bent and has higher working efficiency, comprising; the lower platform and the upper platform are both triangular structures; each of the three branched chains comprises a revolute pair, a lower connecting rod, a movable pair, an upper connecting rod and a ball pair which are connected in sequence; the axes of the revolute pairs of the branched chains are uniformly distributed in the same horizontal plane where the lower platform is located and are respectively vertical to three sides of the lower platform; the branched chain I, the branched chain II and the branched chain III are respectively connected to the AB edge, the BC edge and the CA edge of the lower platform through the revolute pair I, the revolute pair II and the revolute pair III, are close to the included angle I, the included angle II and the included angle III, and are respectively connected with the upper platform through the ball pair I, the ball pair II and the ball pair III at the included angle V, the included angle VI and the included angle IV of the upper platform in a rotatable manner with respect to three degrees of freedom; the foldable robot consists of upper and lower platforms with upper and lower connectors connected detachably.
Description
Technical Field
The utility model belongs to the technical field of robots, and particularly relates to a reconfigurable unit and a foldable robot formed by the reconfigurable unit.
Background
The folding robot can simulate the nose of an animal elephant, the tongs of an octopus and the like to replace human beings to complete a plurality of high-risk operation works in a complex unstructured environment, and has wide application prospect in the fields of military, mining, star detection, fire fighting and rescue and the like.
The traditional folding and unfolding robot can be folded and unfolded generally, and the change of the size is realized. However, the change in volume is small, and the animal cannot be bent, and when the animal is simulated, the animal tends to have a simple motion and a single movement and posture. Because the bending device cannot bend, the bending device cannot work on objects with round and curved surface body structures which are required to be bent, held and rolled, and has low working efficiency, poor flexibility and small application range. In particular, it is impossible to use the same as a reconstruction unit, and a plurality of foldable robots with large variation of the size of the constituent volumes, large bending degree, high working efficiency, good flexibility and wide application range are adopted.
Disclosure of Invention
Aiming at the technical problems existing in the prior art, the utility model aims to provide a reconfigurable unit and a foldable robot formed by the reconfigurable unit, wherein the reconfigurable unit has larger change of volume, can be bent and changed in action, has rich movement and posture, good bending degree and flexibility, higher working efficiency and wider application range; in particular to a foldable robot which can change the size of a plurality of reconfigurable units, has larger flexibility, higher working efficiency, better flexibility and larger application range.
In order to solve the above technical problems, the reconfigurable unit of the present utility model is characterized in that: comprises the following steps of; a lower platform and an upper platform which are both in triangular structures,
comprises a revolute pair I, a lower connecting rod I, a moving pair I, an upper connecting rod I and a branched chain I of a ball pair I which are connected in sequence,
comprises a revolute pair II, a lower connecting rod II, a moving pair II, an upper connecting rod II and a branched chain II of a ball pair II which are connected in sequence,
the device comprises a revolute pair III, a lower connecting rod III, a moving pair III, an upper connecting rod III and a branched chain III of a ball pair III which are sequentially connected;
the axes of the revolute pair I of the branched chain I, the revolute pair II of the branched chain II and the revolute pair III of the branched chain III are uniformly distributed in the same horizontal plane where the lower platform is positioned and are respectively vertical to the AB edge, the BC edge and the CA edge of the lower platform,
the revolute pair I of the branched chain I is rotatably connected to the AB edge of the lower platform close to the included angle I, and the ball pair I of the revolute pair I is rotatably connected with the upper platform in the vicinity of the included angle V of the upper platform in three degrees of freedom;
the revolute pair II of the branched chain II is rotatably connected to the BC edge of the lower platform close to the included angle II, and the ball pair II is rotatably connected with the upper platform in the vicinity of the included angle VI of the upper platform in three degrees of freedom;
the revolute pair III of the branched chain III is rotatably connected to the CA edge of the lower platform close to the included angle III, and the ball pair III of the revolute pair III is rotatably connected with the vicinity of the included angle IV of the upper platform in three degrees of freedom.
Preferably, the lower platform and the upper platform are both equilateral triangles.
Preferably, the revolute pair I, the lower connecting rod I, the movable pair I, the upper connecting rod I and the ball pair I of the branched chain I are identical to the revolute pair II, the lower connecting rod II, the movable pair II, the upper connecting rod II and the ball pair II of the branched chain II, and the revolute pair III, the lower connecting rod III, the movable pair III, the upper connecting rod III and the ball pair III of the branched chain III are identical in structural dimension.
