CN103303386B - A kind of Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism - Google Patents
A kind of Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism Download PDFInfo
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Abstract
The present invention relates to a kind of Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism, can be used for manufacturing mechanism teaching aid, toy, also can be used for making military.This mechanism comprises: the first foot is to the 6th foot (A, B, C, D, E, F).First foot is in turn connected into a closed-loop to the 6th foot (A, B, C, D, E, F), and wherein, the second foot (B) is connected with motor (1).Stopped by the urgency controlling single motor, rotating, deformation, is realized two kinds of rolling modes of mechanism, is adjusted the moving direction of this mechanism by the switching of two kinds of rolling modes.It is simple that this mechanism has structure, with low cost, and single electric machine control system is simple, the feature that reliability is high.<!--1-->
Description
Technical field
The present invention relates to a kind of single degree of freedom travel mechanism, particularly a kind of rolling mechanism.The circular path that mechanism realizes variable curvature by the different driving mode of motor rolls, and can be used for making teaching aid, toy and Detecting Robot.
Background technology
Single degree of freedom mobile robot structure is simple, controls the low and move mode of difficulty and has particularity, have important scientific research and using value in the sphere of learning of robot.But because single degree of freedom mobile robot only has an independently kinematic parameter, therefore single straight line or curve motion in one dimension usually can only be realized.
Space connecting-rod travel mechanism, by removing the fixed constraint between traditional frame bar and ground, under motor drives, realizes when mechanism ZMP point (point of zero moment) departs from they sup-port region rolling.It is few that space connecting-rod travel mechanism has first number, and structure is simple, can realize the irrealizable componental movement of plane mechanism.
Chinese patent notification number 102058982A discloses " a kind of single-power rolling polygonal mechanism ", and six V shape poles are connected by six adapter shafts by successively, adopts a motor to carry out one and drives and control.But being limited to this mechanism is plane mechanism, so straight-line motion can only be realized.
Chinese patent notification number 101915292A discloses " a kind of single-power rolling spherical four-rod mechanism ", and it utilizes space closed chain four-bar mechanism, adopts a motor to drive, and realizes the rolling with circular movement track.But being limited to this mechanism is parallelogram sphere rolling mechanism, mechanism's rolling angle is fixing acute angle, so can only realize the rolling of the circular path of fixing curvature.
Summary of the invention
The problem to be solved in the present invention is to provide a kind of single degree of freedom six bar rolling mechanism, and this mechanism can realize the rolling of two kinds of different circular movement tracks by controlling motor.
Technical scheme of the present invention:
A kind of Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism, this mechanism comprises the first foot to the 6th foot, and wherein, the second foot is connected with motor.
Motor is connected the first foot and the second foot with the first minor axis.The upper B second component of second foot is connected by motor mounting hole and motor, and motor output shaft and upper A the 5th component of the first foot are connected.Upper A the 4th component of first foot is connected by the first minor axis with upper B the 3rd component of the second foot.
Second minor axis connects the second foot and tripodia.Upper B the 4th component of second foot is connected by the second minor axis with C on tripodia the 3rd component.Upper B the 5th component of second foot is connected by the second minor axis with C second component on tripodia.
3rd minor axis connects tripodia and four-footed.On tripodia, C the 4th component is connected by minor axis with D on four-footed the 3rd component.On tripodia, C the 5th component is connected by the 3rd minor axis with D second component on four-footed.
Major axis connects four-footed and the 5th foot.On four-footed, D the 4th component, upper E the 3rd component of the 5th foot are connected by major axis with sleeve.On four-footed, D the 5th component, the upper E second component of the 5th foot are connected by major axis with sleeve.
4th minor axis connects the 5th foot and the 6th foot.Upper E the 4th component of 5th foot is connected by the 4th minor axis with upper F the 3rd component of the 6th foot.Upper E the 5th component of 5th foot is connected by the 4th minor axis with the upper F second component of the 6th foot.
5th minor axis connects the 6th foot and the first foot.Upper F the 4th component of 6th foot is connected by the 5th minor axis with upper A the 3rd component of the first foot.Upper F the 5th component of 6th foot is connected by the 5th minor axis with the upper A second component of the first foot.
By above-mentioned connection, the first foot is in turn connected into a closed-loop to the 6th foot.
First foot comprises: A first component, A second component, A the 3rd component, A the 4th component, A the 5th component.Wherein, A first component is trapezoidal plate, and A second component is the attaching parts having axis hole to A the 5th component.A second component, A the 3rd component and A the 4th component, A the 5th component symmetry be connected to waist two ends in A first component trapezoidal faces.A second component, A the 3rd component dead in line that axis hole becomes, A the 4th component, A the 5th component axis hole become dead in line.A second component, A the 3rd component axis that axis hole becomes give an a0 with A the 4th component, A the 5th component axis that axis hole becomes, A second component, A the 5th component axis hole center be respectively a1, a2, line segment a0a1, a0a2 length is equal, definition line segment a0a1, a0a2 are the effective length of the first foot, angle δ
1.
