CN103407508A - Twelve-freedom-degree tetrahedron robot - Google Patents
Twelve-freedom-degree tetrahedron robot Download PDFInfo
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- CN103407508A CN103407508A CN2013102996347A CN201310299634A CN103407508A CN 103407508 A CN103407508 A CN 103407508A CN 2013102996347 A CN2013102996347 A CN 2013102996347A CN 201310299634 A CN201310299634 A CN 201310299634A CN 103407508 A CN103407508 A CN 103407508A
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Abstract
The invention discloses a twelve-freedom-degree tetrahedron robot. The twelve-freedom-degree tetrahedron robot structurally comprises a vertex assembly I, a vertex assembly II, a vertex assembly III, a vertex assembly IV, a first branched chain A1, a second branched chain A2, a third branched chain A3, a fourth branched chain A4, a fifth branched chain A5 and a sixth branched chain A6. Three flanges on the vertex assembly I are fixed with the first branched chain A1, the third branched chain A3 and the fourth branched chain A4 through pins respectively. Three flanges on the vertex assembly II are fixed with the first branched chain A1, the second branched chain A2 and the fifth branched chain A5 through pins respectively. Three flanges on the vertex assembly III are fixed with the second branched chain A2, the third branched chain A3 and the sixth branched chain A6 through pins respectively. Three flanges on the vertex assembly IV are fixed with the fourth branched chain A4, the fifth branched chain A5 and the sixth branched chain A6 through pins respectively. The vertex assembly I, the vertex assembly II, the vertex assembly III and the vertex assembly IV are the same in the aspects of structure and size. The first branched chain A1, the second branched chain A2, the third branched chain A3, the fourth branched chain A4, the fifth branched chain A5 and the sixth branched chain A6 are the same in the aspects of structure and size. By means of the connection, the twelve-freedom-degree tetrahedron robot can change various postures in the space and can move and swerve fast on the ground.
Description
1 technical field
The present invention relates to a kind of rolling walking mechanism, be specifically related to a kind of polyhedron rolling mechanism.This device can be used for investigation in military field, monitors terrorist incident and the removal of mines etc.
2 background technologies
Chinese patent application CN101973319 discloses a kind of hexahedron walking mechanism.This mechanism is comprised of two cross roves and four side chains, and each cross rod is connected with an end of four side chains respectively, is driven by two motors, and when only having an electrical power, the mode of motion of rolling hexahedron mechanism is identical with the mode of motion of four-bar linkage.When wanting conversion direction, mechanism is returned to the square form, stop the motor of current motion, by another electrical power, thereby realize the conversion of direction.But this deformation is less, drive motor is difficult for installing.
Chinese patent application CN101890714A discloses a kind of connecting rod moving robot with one degree of freedom.This robot can utilize the center-of-gravity position variation of mechanism and the unstable state in motion process, realizes displacement and the turning function of robot.But its degree of freedom is less, and alerting ability is not good enough.
3 summary of the invention
Technical matters to be solved by this invention: be on existing polyhedron rolling mechanism basis, expand out a kind of multiple degree of freedom tetrahedron travel mechanism, strengthen deformability, can realize more neatly rolling and turning function, improve the travelling performance of mechanism.
Technical scheme of the present invention: tetrahedron geometrically is being comprised of four summits and six limits, on each summit, connects three limits, according to geometric properties, designs corresponding physical construction.Wherein mechanism mainly comprises four same vertices assemblies and six side chains.Three steering wheels are installed on each summit assembly, by steering wheel, are driven butt flange and rotate; Every side chain is comprised of two pipes and the intermediate subcomponent that connects two pipes, and this side chain can have three rotational freedoms.This side chain two pipes can be inserted into respectively in the butt flange on corresponding fixed point assembly, by pin, realize the connection of summit assembly and side chain and fix, in this manner, four above-mentioned summit assemblies and six side chains can be connected into to the space mechanism of an integral body, this mechanism has 12 degree of freedom, can by 12 steering wheels, be controlled respectively.When two pipes on side chain during at same straight line, mechanism is positive tetrahedron just especially.
Beneficial effect of the present invention: because mechanism freedom is 12, its deformability is strong, and flexibility ratio is high, can facilitate control mechanism to realize rolling.In addition, fixed point assembly and side chain are convenient to modular design.The present invention can be used for the design of extraordinary fighter toy, utilizes the profile variation of mechanism, realizes the rolling on complicated ground.Can manufacture and design further special ground Detecting Robot.