Preferably, the cross sections of the lower connecting rod I and the upper connecting rod I of the branched chain I, the lower connecting rod II and the upper connecting rod II of the branched chain II, and the lower connecting rod III and the upper connecting rod III of the branched chain III, which are perpendicular to the length direction, are rectangular or circular.
Compared with the prior art, the reconfigurable unit of the utility model can work in the following states;
1. when the movable pair I in the branched chain I, the movable pair II in the branched chain II and the movable pair III in the branched chain III are driven to drive the lower connecting rod I, the upper connecting rod I, the lower connecting rod II and the upper connecting rod II, the lower connecting rod III and the upper connecting rod III to be close to each other or the movable pair I, the movable pair II and the movable pair III, the ball pair I, the ball pair II and the ball pair III are driven to rotate, so that the connecting ends of the upper connecting rod and the lower connecting rod in each branch chain are jointed with the connecting ends of the corresponding movable pairs to contract, the length of each branch chain is gradually shortened until the upper platform, each branch chain and the lower platform are sequentially overlapped and jointed, and folding contraction and volume reduction are realized.
2. When the folding and shrinking state, the moving pair I in the branched chain I, the moving pair II of the branched chain II and the moving pair III of the branched chain III are driven to drive the lower connecting rod I, the upper connecting rod I, the lower connecting rod II and the upper connecting rod II, and the lower connecting rod III and the upper connecting rod III to separate from each other, or the rotating pair I, the rotating pair II and the rotating pair III, the ball pair I, the ball pair II and the ball pair III are driven to rotate, so that the connecting ends of the upper connecting rod and the lower connecting rod and the moving pair are separated from each other to gradually increase the length of each branch chain until the original unfolding state is restored, and the unfolding and the volume enlargement are realized.
3. In the process of gradually changing from the initial expanding state to the folding and contracting state or from the folding and contracting state to the initial expanding state, driving the moving pair in any two branched chains to move and driving the connecting ends of the corresponding upper rod and the lower rod connected with the moving pair to mutually approach or mutually leave or driving the corresponding two rotating pairs; and the other branch chain drives the moving pair or the rotating pair to lock. In the process, the upper and lower rods which are driven to approach or separate from each other gradually shorten or lengthen, and drive the corresponding sides of the lower platform to incline downwards or upwards, so that bending is realized, and the volume size is changed accordingly.
Therefore, the reconfigurable unit has the advantages of folding and unfolding, bending, flexible and changeable structure, rich movement and posture, larger shape and volume change, capability of carrying out complex work in complex environments with larger bending degree, capability of holding and rolling objects with round and curved body structures, higher working efficiency, better flexibility and wide application prospect.
The utility model relates to a foldable robot composed of reconfigurable units, which is characterized in that: the foldable robot comprises at least more than two reconfigurable units, wherein an upper connecting piece is arranged on the top surface of an upper platform of each reconfigurable unit in the more than two reconfigurable units, a lower connecting piece is arranged on the bottom surface of a lower platform, and the foldable robot is detachably connected with the lower connecting piece through the upper connecting pieces of the more than two reconfigurable units.
Preferably, the upper connecting piece and the lower connecting piece are both magnets, the top surface of the upper connecting piece is an N magnetic pole or an S magnetic pole, and correspondingly, the bottom surface of the lower connecting piece is an S magnetic pole or an N magnetic pole.
Preferably, the upper connecting piece and the lower connecting piece are respectively a clamping hook and a clamping ring.
Preferably, the upper connecting piece and the lower connecting piece are a buckle and a clamping groove respectively.
Preferably, the upper connecting piece and the lower connecting piece are respectively a screw hole and a stud.
Preferably, the upper and lower connection members are adhesive sheets with burrs.
The foldable robot composed of the reconfigurable units can work in the following states;
1. when the movable pair I of the branched chain I, the movable pair II of the branched chain II and the movable pair III of the branched chain III in each reconfigurable unit are driven to be in an initial unfolding state, the lower connecting rod I, the upper connecting rod I, the lower connecting rod II and the upper connecting rod II which are connected with the movable pair I, the movable pair II and the movable pair III are driven to be close to each other, or the corresponding movable pair I, the corresponding movable pair II and the corresponding movable pair III and the corresponding ball pair I, the ball pair II and the ball pair III are driven to rotate, so that the upper connecting rod and the lower connecting rod in each reconfigurable unit are closely attached to the connecting end of the corresponding movable pair to be contracted, the length of each branch is gradually shortened until the upper platform, each branch and the lower platform are sequentially overlapped and attached, and the contraction of each reconfigurable unit is realized, and the contraction and the expansion of the whole foldable robot are realized.