Second foot comprises: B first component, B second component, B the 3rd component, B the 4th component, B the 5th component.Wherein, B first component is C shape plate, and B second component is the attaching parts having axis hole to B the 5th component, and B second component arranges motor mounting hole.B second component, B the 3rd component and B the 4th component, B the 5th component symmetry are connected to the C shape plate both sides of B first component.B second component, B the 3rd component dead in line that axis hole becomes, B the 4th component, B the 5th component axis hole become dead in line.B second component, B the 3rd component axis that axis hole becomes give a b0 with B the 4th component, B the 5th component axis that axis hole becomes, B second component, B the 5th component axis hole center be respectively b1, b2, line segment b0b1, b0b2 length is equal, definition line segment b0b1, b0b2 are the effective length of the second foot, angle δ
2.
Tripodia comprises: C first component, C second component, C the 3rd component, C the 4th component, C the 5th component.Wherein, C first component is C shape plate, and C second component is the attaching parts having axis hole to C the 5th component.C second component, C the 3rd component and C the 4th component, C the 5th component symmetry be connected to C first component C shape plate both sides.C second component, C the 3rd component dead in line that axis hole becomes, C the 4th component, C the 5th component axis hole become dead in line.C second component, C the 3rd component axis that axis hole becomes give a c0 with C the 4th component, C the 5th component axis that axis hole becomes, C second component, C the 5th component axis hole center be respectively c1, c2, line segment c0c1, c0c2 length is equal, definition line segment c0c1, c0c2 are the effective length of tripodia, angle δ
3.
Four-footed comprises: D first component, D second component, D the 3rd component, D the 4th component, D the 5th component.Wherein D first component is trapezoidal plate, and D second component is the attaching parts having axis hole to D the 5th component.D second component, D the 3rd component and D the 4th component, D the 5th component symmetry be connected to D first component trapezoidal faces waist two ends.D second component, D the 3rd component dead in line that axis hole becomes, D the 4th component, D the 5th component axis hole become dead in line.D second component, D the 3rd component axis that axis hole becomes give a d0 with D the 4th component, D the 5th component axis that axis hole becomes, D second component, D the 5th component axis hole center be respectively d1, d2, line segment d0d1, d0d2 length is equal, definition line segment d0d1, d0d2 are the effective length of four-footed, angle δ
4.
5th foot comprises: E first component, E second component, E the 3rd component, E the 4th component, E the 5th component.Wherein, E first component is convex shape plate, and E second component is the attaching parts having axis hole to E the 5th component.E second component, E the 3rd component and E the 4th component, E the 5th component be connected to the upper and lower both sides of E first component convex shape plate.E second component, E the 3rd component dead in line that axis hole becomes, E the 4th component, E the 5th component axis hole become dead in line.E second component, E the 3rd component axis that axis hole becomes give an e0 with E the 4th component, E the 5th component axis that axis hole becomes, E second component, E the 5th component axis hole center be respectively e1, e2, line segment e0e1, e0e2 length is equal, definition line segment e0e1, e0e2 are the effective length of the 5th foot, angle δ
5.
6th foot comprises: F first component, F second component, F the 3rd component, F the 4th component, F the 5th component.Wherein, F first component is convex shape plate, and F second component is the attaching parts having axis hole to F the 5th component.F second component, F the 3rd component and F the 4th component, F the 5th component be connected to the upper and lower both sides of F first component convex shape plate.F second component, F the 3rd component dead in line that axis hole becomes, F the 4th component, F the 5th component axis hole become dead in line.F second component, F the 3rd component axis that axis hole becomes give a f0 with F the 4th component, F the 5th component axis that axis hole becomes, F second component, F the 5th component axis hole center be respectively f1, f2, line segment f0f1, f0f2 length is equal, definition line segment f0f1, f0f2 are the effective length of the 6th foot, angle δ
6.
First foot, to the 6th foot formed crossing point of axes a, b, c, d, e, f separately, does not overlap between two mutually.The first relatively sufficient component axis angle, effective length are equal: the first sufficient axis angle δ
1with four-footed axis angle δ
4equal, the second sufficient axis angle δ
2with the 5th sufficient axis angle δ
5equal, tripodia axis angle δ
3with the 6th sufficient axis angle δ
6equal.First foot is equal with four-footed effective length: line segment a0a1, a0a2 are equal with line segment d0d1, d0d2 length, second foot is equal with the 5th sufficient effective length: line segment b0b1, b0b2 are equal with line segment e0e1, e0e2 length, and tripodia is equal with the 6th sufficient effective length: line segment c0c1, c0c2 are equal with line segment f0f1, f0f2 length.
