CN103407508B - Ten two degrees of freedom tetrahedron robots - Google Patents
Ten two degrees of freedom tetrahedron robots Download PDFInfo
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- CN103407508B CN103407508B CN201310299634.7A CN201310299634A CN103407508B CN 103407508 B CN103407508 B CN 103407508B CN 201310299634 A CN201310299634 A CN 201310299634A CN 103407508 B CN103407508 B CN 103407508B
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- 230000000712 assembly Effects 0.000 claims abstract description 11
- 238000000429 assembly Methods 0.000 claims abstract description 11
- 238000005096 rolling process Methods 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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Abstract
The present invention discloses a kind of ten two degrees of freedom tetrahedron robots, mechanism comprises four summit assemblies (I, II, III, IV) and six side chains (A1, A2, A3, A4, A5, A6), three flanges respectively with the first on the assembly I of summit, 3rd, the 4th side chain (A1, A3, A4) is fixed by pin; Three flanges the respectively with the first, second, the 5th side chain (A1, A2, A5) on the assembly II of summit is fixed by pin; Three flanges the respectively with the second, three, the 6th side chain (A2, A3, A6) on the assembly III of summit is fixed by pin; Three flanges the the respectively with four, the 5th, the 6th side chain (A4, A5, A6) on the assembly IV of summit is fixed by pin; The structure of four described summit assemblies (I, II, III, IV) and measure-alike, the structure of six described side chains (A1, A2, A3, A4, A5, A6) and measure-alike; By above-mentioned connection, this mechanism can the change of implementation space many attitude and ground quick travel and turn to.<!--1-->
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 investigating in military field, monitoring 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 made up of two cross roves and four side chains, and each cross rod is connected with one end of four side chains respectively, and driven by two motors, 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 being returned to square form, stopping the motor of current kinetic, by another electrical power, thus realizing the conversion in direction.But this deformation is less, and drive motor is not easily installed.
Chinese patent application CN101890714A discloses a kind of connecting rod moving robot with one degree of freedom.This robot can utilize mechanism center-of-gravity position change and motion process in unstable state, realize 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, strengthens deformability, can realize more neatly rolling and turning function, improve the travelling performance of mechanism.
Technical scheme of the present invention: tetrahedron is geometrically being made up of four summits and six limits, 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 installed by each summit assembly, drives butt flange to rotate by steering wheel; Every bar side chain is made up of the intermediate subcomponent of two pipes and connection two pipes, and this side chain can have three rotational freedoms.This side chain two pipes can be inserted in the butt flange on corresponding fixed point assembly respectively, realize the connection of summit assembly and side chain by pin and fix, in this manner, four above-mentioned summit assemblies and six side chains can be connected into an overall space mechanism, this mechanism has 12 degree of freedom, can respectively by 12 servos control.Especially when the pipe of two on side chain is at same straight line, mechanism is positive tetrahedron just.
Beneficial effect of the present invention: because mechanism freedom is 12, its deformability is strong, and flexibility ratio is high, and control mechanism can be facilitated 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.Special ground Detecting Robot can be manufactured and designed further.
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 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:
Three butt flanges respectively with the first on the assembly I of summit, the 3rd, one end of the 4th side chain (A1, A3, A4) fixed by pin.
Three butt flanges on the assembly II of summit respectively with first, second, one end of the 5th side chain (A1, A2, A5) fixed by pin.
Three butt flanges on the assembly III of summit respectively with second, third, one end of the 6th side chain (A2, A3, A6) fixed by pin.
One end of three butt flanges the respectively with four, the 5th, the 6th side chain (A4, A5, A6) on the assembly IV of summit is fixed by pin.
The structure of four described summit assemblies (I, II, III, IV) and measure-alike; The structure of six described 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 parts (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 trident shape, the end of trident be " ［ " shape, " and ［ " shape side have tapped bore (2a) for be connected mounting hole corresponding on motor and fix; The structure of motor connecting strap (4) is identical with motor connecting strap (2) with size.
As shown in Figure 2, three of described motor connecting strap (2) " together with one end of respectively with three, ［ " shape end motor (1,3,5) is connected by screw; 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), is fixed by screw and summit supporting disk (6).
The open end of U-shaped part (7) is fixedly connected with by screw with the steering wheel (3b) of motor (3), the closed end of U-shaped part (7) is fixedly connected with flange (8) by screw, U-shaped part (10) and flange (9), motor (5), between annexation identical with above-mentioned annexation; The annexation of annexation also with above-mentioned between U-shaped part (12), motor (1), flange (11) is identical.