2. When the folding and shrinking states are achieved, the moving pair I of the branched chain I, the moving pair II of the branched chain II and the moving pair III of the branched chain III in each reconfigurable unit are driven, the lower connecting rod I and the upper connecting rod I, the lower connecting rod II and the upper connecting rod II which are connected with the movable pair I, the movable pair II and the movable pair III are driven, and the lower connecting rod III and the upper connecting rod III are separated from each other, or the corresponding rotating pair I, the rotating pair II and the rotating pair III, the ball pair I, the ball pair II and the ball pair III are driven to rotate, so that the upper connecting rod and the lower connecting rod in each branch of each reconfigurable unit are separated from the connecting end of the corresponding moving pair, the length of each branch is gradually increased until each reconfigurable unit is restored to the unfolding state, and the unfolding and the size of the whole foldable robot are enlarged.
3. In the process of gradually changing from an unfolding state to a folding and shrinking state or from the folding and shrinking state to the unfolding state, driving the movable pairs in any two branched chains in each reconfigurable unit to move in opposite directions or in opposite directions and driving the corresponding upper and lower rods connected with the movable pairs to move close to or away from each other or driving the corresponding two rotary pairs; and the other branch chain drives the moving pair or the rotating pair to lock. In the process, the upper and lower rods which are close to or separated from each other in each driven reconfigurable unit gradually shorten or lengthen, and drive the corresponding side of the lower platform to incline downwards or upwards, so that the bending of each reconfigurable unit is realized, and the bending of the whole foldable robot is realized.
Therefore, compared with a single reconfigurable unit, the foldable robot formed by more than two reconfigurable units has the advantages that the range of the volume change size is larger, the flexibility is larger, and objects with round and curved surface body structures which are held, rolled and moved each time of bending are more, so that the working efficiency is higher. And the whole structure is simple, and the assembly, maintenance and replacement are convenient and easy.
Meanwhile, three or more reconfigurable units can be formed into the foldable robot according to actual needs. Obviously, the folding robot formed by the method has the advantages that compared with the folding robot formed by two reconfigurable units, the bending degree is larger, objects with round and curved surface body structures which are bent, held, rolled and moved each time are more, the working efficiency is higher, the flexibility is better, and the application range is wider.
Drawings
FIG. 1 is a schematic view of a reconfigurable unit of the present utility model in an expanded state;
FIG. 2 is a schematic illustration of a collapsed state of a reconfigurable cell of the present utility model;
FIG. 3 is a schematic view of a reconfigurable unit of the present utility model in a flexed state;
FIG. 4 is a schematic view showing an unfolded state of a foldable robot composed of reconfigurable units according to the present utility model;
FIG. 5 is a schematic view showing a folded and contracted state of a foldable robot composed of reconfigurable units according to the present utility model;
fig. 6 is a schematic view showing a bending state of a foldable robot composed of a reconfigurable unit according to the present utility model.
Detailed Description
The preferred embodiments of the present utility model will be described in detail with reference to the accompanying drawings.
It should be understood that in the description of the present utility model, the terms "horizontal," "vertical," "top," "bottom," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience of describing the present utility model and simplifying the description, but do not indicate or imply that the components referred to must have a specific orientation and be constructed and operated in the specific orientation. And therefore should not be construed as limiting the utility model.