The present invention compares the beneficial effect had with prior art:
Rolling six-bar mechanism of the present invention, have employed the physical construction of complete closed chain, is undertaken driving and control to realize two kinds of rolling modes, adjusted the moving direction of this mechanism by the switching of two kinds of rolling modes by single motor.Described rolling six-bar mechanism structure is simple, with low cost, and single electric machine control system is simple, and reliability is high.Can be used for manufacturing mechanism teaching aid, toy, also can be used for making military.
Accompanying drawing explanation
The overall graphics of Fig. 1 Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism;
The sufficient graphics of Fig. 2 first;
The sufficient graphics of Fig. 3 second;
Fig. 4 tripodia graphics;
Fig. 5 four-footed graphics;
The sufficient graphics of Fig. 6 the 5th;
The sufficient graphics of Fig. 7 the 6th;
Fig. 8 first foot, the second foot and motor connection diagram;
Fig. 9 second foot and tripodia connection diagram;
Figure 10 tripodia and four-footed connection diagram;
Figure 11 four-footed and the 5th sufficient connection diagram;
Figure 12 the 5th foot and the 6th sufficient connection diagram;
Figure 13 the 6th foot and the first sufficient connection diagram;
Figure 14 Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism pivot center and crossing point of axes schematic diagram;
Figure 15 I pattern first motion state diagram;
Figure 16 I pattern second motion state diagram;
Figure 17 I pattern the 3rd motion state diagram;
Figure 18 I pattern the 4th motion state diagram;
Figure 19 I pattern the 5th motion state diagram;
Figure 20 I pattern the 6th motion state diagram;
Figure 21 II pattern initial condition schematic diagram;
Figure 22 II pattern first state of kinematic motion opens figure;
Figure 23 II pattern transient state figure;
Figure 24 II pattern second state of kinematic motion contractible graph;
Figure 25 II pattern second state of kinematic motion opens figure;
Figure 26 II pattern the 3rd state of kinematic motion contractible graph.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
A kind of Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism, as shown in Figure 1, this mechanism comprises the first foot to the 6th sufficient A, B, C, D, E, F, and wherein, the second sufficient B is connected with motor 1.
As shown in Figure 2, the first sufficient A comprises: A first component A-1, A second component A-2, A the 3rd component A-3, A the 4th component A-4, A the 5th component A-5.Wherein A first component A-1 is trapezoidal plate, and A second component is the attaching parts having axis hole to A the 5th component A-2, A-3, A-4, A-5.A second component, A the 3rd component A-2, A-3 and A the 4th component, A the 5th component A-4, A-5 symmetry are connected to A first component A-1 trapezoidal faces waist two ends.A second component, A the 3rd component A-2, A-3 dead in line that axis hole becomes, A the 4th component, A the 5th component A-4, A-5 axis hole become dead in line.A second component, A the 3rd component A-2, A-3 axis that axis hole becomes give an a0 with A the 4th component, A the 5th component A-4, A-5 axis that axis hole becomes, A second component, A the 5th component A-2, A-5 axis hole center be respectively a1, a2, line segment aa1, aa2 length is equal.Definition line segment a0a1, a0a2 are the effective length of the first sufficient A, angle δ
1.
As shown in Figure 3, the second sufficient B comprises: B first component B-1, B second component B-2, B the 3rd component B-3, B the 4th component B-4, B the 5th component B-5.Wherein B first component B-1 is C shape plate, and B second component is the attaching parts having axis hole to B the 5th component B-2, B-3, B-4, B-5, and B second component B-2 arranges motor mounting hole.B second component, B the 3rd component B-2, B-3 and B the 4th component, B the 5th component B-4, B-5 symmetry are connected to B first component B-1C shape plate both sides.B second component, B the 3rd component B-2, B-3 dead in line that axis hole becomes, B the 4th component, B the 5th component B-4, B-5 axis hole become dead in line.B second component, B the 3rd component B-2, B-3 axis that axis hole becomes give a b0 with B the 4th component, B the 5th component B-4, B-5 axis that axis hole becomes, B second component, B the 5th component B-2, B-5 axis hole center be respectively b1, b2, line segment b0b1, b0b2 length is equal.Definition line segment b0b1, b0b2 are the effective length of the second sufficient B, angle δ
2.