By above-mentioned connection, motor (1,3,5) can drive U-shaped part (7,10,12) to rotate respectively.As shown in Figure 3, described motor (3) is steering wheel, steering wheel has mounting hole (3a), 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) is formed, 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 match with self-lubricating bearing, 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 one end on connection pipe (18) is inserted 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 (14) of the first ball 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 secondary attaching parts (14) of the first described ball is U-shaped, hemisphere (13,19) is installed respectively outside two of U mouth end, in the middle of U mouth, install the secondary attaching parts (23) of the second ball, 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 second secondary attaching parts of ball (23), 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) can be made to rotate around have strong market potential (19), can rotate between the secondary attaching parts (14) of connection pipe (18), the first ball, connection pipe (25) and the secondary attaching parts (23) of the second ball can be rotated.
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 3rd side chain A3 is inserted in the counterbore of the flange (17) on summit assembly (I), and fixed by pin, connection pipe (25) on 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 the assembling of four summit assemblies (I, II, III, IV) as shown in Figure 1 and six side chains (A1, A2, A4, A5, A6).
The present invention has 12 degree of freedom, and respectively by 12 servos control on four summit assemblies, the angle of being rotated by steering wheel realizes distortion and the rolling of whole mechanism.
Claims (1)
1. ten two degrees of freedom tetrahedron robots, is characterized in that, this ten two degrees of freedom tetrahedron, are made up of four summit assemblies (I, II, III, IV) and the first to the 6th side chain (A1, A2, A3, A4, A5, A6);
Described summit assembly I, comprises the motor connecting strap (2,4) of two trident shapes, is fixedly connected with motor (1,3,5) respectively in three ends of trident; Motor is as steering wheel, each motor has two steering wheels, in order to be fixedly connected with three U-shaped parts (7,10,12); Each U-shaped part connects respectively a flange, in order to dock with the connection pipe on side chain; By above-mentioned connection, three motors (1,3,5) can drive three U-shaped parts (7,10,12) to rotate respectively, and then drive the opposed apexes assembly I rotation respectively of three flanges (8,9,11); The structure of four described summit assemblies (I, II, III, IV) and measure-alike;
Described the first side chain (A1) comprises two connection pipes (18,25), and two connection pipes (18,25) are flexibly connected by a ball pair; The structure of described first to the 6th side chain (A1, A2, A3, A4, A5, A6) and measure-alike;
Three flanges respectively with the first on the assembly I of summit, the 3rd, the 4th side chain (A1, A3, A4) fixed by pin;
Three flanges on the assembly II of summit respectively with first, second, the 5th side chain (A1, A2, A5) fixed by pin;
Three flanges on the assembly III of summit respectively with second, third, the 6th side chain (A2, A3, A6) fixed by pin;
Three flanges the respectively with four, the 5th, the 6th side chain (A4, A5, A6) on the assembly IV of summit is fixed by pin;
By the annexation of above-mentioned four summit assemblies (I, II, III, IV) and the first to the 6th side chain (A1, A2, A3, A4, A5, A6), form the robot that has space tetrahedral structure, chain movement is propped up by the electric machine control on the assembly of summit, can accurate control attitudes vibration.
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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| Publication Number | Publication Date |
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| CN103407508A CN103407508A (en) | 2013-11-27 |
| CN103407508B true CN103407508B (en) | 2016-04-06 |
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| CN201310299634.7A Expired - Fee Related CN103407508B (en) | 2013-07-17 | 2013-07-17 | Ten two degrees of freedom tetrahedron robots |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT517802B1 (en) * | 2015-10-05 | 2017-12-15 | Universität Innsbruck | Modular, self-reconfigurable robot system |
| CN107697177B (en) * | 2017-09-08 | 2020-03-24 | 北京交通大学 | Deformable hexahedron rolling mechanism |
| CN107697176B (en) * | 2017-09-08 | 2020-03-24 | 北京交通大学 | Twelve-degree-of-freedom hexahedron robot |
| CN111086570B (en) * | 2020-02-03 | 2022-02-01 | 北京交通大学 | Tetrahedral wheel type robot |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
|---|
| 一种基于URU链的四面体移动机构;秦俊杰等;《第18届中国机构与机器科学国际会议》;20120713;第1-5页 * |
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| CN103407508A (en) | 2013-11-27 |
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Granted publication date: 20160406 |