Referring to fig. 1 to 3, the reconfigurable unit of the present utility model includes; a lower platform 41 and an upper platform 42 both having a triangular structure; the ball bearing device comprises a branched chain I comprising a revolute pair I11, a lower connecting rod I12, a movable pair I13, an upper connecting rod I14 and a ball bearing I15 which are sequentially connected, a branched chain II comprising a revolute pair II 21, a lower connecting rod II 22, a movable pair II 23, an upper connecting rod II 24 and a ball bearing II 25 which are sequentially connected, and a branched chain III comprising a revolute pair III 31, a lower connecting rod III 32, a movable pair III 33, an upper connecting rod III 34 and a ball bearing III 35 which are sequentially connected; the axes of the revolute pair I11 of the branched chain I, the revolute pair II 21 of the branched chain II and the revolute pair III 31 of the branched chain III are uniformly distributed in the same horizontal plane where the lower platform 41 is located and are perpendicular to the AB edge 411, the BC edge 412 and the CA edge 413 of the lower platform 41 respectively, the revolute pair I11 of the branched chain I is rotatably connected to the AB edge 411 of the lower platform close to an included angle IA, and the ball pair I15 of the revolute pair I is rotatably connected with the upper platform 42 in three degrees of freedom relatively in the vicinity of an included angle vb of the upper platform 42; the revolute pair II 21 of the branched chain II is rotatably connected to the BC edge 412 of the lower platform 41 near the included angle IIB, and the ball pair II 25 of the revolute pair II is rotatably connected with the upper platform 42 in the vicinity of the included angle VI c of the upper platform 42 in three degrees of freedom; the revolute pair III 31 of the branched chain III is rotatably connected to the CA edge 413 of the lower platform 41 near an included angle IIIC, and the ball pair III 35 of the revolute pair III is rotatably connected with the upper platform 42 in the vicinity of an included angle IVa of the upper platform 42 with three degrees of freedom; in the initial unfolded state or the folded and contracted state, the angles AB 411, BC 412, and CA413 of the lower platform 41, and the angles ii A, AB, ii B, BC, iii C of the angles AB 411, BC 422, and CA 423 of the upper platform 42, and the angles iva, AB 421, BC 422, and vi C of the angles AB 421, BC 422, and CA 423 of the lower platform 41, respectively, are in one-to-one correspondence with each other.
Thus, the reconfigurable unit of the present utility model can operate in the following states;
1. in the initial unfolding state, the moving pair I13 in the branched chain I, the moving pair II 23 in the branched chain II and the moving pair III 33 in the branched chain III are driven to drive the lower connecting rod I12 and the upper connecting rod I14, the lower connecting rod II 22 and the upper connecting rod II 24, and the lower connecting rod III 32 and the upper connecting rod III 34 to be close to each other, or the rotating pair I11, the rotating pair II 21 and the rotating pair III 31 are driven to drive the ball pair I15, the ball pair II 25 and the ball pair III 35 to rotate, so that the upper connecting rod and the lower connecting rod in each branch chain are close to the connecting end connected with each corresponding moving pair to shrink, and the branches gradually shorten the length until the upper platform 42, each branch chain and the lower platform 41 are sequentially overlapped and laminated, and folding shrinkage and volume reduction are realized.
2. When the folding and shrinking state, the sliding pair I13 in the branched chain I, the sliding pair II 23 in the branched chain II and the sliding pair III 33 in the branched chain III are driven, the lower connecting rod I12, the upper connecting rod I14, the lower connecting rod II 22 and the upper connecting rod II 24, the lower connecting rod III 32 and the upper connecting rod III 34 are driven to separate from each other, or the rolling pair I11, the rolling pair II 21 and the rolling pair III 31 are driven to rotate, the ball pair I15, the ball pair II 25 and the ball pair III 35 are driven to separate from each other, so that the connecting ends of the upper connecting rod and the lower connecting rod and the sliding pair are separated from each other, the length of each branch is gradually increased until the original unfolding state is restored, and the unfolding and the volume enlargement are realized.
3. In the process of gradually changing from the initial expanding state to the folding and contracting state or from the folding and contracting state to the initial expanding state, driving the moving pair in any two branched chains to move and driving the connecting ends of the corresponding upper rod and the lower rod connected with the moving pair to mutually approach or mutually leave or driving the corresponding two rotating pairs; and the other branch chain drives the moving pair or the rotating pair to lock. In this process, the upper and lower rods, which are driven toward and away from each other, gradually shorten or lengthen, and drive the corresponding sides of the lower platform 41 to incline downward or upward, thereby realizing bending and changing the volume.
Therefore, the reconfigurable unit has the advantages of folding and unfolding, bending, flexible and changeable structure, rich movement and posture, larger shape and volume change, capability of carrying out complex work in complex environments with larger bending degree, capability of holding and rolling objects with round and curved body structures, higher working efficiency, better flexibility and wide application prospect.
Referring to fig. 1, the lower and upper platforms 41 and 42 are each preferably equilateral triangles. So that the stress of the lower platform 41 and the upper platform 42 is relatively balanced, and the whole work of the utility model is relatively stable.