As shown in Figure 4, tripodia C comprises: C first component C-1, C second component C-2, C the 3rd component C-3, C the 4th component C-4, C the 5th component C-5.Wherein C first component C-1 is C shape plate, and C second component is the attaching parts having axis hole to C the 5th component C-2, C-3, C-4, C-5.C second component, C the 3rd component C-2, C-3 and C the 4th component, C the 5th component C-4, C-5 symmetry are connected to the C shape plate both sides of C first component C-1.C second component, C the 3rd component C-2, C-3 dead in line that axis hole becomes, C the 4th component, C the 5th component C-4, C-5 dead in line that axis hole becomes, C second component, C the 3rd component C-2, C-3 axis that axis hole becomes give a c0 with C the 4th component, C the 5th component C-4, C-5 axis that axis hole becomes, C second component, C the 5th component C-2, C-5 axis hole center be respectively c1, c2, line segment c0c1, c0c2 length is equal.Definition line segment c0c1, c0c2 are the effective length of tripodia C, angle δ
3.
As shown in Figure 5, four-footed D comprises: D first component D-1, D second component D-2, D the 3rd component D-3, D the 4th component D-4, D the 5th component D-5.Wherein D first component D-1 is trapezoidal plate, and D second component is the attaching parts having axis hole to D the 5th component D-2, D-3, D-4, D-5.D second component, D the 3rd component D-2, D-3 and D the 4th component, D the 5th component D-4, D-5 symmetry are connected to D first component D-1 trapezoidal faces waist two ends.D second component, D the 3rd component D-2, D-3 dead in line that axis hole becomes, D the 4th component, D the 5th component D-4, D-5 axis hole become dead in line.D second component, D the 3rd component D-2, D-3 axis that axis hole becomes give a d0 with D the 4th component, D the 5th component D-4, D-5 axis that axis hole becomes, D second component, D the 5th component D-2, D-5 axis hole center be respectively d1, d2, line segment d0d1, d0d2 length is equal.Definition line segment d0d1, d0d2 are the effective length of four-footed D, angle δ
4.
As shown in Figure 6, the 5th sufficient E comprises: E first component E-1, E second component E-2, E the 3rd component E-3, E the 4th component E-4, E the 5th component E-5.Wherein E first component E-1 is convex shape plate, and E second component is the attaching parts having axis hole to E the 5th component E-2, E-3, E-4, E-5.E second component, E the 3rd component E-2, E-3 and E the 4th component, E the 5th component E-4, E-5 are connected to the upper and lower both sides of E first component E-1 convex shape plate.E second component, E the 3rd component E-2, E-3 dead in line that axis hole becomes, E the 4th component, E the 5th component E-4, E-5 axis hole become dead in line.E second component, E the 3rd component E-2, E-3 axis that axis hole becomes give an e0 with E the 4th component, E the 5th component E-4, E-5 axis that axis hole becomes, E second component, E the 5th component E-2, E-5 axis hole center be respectively e1, e2, line segment e0e1, e0e2 length is equal.Definition line segment e0e1, e0e2 are the effective length of the 5th sufficient E, angle δ
5.
As shown in Figure 7, the 6th sufficient F comprises: F first component F-1, F second component F-2, F the 3rd component F-3, F the 4th component F-4, F the 5th component F-5.Wherein F first component F-1 is convex shape plate, and F second component is the attaching parts having axis hole to F the 5th component F-2, F-3, F-4, F-5.F second component, F the 3rd component F-2, F-3 and F the 4th component, F the 5th component F-4, F-5 are connected to the upper and lower both sides of F first component F-1 convex shape plate.F second component, F the 3rd component F-2, F-3 dead in line that axis hole becomes, F the 4th component, F the 5th component F-4, F-5 axis hole become dead in line.F second component, F the 3rd component F-2, F-3 axis that axis hole becomes give a f0 with F the 4th component, F the 5th component F-4, F-5 axis that axis hole becomes, F second component, F the 5th component F-2, F-5 axis hole center be respectively f1, f2, line segment f0f1, f0f2 length is equal.Definition line segment f0f1, f0f2 are the effective length of the 6th sufficient F, angle δ
6.
Motor 1 is connected the first sufficient A and the second sufficient B with the first minor axis 2, and the first sufficient A and the second sufficient B annexation are as shown in Figure 8.On second sufficient B, B second component B-2 is connected by motor mounting hole and motor 1, and on motor output shaft and the first sufficient A, A the 5th component A-5 is connected.Upper A the 4th component A-4 of first foot (A) is connected by the first minor axis 2 with B the 3rd component B-3 on the second sufficient B.
Second minor axis 5 connects the second sufficient B and tripodia C, and the second sufficient B and tripodia C annexation are as shown in Figure 9.On second sufficient B, B the 4th component B-4 is connected by the second minor axis 5 with C on tripodia C the 3rd component C-3.On second sufficient B, B the 5th component B-5 is connected by the second minor axis 5 with C second component C-2 on tripodia C.