4 accompanying drawing explanations
Fig. 1 ten two degrees of freedom tetrahedron mechanism graphics
Fig. 2 summit assembly (I) graphics
Fig. 3 motor connection diagram
Fig. 4 motor connecting strap graphics
Fig. 5 the first side chain (A1) cutaway view
Fig. 6 adapter shaft graphics
Fig. 7 connection pipe graphics
Fig. 8 side chain graphics
Fig. 9 side chain and summit assembly drowing
5 specific embodiments
As shown in Figure 1,12 degree of freedom tetrahedrons
Mechanism mainly comprises four summit assemblies (I, II, III, IV) and the first to the 6th side chain (A1, A2, A3, A4, A5, A6), and its annexation is as follows:
One end of three butt flanges respectively with the first, the 3rd on the assembly I of summit, the 4th side chain (A1, A3, A4) is fixed by pin.
Three butt flanges on the assembly II of summit respectively with first, second, an end of the 5th side chain (A1, A2, A5) fixes by pin.
Three butt flanges on the assembly III of summit respectively with second, third, an end of the 6th side chain (A2, A3, A6) fixes by pin.
Three butt flanges the respectively with four on the assembly IV of summit, an end of the 5th, the 6th side chain (A4, A5, A6) are fixed by pin.
The structure of described four summit assemblies (I, II, III, IV) and measure-alike; The structure of described six side chains (A1, A2, A3, A4, A5, A6) and measure-alike;
As shown in Figure 2, described summit assembly I comprises three motors (1,3,5), 2 motor connecting straps (2,4), three U-shaped spares (7,10,12), three butt flanges (8,9,11), summit supporting disk; Its annexation is as follows:
Described motor (3) is steering wheel, and steering wheel is provided with one group of mounting hole (3a), and steering wheel (3b).
As shown in Figure 4, described motor connecting strap (2) is three pronged shape, the end of trident be " ［ " shape, " and ［ " shape side have tapped bore (2a) for be connected motor on corresponding mounting hole fix; The structure of motor connecting strap (4) and size are identical with motor connecting strap (2).
As shown in Figure 2, three of described motor connecting strap (2) " end of respectively with three of ［ " shape ends motor (1,3,5) is connected by screw and is in the same place; Motor connecting strap (4) is fixed by the other end of identical method and three motors (1,3,5), completes by identical square box by described motor connecting strap (2,4).
The middle part of described motor connecting strap (2) has tapped bore (2b), fixing by screw and summit supporting disk (6).
The steering wheel (3b) of the open end of U-shaped spare (7) and motor (3) is fixedly connected with by screw, the closed end of U-shaped spare (7) is fixedly connected with flange (8) by screw, U-shaped spare (10) and flange (9), motor (5), between annexation identical with above-mentioned annexation; Annexation between U-shaped spare (12), motor (1), flange (11) is also identical with above-mentioned annexation.
By above-mentioned connection, motor (1,3,5) can drive respectively U-shaped spare (7,10,12) and rotate.As shown in Figure 3, described motor (3) is steering wheel, and mounting hole (3a) is arranged on steering wheel, and steering wheel (3b);
As shown in Figure 5, side chain (1) mainly comprises two connection pipes (18,25), two adapter shafts (17,24), the secondary attaching parts (14) of the first ball, the secondary attaching parts (23) of the second ball, self-lubricating bearing (16,22), setscrew nut (15,21), 2 hemisphere (13,20), pin (19) forms, and its annexation is as follows:
Be illustrated in figure 6 adapter shaft (17), its large end has counterbore (17a), and the side of large end has through hole (17d), and interlude is provided with the face of cylinder (17c) in order to self-lubricating bearing, to match, and smallest end is provided with screw thread (17b).
As shown in Figure 7, in described connection pipe (18), there is through hole (18a) side.As shown in Figure 5, the two ends of connection pipe (18) are provided with through hole (18a), and the end on connection pipe (18) inserts in the counterbore (17a) of adapter shaft (17), completes fixing by pin through hole (18a) and hole (17d).
Self-lubricating bearing (16) is connected in the counterbore of the secondary attaching parts of the first ball (14) by interference fit, the intermediate ends (17c) of adapter shaft (17) and self-lubricating bearing (16) are flexibly connected, setscrew nut (15) is connected with the screw thread (17c) of adapter shaft 17, realizes axial location.The described secondary attaching parts of the first ball (14) is U-shaped, hemisphere (13,19) is installed respectively in two outsides of U mouth end, the secondary attaching parts (23) of the second ball is installed in the middle of the U mouth, the secondary attaching parts (14) of the first ball, the secondary attaching parts (23) of the second ball, hemisphere (13,19) are flexibly connected by have strong market potential (19).
Connection pipe (25), adapter shaft (24), bearing (22), the secondary attaching parts (23) of the second ball, nut (21) are identical with the annexation of connection pipe (18), adapter shaft (17), bearing (16), the first ball pair attaching parts (14), nut (15).