The revolute pair I11, the lower connecting rod I12, the movable pair I13, the upper connecting rod I14 and the ball pair I15 of the branched chain I are preferably identical to the revolute pair II 21, the lower connecting rod II 22, the movable pair II 23, the upper connecting rod II 24 and the ball pair II 25 of the branched chain II, and the revolute pair III 31, the lower connecting rod III 32, the movable pair III 33, the upper connecting rod III 34 and the ball pair III 35 of the branched chain III are preferably identical in structural dimension. The branched chain I, the branched chain II and the branched chain III can be produced in a standardized way, the processing and manufacturing are simple, the interchangeability is good, and the assembly and the maintenance are convenient and easy.
Referring to fig. 1, the cross-sectional shapes of the lower link i 12 and the upper link i 14 of the branched chain i, the lower link ii 22 and the upper link ii 24 of the branched chain ii, and the lower link iii 32 and the upper link iii 34 of the branched chain iii perpendicular to the length direction are preferably rectangular, and may also be preferably circular or elliptical. This makes the structure of lower connecting rod I12 and upper connecting rod I14 of branched chain I, lower connecting rod II 22 and upper connecting rod II 24 of branched chain II, and lower connecting rod III 32 and upper connecting rod III 34 of branched chain III simpler, manufacturing easier.
Referring to fig. 3 to 6, the foldable robot composed of the reconfigurable units of the present utility model includes at least two or more reconfigurable units, the top surface of the upper stage 42 of each of the two or more reconfigurable units is provided with an upper link 52, the bottom surface of the lower stage 41 is provided with a lower link 51, and the foldable robot is detachably connected by the upper links 52 and the lower links 51 of the two or more reconfigurable units.
Therefore, the foldable robot composed of the reconfigurable unit of the present utility model can perform work in the following states;
1. in the initial unfolding state, the movable pair I13 of the branched chain I, the movable pair II 23 of the branched chain II and the movable pair III 33 of the branched chain III in each reconfigurable unit are driven to drive the connecting ends of the lower connecting rod I12, the upper connecting rod I14, the lower connecting rod II 22 and the upper connecting rod II 24, the lower connecting rod III 32 and the upper connecting rod III 34 which are connected with the movable pair I13, the movable pair II 23 of the branched chain II and the movable pair III of the branched chain III to be mutually close, or the corresponding movable pair I11, the movable pair II 21 and the movable pair III 31, the ball pair I15, the ball pair II 25 and the ball pair III 35 are driven to rotate, so that the upper connecting rod and the lower connecting rod of each reconfigurable unit are closely attached to the connecting ends of the corresponding movable pair to contract, and the lengths of each branch are gradually shortened until the upper platform 42, each branch and the lower platform 41 are sequentially overlapped and attached, and the folding and contracting of each reconfigurable unit are realized, and the folding and contracting of the whole foldable robot are realized.
2. When the folding and shrinking state, the movable pair I of the branched chain I, the movable pair II 23 of the branched chain II and the movable pair III 33 of the branched chain III in each reconfigurable unit are driven to drive the lower connecting rod I12 and the upper connecting rod I14, the lower connecting rod II 22 and the upper connecting rod II 24 which are connected with the movable pair I, the lower connecting rod III 32 and the upper connecting rod III 34 to separate from each other, or the corresponding movable pair I11, the movable pair II 21 and the movable pair III 31 and the ball pair I15, the ball pair II 25 and the ball pair III 35 are driven to rotate, so that the upper connecting rod and the lower connecting rod of each reconfigurable unit are separated from the connecting end of the corresponding movable pair to gradually increase the length of each branch, and the unfolding state of each reconfigurable unit is restored, thereby realizing the unfolding and the volume enlargement of the whole foldable robot.
3. In the process of gradually changing from an unfolding state to a folding and shrinking state or from the folding and shrinking state to the unfolding state, driving the movable pairs in any two branched chains in each reconfigurable unit to move in opposite directions or in opposite directions and driving the corresponding upper and lower rods connected with the movable pairs to move close to or away from each other or driving the corresponding two rotary pairs; and the other branch chain drives the moving pair or the rotating pair to lock. In this process, the upper and lower rods of each reconfigurable unit which are driven to approach or separate from each other gradually shorten or lengthen, and drive the corresponding sides of the lower platform 41 to incline downward or upward, so as to bend each reconfigurable unit, thereby realizing the bending of the whole foldable robot.