3rd minor axis 6 connects tripodia C and four-footed D, and tripodia C and four-footed D annexation are as shown in Figure 10.On tripodia C, C the 4th component C-4 is connected by the 3rd minor axis 6 with D on four-footed D the 3rd component D-3.On tripodia C, C the 5th component C-5 is connected by the 3rd minor axis 6 with D second component D-2 on four-footed D.
Major axis 3 connects four-footed D and the 5th sufficient E, four-footed D and the 5th sufficient E annexation as shown in figure 11.On four-footed D, on D the 4th component D-4, the 5th sufficient E, E the 3rd component E-3 is connected by major axis 3 with sleeve 4.On four-footed D, on D the 5th component D-5, the 5th sufficient E, E second component E-2 is connected by major axis 3 with sleeve 4.
4th minor axis 7 connects the 5th sufficient E and the 6th sufficient F, and the 5th sufficient E and the 6th sufficient F annexation are as shown in figure 12.On 5th sufficient E, E the 4th component E-4 is connected by the 4th minor axis 7 with F the 3rd component F-3 on the 6th sufficient F.On 5th sufficient E, E the 5th component E-5 is connected by the 4th minor axis 7 with F second component F-2 on the 6th sufficient F.
5th minor axis 8 connects the 6th sufficient F and the first sufficient A, and the 6th sufficient F and the first sufficient A annexation are as shown in figure 13.On 6th sufficient F, F the 4th component F-4 is connected by the 5th minor axis 8 with A the 3rd component A-3 on the first sufficient A.On 6th sufficient F, F the 5th component F-5 is connected by the 5th minor axis 8 with A second component A-2 on the first sufficient A.
By above-mentioned connection, first foot is in turn connected into a closed-loop to the 6th sufficient A, B, C, D, E, F, wherein, the minor axis (2) of repeatedly using of the first foot (A) and the second foot (B), the second foot (B) and tripodia (C), tripodia (C) and four-footed (D), the 5th foot (E) and the 6th sufficient (F), the 6th sufficient (F) and first sufficient (A) is formed and is rotationally connected.
As shown in figure 14, the first foot, to the 6th sufficient A, B, C, D, E, F formed crossing point of axes a0, b0, c0, d0, e0, f0 separately, does not overlap between two mutually.The first relatively sufficient component axis angle, effective length are equal: the first sufficient A axis angle δ
1with four-footed D axis angle δ
4equal, the second sufficient B axis angle δ
2with the 5th sufficient E axis angle δ
5equal, tripodia C axis angle δ
3with the 6th sufficient F axis angle δ
6equal.First sufficient Α is equal with four-footed D effective length: line segment a0a1, a0a2 are equal with line segment d0d1, d0d2 length, second sufficient Β is equal with the 5th sufficient E effective length: line segment b0b1, b0b2 are equal with line segment e0e1, e0e2 length, and tripodia C is equal with the 6th sufficient F effective length: line segment c0c1, c0c2 are equal with line segment f0f1, f0f2 length.
Figure 15-Figure 20 shows that Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism realizes I pattern rolling gait schematic diagram:
(1) Figure 15 shows that the initial condition of Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism, four-footed D and earth surface.On second sufficient B, motor 1 drives the second sufficient B and the first sufficient A to relatively rotate, and the angle between the second sufficient B and the first sufficient A diminishes, and drive miscellaneous part to move together, mechanism starts rolling, and four-footed D is in liftoff critical spot simultaneously, and motor is anxious to stop.
(2) Figure 16 shows that Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism is under force of inertia effect, four-footed D is liftoff, and tripodia C lands.On second sufficient B, motor 1 reverses, and the angle between the second sufficient B and the first sufficient A becomes greatly, and tripodia C is in liftoff critical spot.
(3) Figure 17 shows that Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism tripodia C is liftoff, the second sufficient B lands.On second sufficient B, motor 1 continues reversion, and the angle between the second sufficient B and the first sufficient A continues to become large, and the second sufficient B is in liftoff critical spot.
(4) Figure 18 shows that the sufficient B of Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism second is liftoff, the first sufficient A lands.On second sufficient B, motor 1 rotates forward, and the angle between the second sufficient B and the first sufficient A diminishes, and the first sufficient A is in liftoff critical spot, and motor is anxious to stop.
(5) Figure 19 shows that Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism is under force of inertia effect, the first sufficient A is liftoff, and the 6th sufficient F lands.On second sufficient B, motor 1 reverses, and the angle between the second sufficient B and the first sufficient A becomes greatly, and the 6th sufficient F is in liftoff critical spot.
(6) Figure 20 shows that the sufficient F of Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism the 6th is liftoff, the 5th sufficient E lands.On second sufficient B, motor 1 continues reversion, and the angle between the second sufficient B and the first sufficient A continues to become large, and the 5th sufficient E is in liftoff critical spot.
(7) the sufficient E of Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism the 5th is liftoff, and four-footed D lands, and gets back to initial condition.