By above-mentioned connection, connection pipe (18,25) is rotated around have strong market potential (19), between connection pipe (18), the secondary attaching parts of the first ball (14), can rotate, the secondary attaching parts of connection pipe (25) and the second ball (23) can rotate.
As shown in Figure 9, it is the connection diagram of the 3rd side chain (A3) and summit assembly (I, III), connection pipe (18) on the 3rd side chain A3 is inserted in the counterbore of the flange (17) on summit assembly (I), and fix by pin, connection pipe (25) on the 3rd side chain A3 is inserted in the counterbore of the flange (17) on summit assembly (III), and logical pin is fixed.By identical connection mode, complete as shown in Figure 1 four summit assemblies (I, II, III, IV) and the assembling of six side chains (A1, A2, A4, A5, A6).
The present invention has 12 degree of freedom, by 12 steering wheels on four summit assemblies, is controlled respectively, and the angle of rotating by steering wheel realizes distortion and the rolling of whole mechanism.
Claims (3)
1. ten two degrees of freedom tetrahedron robots, is characterized in that, this ten two degrees of freedom tetrahedron is comprised of four summit assemblies (I, II, III, IV) and the first to the 6th side chain (A1, A2, A3, A4, A5, A6); On each summit assembly, be equipped with three flanges, concrete annexation is:
Three flanges respectively with the first, the 3rd on the assembly I of summit, the 4th side chain (A1, A3, A4) are fixed by pin;
Three flanges on the assembly II of summit respectively with first, second, the 5th side chain (A1, A2, A5) fixes by pin;
Three flanges on the assembly III of summit respectively with second, third, the 6th side chain (A2, A3, A6) fixes by pin;
Three flanges the respectively with four on the assembly IV of summit, the 5th, the 6th side chain (A4, A5, A6) are fixed by pin;
The structure of described four summit assemblies (I, II, III, IV) and measure-alike;
The structure of described six side chains (A1, A2, A3, A4, A5, A6) and measure-alike.
2. summit assembly I according to claim 1, is characterized in that, summit assembly I comprises the first to the 3rd motor (1,3,5), 2 motor connecting straps (2,4), three U-shaped spares (7,10,12), three butt flanges (8,9,11), summit supporting disk (6); Its annexation is as follows:
Described motor (3) is steering wheel, and steering wheel is provided with one group of mounting hole (3a) and two steering wheels (3b);
Described motor connecting strap (2,4) is three pronged shape, the end of trident be " ［ " shape, " and ［ " shape side have tapped bore (2a) for be connected motor on corresponding mounting hole fix;
" end of respectively with three of ［ " shape ends motor (1,3,5) is connected by screw and is in the same place three of described motor connecting strap (2); Motor connecting strap (4) is fixed by the other end of identical method and three motors (1,3,5);
The middle part of described motor connecting strap (2) has tapped bore (2b), fixing by screw and summit supporting disk (6);
The steering wheel (3b) of the open end of U-shaped spare (7) and motor (3) is fixedly connected with by screw, the closed end of U-shaped spare (7) is fixedly connected with flange (8) by screw, U-shaped spare (10) and flange (9), motor (5), between annexation identical with above-mentioned annexation; Annexation between U-shaped spare (12), motor (1), flange (11) is also identical with above-mentioned annexation;
By above-mentioned connection, three motors (1,3,5) can drive respectively three U-shaped spares (7,10,12) and rotate.
3. the first side chain according to claim 1 (1), it is characterized in that, the first side chain (1) comprises two connection pipes (18,25), two adapter shafts (17,24), the secondary attaching parts (14) of the first ball, the secondary attaching parts (23) of the second ball, self-lubricating bearing (16,22), setscrew nut (15,21), two hemisphere (13,20), pin (19) forms, and its annexation is as follows:
Adapter shaft (17) is stepped shaft, and its large end has counterbore (17a), and the side of large end has through hole (17d), and interlude is provided with the face of cylinder (17c) in order to self-lubricating bearing, to match, and smallest end is provided with screw thread (17b);
The two ends of described connection pipe (18) are provided with through hole (18a), and the end on connection pipe (18) inserts in the counterbore (17a) of adapter shaft (17), completes fixing by pin through hole (18a) and hole (17d);