Meanwhile, three or more reconfigurable units can be formed into the foldable robot according to actual needs. Obviously, the folding robot formed by the method has the advantages that compared with the folding robot formed by two reconfigurable units, the bending degree is larger, objects with round and curved surface body structures are more, the objects are more, the working efficiency is higher, the flexibility is better, and the application range is wider.
Referring to fig. 1, the upper and lower connection members 52 and 51 are magnets, and the top surface of the upper connection member 52 is preferably N-pole or S-pole, and correspondingly, the bottom surface of the lower connection member 51 is preferably S-pole or N-pole. The upper connecting pieces 52 and the lower connecting pieces 51 may have three pieces or three pieces, respectively, and are respectively mounted at each included angle of the top surface of the lower platform 41 or at the middle of the top surface of each side, and at each included angle corresponding to the bottom surface of the upper platform 42 or at the middle of the bottom surface of each side. This makes the structures of the upper and lower connection members 52 and 51 relatively simple, and the connection is relatively easy, so that the composition and maintenance of the entire foldable robot are relatively simple and easy.
The upper and lower connection members 52 and 51 are preferably hooks and clasps, respectively.
The upper and lower connectors 52 and 51 are preferably snap-fit and snap-fit, respectively.
The upper and lower connection members 52 and 51 are preferably screw holes and studs, respectively.
The upper and lower connection members 52 and 51 are preferably adhesive sheets with burrs.
For simplicity, the above-mentioned hooks, snap rings, grooves, screw holes, studs, and adhesive sheets with burrs are not shown, and may be respectively three, and are respectively located at each included angle of the top surface of the lower platform 41 or at the middle of the top surface of each side or at the middle of the vertical surface of each side, and at each included angle corresponding to the bottom surface of the upper platform 42 or at the middle of the bottom surface of each side or at the middle of the vertical surface of each side. The upper connecting piece 52 and the lower connecting piece 51 are simpler in structure and easier to connect, so that the whole foldable robot is simpler and easier to assemble and maintain.
Referring to fig. 1, in a foldable robot comprising a reconfigurable unit and a reconfigurable unit, the AB side 411, BC side 412 and CA side 413 of the lower platform 41 are respectively provided with an accommodating cavity i 4110, an accommodating cavity ii 4120 and an accommodating cavity iii 4130 which can accommodate the upper opening of each branch in a state that the adjacent ends of the upper and lower rods are abutted, the revolute pair i 11 of the branched chain i is connected to the accommodating cavity i 4110 on the AB side 411 of the lower platform 41 near the included angle ia, one end of the lower link i 12 is connected to the lower platform 41 in a relatively rotatable manner through the revolute pair i 11, the other end is connected to the upper link i 14 in a relatively movable manner through the revolute pair i 13, and the other end of the upper link i 14 is connected to the upper platform 42 in a relatively rotatable manner through the revolute pair i 15 near the included angle vb of the upper platform 42; the rotating pair II 21 of the branched chain II is connected to a position, close to an included angle IIB, in the accommodating cavity II 4120 on the BC edge 412 of the lower platform 41, one end of the lower connecting rod II 22 is connected with the lower platform 41 in a relatively rotatable manner through the rotating pair II 21, the other end of the lower connecting rod II is connected with one end of the upper connecting rod II 24 in a relatively movable manner through the moving pair II 23, and the other end of the upper connecting rod II 24 is connected with the upper platform 42 in a relatively rotatable manner through the ball pair II 25 in the vicinity of an included angle VI c of the upper platform 42 in three degrees of freedom; the revolute pair III 31 of the branched chain III is connected to a position, close to an included angle III C, in the accommodating cavity III 4130 on the CA413 side of the lower platform 41, one end of the lower connecting rod III 32 is connected with the lower platform 41 in a relatively rotatable manner through the revolute pair III 31, the other end of the lower connecting rod III is connected with one end of the upper connecting rod III 34 in a relatively movable manner through the revolute pair III 33, and the other end of the upper connecting rod III 34 is connected in a relatively rotatable manner in three degrees of freedom in the vicinity of an included angle IVa of the upper platform 42 through the ball pair III 35. Therefore, in the foldable robot composed of one type of reconfigurable unit and one type of reconfigurable unit, folding shrinkage, volume reduction, and folding states in which the adjacent ends of the upper and lower rods are abutted against each other, the respective links can be completely accommodated in the respective accommodating chambers on the lower platform 41, and folding property is good. In particular, the ball pairs on the respective links can be restrained in the corresponding receiving chambers and cannot rotate and drive the upper platform 42 connected with the ball pairs to rotate, so that the folding stability is good.