Repeat (1)-(7) step, six bars land in turn, and I pattern that realizes is rolled.
Sphere rolling mechanism is under I pattern rolling condition, if drive the second sufficient B and the first sufficient A angle to become greatly at initial position motor, then mechanism's circular movement direction is contrary to the above.
Figure 21-Figure 26 is depicted as Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism and realizes II pattern rolling gait schematic diagram, and wherein, II pattern rolling platform comparatively I pattern rolling platform circumferential curvature reduces:
(1) Figure 21 is depicted as the initial condition of Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism, four-footed D and earth surface.
(2) Figure 22 is depicted as motor 1 on the second sufficient B and drives the second sufficient B and the first sufficient A to relatively rotate, angle between second sufficient B and the first sufficient A diminishes to convex shape plate and embeds in C shape plate, namely E first component E-1, F first component F-1 embed in B first component B-1 and C first component C-1.Drive miscellaneous part to move together, mechanism starts rolling, and four-footed D is in liftoff critical conditions simultaneously, and motor is anxious to stop.
(3) Figure 23 is depicted as Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism and rolls under force of inertia effect transition condition, and four-footed D is liftoff, and mechanism is contracted to convex shape plate and embeds in C shape plate.
(4) Figure 24 is depicted as Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism under force of inertia effect, the first sufficient A and earth surface.
(5) Figure 25 is depicted as motor 1 on the second sufficient B and reverses, mechanism opens, angle between second sufficient B and the first sufficient A becomes and departs to convex shape plate and C shape plate greatly, namely E first component E-1, F first component F-1 and B first component B-1 and C first component C-1 depart from, the first sufficient A is in liftoff critical spot.
(6) Figure 26 is depicted as anxious the stopping of the liftoff critical spot motor of the first sufficient A and rotates forward, mechanism shrinks, angle between second sufficient B and the first sufficient A diminishes to convex shape plate and embeds in C shape plate, namely E first component E-1, F first component F-1 embed in B first component B-1 and C first component C-1, mechanism rolls, through transition condition, the first sufficient A is liftoff, and four-footed D lands.
Repeat (1)-(6) step, the first sufficient A and four-footed D lands in turn, and II pattern that realizes is rolled.
Sphere rolling mechanism is under II pattern rolling condition, if drive the second sufficient B and the first sufficient A angle to become greatly at initial position motor, then mechanism's circular movement direction is contrary to the above.
Claims (2)
1. a Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism, is characterized in that: this mechanism comprises the first foot to the 6th foot (A, B, C, D, E, F), and wherein, the second foot (B) is connected with motor (1);
First foot (A) comprising: A first component (A-1), A second component (A-2), A the 3rd component (A-3), A the 4th component (A-4), A the 5th component (A-5); Wherein A first component (A-1) is trapezoidal plate, A second component to A the 5th component (A-2, A-3, A-4, A-5) for having the attaching parts of axis hole; A second component, A the 3rd component (A-2, A-3) and A the 4th component, A the 5th component (A-4, A-5) symmetry be connected to A first component (A-1) trapezoidal faces waist two ends; A second component, A the 3rd component (A-2, A-3) dead in line that axis hole becomes, A the 4th component, A the 5th component (A-4, A-5) dead in line that axis hole becomes, A second component, A the 3rd component (A-2, A-3) axis that axis hole becomes give an a0 with A the 4th component, A the 5th component (A-4, A-5) axis that axis hole becomes, A second component, A the 5th component (A-2, A-5) axis hole center be respectively a1, a2; Line segment a0a1, a0a2 length is equal, and definition line segment a0a1, a0a2 are the effective length of the first foot (A), angle δ
1;
Second foot (B) comprising: B first component (B-1), B second component (B-2), B the 3rd component (B-3), B the 4th component (B-4), B the 5th component (B-5); Wherein B first component (B-1) is C shape plate, and B second component is to B the 5th component (B-2, B-3, B-4, B-5) for having the attaching parts of axis hole, and B second component (B-2) arranges motor mounting hole; B second component, B the 3rd component (B-2, B-3) and B the 4th component, B the 5th component (B-4, B-5) symmetry be connected to B first component (B-1) C shape plate both sides; B second component, B the 3rd component (B-2, B-3) dead in line that axis hole becomes, B the 4th component, B the 5th component (B-4, B-5) dead in line that axis hole becomes, B second component, B the 3rd component (B-2, B-3) axis that axis hole becomes give a b0 with B the 4th component, B the 5th component (B-4, B-5) axis that axis hole becomes, B second component, B the 5th component (B-2, B-5) axis hole center be respectively b1, b2; Line segment b0b1, b0b2 length is equal, and definition line segment b0b1, b0b2 are the effective length of the second foot (B), angle δ