Self-lubricating bearing (16) is connected in the counterbore of the secondary attaching parts of the first ball (14) by interference fit, the intermediate ends (17c) of adapter shaft (17) and self-lubricating bearing (16) are flexibly connected, setscrew nut (15) is connected with the screw thread (17c) of adapter shaft 17, realize axial location, by above-mentioned connection, the secondary attaching parts of connection pipe (18) and the first ball (14) can freely have enough to meet the need;
The described secondary attaching parts of the first ball (14) is U-shaped, hemisphere (13,19) is installed respectively in two outsides of U mouth end, the secondary attaching parts (23) of the second ball is installed in the middle of the U mouth, the secondary attaching parts (14) of the first ball, the secondary attaching parts (23) of the second ball, hemisphere (13,19) are flexibly connected by have strong market potential (19);
Connection pipe (25), adapter shaft (24), bearing (22), the secondary attaching parts (23) of the second ball, nut (21) are identical with the annexation of connection pipe (18), adapter shaft (17), bearing (16), the first ball pair attaching parts (14), nut (15), by above-mentioned connection, the secondary attaching parts of connection pipe (25) and the second ball (23) can freely have enough to meet the need.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310299634.7A CN103407508B (en) | 2013-07-17 | 2013-07-17 | Ten two degrees of freedom tetrahedron robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310299634.7A CN103407508B (en) | 2013-07-17 | 2013-07-17 | Ten two degrees of freedom tetrahedron robots |
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| CN103407508A true CN103407508A (en) | 2013-11-27 |
| CN103407508B CN103407508B (en) | 2016-04-06 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT517802A1 (en) * | 2015-10-05 | 2017-04-15 | Universität Innsbruck | Modular, self-reconfigurable robot system |
| CN107697177A (en) * | 2017-09-08 | 2018-02-16 | 北京交通大学 | A kind of deformable hexahedron rolling mechanism |
| CN107697176A (en) * | 2017-09-08 | 2018-02-16 | 北京交通大学 | Ten two degrees of freedom hexahedron robots |
| CN111086570A (en) * | 2020-02-03 | 2020-05-01 | 北京交通大学 | Tetrahedral wheel type robot |
| CN112109928A (en) * | 2020-08-24 | 2020-12-22 | 北京控制工程研究所 | Multi-size self-adaptive space flexible capture docking mechanism and capture method |
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| US5484031A (en) * | 1993-09-30 | 1996-01-16 | Agency Of Industrial Science And Technology | Leg structure for walking robot |
| CN102673669A (en) * | 2012-05-29 | 2012-09-19 | 北京交通大学 | Polyhedral rolling mechanism |
| CN103144691A (en) * | 2013-03-19 | 2013-06-12 | 北京交通大学 | Six-degree-of-freedom rolling mechanism |
| CN103192368A (en) * | 2013-04-09 | 2013-07-10 | 北京交通大学 | Parallel moving mechanism with changeable platform |
-
2013
- 2013-07-17 CN CN201310299634.7A patent/CN103407508B/en not_active Expired - Fee Related
Patent Citations (4)
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| US5484031A (en) * | 1993-09-30 | 1996-01-16 | Agency Of Industrial Science And Technology | Leg structure for walking robot |
| CN102673669A (en) * | 2012-05-29 | 2012-09-19 | 北京交通大学 | Polyhedral rolling mechanism |
| CN103144691A (en) * | 2013-03-19 | 2013-06-12 | 北京交通大学 | Six-degree-of-freedom rolling mechanism |
| CN103192368A (en) * | 2013-04-09 | 2013-07-10 | 北京交通大学 | Parallel moving mechanism with changeable platform |
Non-Patent Citations (1)
| Title |
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| 秦俊杰等: "一种基于URU链的四面体移动机构", 《第18届中国机构与机器科学国际会议》, 13 July 2012 (2012-07-13), pages 1 - 5 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT517802A1 (en) * | 2015-10-05 | 2017-04-15 | Universität Innsbruck | Modular, self-reconfigurable robot system |
| AT517802B1 (en) * | 2015-10-05 | 2017-12-15 | Universität Innsbruck | Modular, self-reconfigurable robot system |
| CN107697177A (en) * | 2017-09-08 | 2018-02-16 | 北京交通大学 | A kind of deformable hexahedron rolling mechanism |
| CN107697176A (en) * | 2017-09-08 | 2018-02-16 | 北京交通大学 | Ten two degrees of freedom hexahedron robots |
| CN107697176B (en) * | 2017-09-08 | 2020-03-24 | 北京交通大学 | Twelve-degree-of-freedom hexahedron robot |
| CN107697177B (en) * | 2017-09-08 | 2020-03-24 | 北京交通大学 | Deformable hexahedron rolling mechanism |
| CN111086570A (en) * | 2020-02-03 | 2020-05-01 | 北京交通大学 | Tetrahedral wheel type robot |
| CN111086570B (en) * | 2020-02-03 | 2022-02-01 | 北京交通大学 | Tetrahedral wheel type robot |
| CN112109928A (en) * | 2020-08-24 | 2020-12-22 | 北京控制工程研究所 | Multi-size self-adaptive space flexible capture docking mechanism and capture method |
| CN112109928B (en) * | 2020-08-24 | 2022-03-04 | 北京控制工程研究所 | Multi-size self-adaptive space flexible capture docking mechanism and capture method |
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| CN103407508B (en) | 2016-04-06 |
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