The utility model, which is not described in detail, including but not limited to the drive device, etc., is prior art.
While the preferred embodiments of the present utility model have been described in detail with reference to the drawings, the present utility model is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present utility model within the knowledge of those skilled in the art.
Claims (10)
1. A reconfigurable unit, characterized by: comprises the following steps of; a lower platform and an upper platform which are both in triangular structures,
comprises a revolute pair I, a lower connecting rod I, a moving pair I, an upper connecting rod I and a branched chain I of a ball pair I which are connected in sequence,
comprises a revolute pair II, a lower connecting rod II, a moving pair II, an upper connecting rod II and a branched chain II of a ball pair II which are connected in sequence,
the device comprises a revolute pair III, a lower connecting rod III, a moving pair III, an upper connecting rod III and a branched chain III of a ball pair III which are sequentially connected;
the axes of the revolute pair I of the branched chain I, the revolute pair II of the branched chain II and the revolute pair III of the branched chain III are uniformly distributed in the same horizontal plane where the lower platform is positioned and are respectively vertical to the AB edge, the BC edge and the CA edge of the lower platform,
the revolute pair I of the branched chain I is rotatably connected to the AB edge of the lower platform close to the included angle I, and the ball pair I of the revolute pair I is rotatably connected with the upper platform in the vicinity of the included angle V of the upper platform in three degrees of freedom;
the revolute pair II of the branched chain II is rotatably connected to the BC edge of the lower platform close to the included angle II, and the ball pair II is rotatably connected with the upper platform in the vicinity of the included angle VI of the upper platform in three degrees of freedom;
the revolute pair III of the branched chain III is rotatably connected to the CA edge of the lower platform close to the included angle III, and the ball pair III of the revolute pair III is rotatably connected with the upper platform in the vicinity of the included angle IV of the upper platform in three degrees of freedom.
2. The reconfigurable unit of claim 1, wherein the lower platform and the upper platform are equilateral triangles.
3. The reconfigurable cell of claim 2, wherein the revolute pair I, the lower link I, the kinematic pair I, the upper link I and the ball pair I of the branched chain I are the same as the revolute pair II, the lower link II, the kinematic pair II, the upper link II and the ball pair II of the branched chain II, and the revolute pair III, the lower link III, the kinematic pair III, the upper link III and the ball pair III of the branched chain III are the same in structural dimension.
4. The reconfigurable cell of claim 3, wherein the lower and upper links I and I of branch I, the lower and upper links II and II of branch II, and the lower and upper links III and III of branch III are rectangular or circular in cross-section perpendicular to the length direction.
5. A collapsible robot comprising a reconfigurable unit according to any one of claims 1 to 4, wherein: the foldable robot comprises at least more than two reconfigurable units, wherein an upper connecting piece is arranged on the top surface of an upper platform of each reconfigurable unit in the more than two reconfigurable units, a lower connecting piece is arranged on the bottom surface of a lower platform, and the foldable robot is detachably connected with the lower connecting piece through the upper connecting pieces of the more than two reconfigurable units.
6. The collapsible robot of claim 5, wherein: the upper connecting piece and the lower connecting piece are both magnets, the top surface of the upper connecting piece is an N magnetic pole or an S magnetic pole, and correspondingly, the bottom surface of the lower connecting piece is an S magnetic pole or an N magnetic pole.
7. The collapsible robot of claim 5, wherein: the upper connecting piece and the lower connecting piece are respectively a clamping hook and a clamping ring.
8. The collapsible robot of claim 5, wherein: the upper connecting piece and the lower connecting piece are respectively a buckle and a clamping groove.
9. The collapsible robot of claim 5, wherein: the upper connecting piece and the lower connecting piece are respectively screw holes and studs.
10. The collapsible robot of claim 5, wherein: the upper connecting piece and the lower connecting piece are adhesive sheets with burrs.
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| CN202321094206.6U CN219946277U (en) | 2023-05-09 | 2023-05-09 | Reconfigurable unit and foldable robot formed by same |
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| CN202321094206.6U CN219946277U (en) | 2023-05-09 | 2023-05-09 | Reconfigurable unit and foldable robot formed by same |
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