2;
Tripodia (C) comprising: C first component (C-1), C second component (C-2), C the 3rd component (C-3), C the 4th component (C-4), C the 5th component (C-5); Wherein C first component (C-1) is C shape plate, C second component to C the 5th component (C-2, C-3, C-4, C-5) for having the attaching parts of axis hole; C second component, C the 3rd component (C-2, C-3) and C the 4th component, C the 5th component (C-4, C-5) symmetry be connected to C first component (C-1) C shape plate both sides; C second component, C the 3rd component (C-2, C-3) dead in line that axis hole becomes, C the 4th component, C the 5th component (C-4, C-5) dead in line that axis hole becomes, C second component, C the 3rd component (C-2, C-3) axis that axis hole becomes give a c0 with C the 4th component, C the 5th component (C-4, C-5) axis that axis hole becomes, C second component, C the 5th component (C-2, C-5) axis hole center be respectively c1, c2; Line segment c0c1, c0c2 length is equal, and definition line segment c0c1, c0c2 are the effective length of tripodia (C), angle δ
3;
Four-footed (D) comprising: D first component (D-1), D second component (D-2), D the 3rd component (D-3), D the 4th component (D-4), D the 5th component (D-5); Wherein D first component (D-1) is trapezoidal plate, D second component to D the 5th component (D-2, D-3, D-4, D-5) for having the attaching parts of axis hole; D second component, D the 3rd component (D-2, D-3) and D the 4th component, D the 5th component (D-4, D-5) symmetry be connected to D first component (D-1) trapezoidal faces waist two ends; D second component, D the 3rd component (D-2, D-3) dead in line that axis hole becomes, D the 4th component, D the 5th component (D-4, D-5) dead in line that axis hole becomes, D second component, D the 3rd component (D-2, D-3) axis that axis hole becomes give a d0 with D the 4th component, D the 5th component (D-4, D-5) axis that axis hole becomes, D second component, D the 5th component (D-2, D-5) axis hole center be respectively d1, d2; Line segment d0d1, d0d2 length is equal, and definition line segment d0d1, d0d2 are the effective length of four-footed (D), angle δ
4;
5th foot (E) comprising: E first component (E-1), E second component (E-2), E the 3rd component (E-3), E the 4th component (E-4), E the 5th component (E-5); Wherein E first component (E-1) is convex shape plate, E second component to E the 5th component (E-2, E-3, E-4, E-5) for having the attaching parts of axis hole; E second component, E the 3rd component (E-2, E-3) and E the 4th component, E the 5th component (E-4, E-5) be connected to the upper and lower both sides of E first component (E-1) convex shape plate; E second component, E the 3rd component (E-2, E-3) dead in line that axis hole becomes, E the 4th component, E the 5th component (E-4, E-5) dead in line that axis hole becomes, E second component, E the 3rd component (E-2, E-3) axis that axis hole becomes give an e0 with E the 4th component, E the 5th component (E-4, E-5) axis that axis hole becomes, E second component, E the 5th component (E-2, E-5) axis hole center be respectively e1, e2; Line segment e0e1, e0e2 length is equal, and definition line segment e0e1, e0e2 are the effective length of the 5th foot (E), angle δ
5;
6th foot (F) comprising: F first component (F-1), F second component (F-2), F the 3rd component (F-3), F the 4th component (F-4), F the 5th component (F-5); Wherein F first component (F-1) is convex shape plate, F second component to F the 5th component (F-2, F-3, F-4, F-5) for having the attaching parts of axis hole; F second component, F the 3rd component (F-2, F-3) and F the 4th component, F the 5th component (F-4, F-5) be connected to the upper and lower both sides of F first component (F-1) convex shape plate; F second component, F the 3rd component (F-2, F-3) dead in line that axis hole becomes, F the 4th component, F the 5th component (F-4, F-5) dead in line that axis hole becomes, F second component, F the 3rd component (F-2, F-3) axis that axis hole becomes give a f0 with F the 4th component, F the 5th component (F-4, F-5) axis that axis hole becomes, F second component, F the 5th component (F-2, F-5) axis hole center be respectively f1, f2; Line segment f0f1, f0f2 length is equal, and definition line segment f0f1, f0f2 are the effective length of the 6th foot (F), angle δ
6;
Motor (1) is connected the first foot (A) and the second foot (B) with the first minor axis (2); The upper B second component (B-2) of second foot (B) is connected by motor mounting hole and motor (1), and motor output shaft and the upper A the 5th component (A-5) of the first foot (A) are connected; The upper A the 4th component (A-4) of first foot (A) is connected by the first minor axis (2) with the upper B the 3rd component (B-3) of the second foot (B);
Second minor axis (5) connects the second foot (B) and tripodia (C); The upper B the 4th component (B-4) of second foot (B) is connected by the second minor axis (5) with the upper C the 3rd component (C-3) of tripodia (C); The upper B the 5th component (B-5) of second foot (B) is connected by the second minor axis (5) with the upper C second component (C-2) of tripodia (C);
3rd minor axis (6) connects tripodia (C) and four-footed (D); The upper C the 4th component (C-4) of tripodia (C) is connected by the 3rd minor axis (6) with the upper D the 3rd component (D-3) of four-footed (D); The upper C the 5th component (C-5) of tripodia (C) is connected by the 3rd minor axis (6) with the upper D second component (D-2) of four-footed (D);
Major axis (3) connects four-footed (D) and the 5th foot (E); The upper D the 4th component (D-4) of four-footed (D), the upper E the 3rd component (E-3) of the 5th foot (E) are connected by major axis (3) with sleeve (4); The upper D the 5th component (D-5) of four-footed (D), the upper E second component (E-2) of the 5th foot (E) are connected by major axis (3) with sleeve (4);
4th minor axis (7) connects the 5th foot (E) and the 6th foot (F); The upper E the 4th component (E-4) of 5th foot (E) is connected by the 4th minor axis (7) with the upper F the 3rd component (F-3) of the 6th foot (F); The upper E the 5th component (E-5) of 5th foot (E) is connected by the 4th minor axis (7) with the upper F second component (F-2) of the 6th foot (F);
5th minor axis (8) connects the 6th foot (F) and the first foot (A); The upper F the 4th component (F-4) of 6th foot (F) is connected by the 5th minor axis (8) with the upper A the 3rd component (A-3) of the first foot (A); The upper F the 5th component (F-5) of 6th foot (F) is connected by the 5th minor axis (8) with the upper A second component (A-2) of the first foot (A);
By above-mentioned connection, first foot is in turn connected into a closed-loop to the 6th foot (A, B, C, D, E, F), wherein, the minor axis (2) of repeatedly using of the first foot (A) and the second foot (B), the second foot (B) and tripodia (C), tripodia (C) and four-footed (D), the 5th foot (E) and the 6th sufficient (F), the 6th sufficient (F) and first sufficient (A) is formed and is rotationally connected.
2. a kind of Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism according to claim 1, it is characterized in that: the first foot, to the 6th foot (A, B, C, D, E, F) formed crossing point of axes a0, b0, c0, d0, e0, f0 separately, does not overlap between two mutually; The first relatively sufficient component axis angle, effective length are equal: first foot (A) axis angle δ
1with four-footed (D) axis angle δ
4equal, second foot (B) axis angle δ
2with the 5th foot (E) axis angle δ
5equal, tripodia (C) axis angle δ
3with the 6th foot (F) axis angle δ
6equal; First foot (Α) is equal with four-footed (D) effective length: line segment a0a1, a0a2 are equal with line segment d0d1, d0d2 length, second foot (Β) is equal with the 5th foot (E) effective length: line segment b0b1, b0b2 are equal with line segment e0e1, e0e2 length, and tripodia (C) is equal with the 6th foot (F) effective length: line segment c0c1, c0c2 are equal with line segment f0f1, f0f2 length.
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| CN201310277132.4A CN103303386B (en) | 2013-07-03 | 2013-07-03 | A kind of Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism |
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| CN108820067B (en) * | 2018-07-05 | 2020-12-01 | 上海工程技术大学 | Multi-mode step rolling moving mechanism and working method thereof |
| CN109129423A (en) * | 2018-09-06 | 2019-01-04 | 燕山大学 | One kind surpassing 6 rank monocycle spatial linkages and design method |
| CN109774806B (en) * | 2018-12-27 | 2020-08-21 | 北京交通大学 | Steerable rolling four-bar mechanism |
| CN111438675A (en) * | 2019-07-23 | 2020-07-24 | 北京航空航天大学 | Robot |
| CN111150492B (en) * | 2020-01-17 | 2021-04-30 | 长沙理工大学 | Single-degree-of-freedom remote motion center mechanism |
| CN113734312B (en) * | 2021-09-01 | 2022-08-30 | 中国石油大学(北京) | Closed chain rolling robot driven by shape memory alloy |
| CN113998022B (en) * | 2021-12-16 | 2023-06-16 | 北京交通大学 | Multimode rolling robot based on Sarrus mechanism |
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| JP2001163277A (en) * | 1999-12-03 | 2001-06-19 | Kazumori Ide | Rotating drive unit for sphere |
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| CN201329911Y (en) * | 2009-01-13 | 2009-10-21 | 北京交通大学 | Rolling triangle robot |
| CN101915292A (en) * | 2010-08-31 | 2010-12-15 | 北京交通大学 | Single-power rolling spherical four-rod mechanism |
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