CN111409719A - Special-shaped wheeled robot based on Schatz mechanism - Google Patents
Special-shaped wheeled robot based on Schatz mechanism Download PDFInfo
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- CN111409719A CN111409719A CN202010230165.3A CN202010230165A CN111409719A CN 111409719 A CN111409719 A CN 111409719A CN 202010230165 A CN202010230165 A CN 202010230165A CN 111409719 A CN111409719 A CN 111409719A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
A special-shaped wheel type robot based on a Schatz mechanism comprises a first double-wheel module, a first vehicle body connecting pipe, a second double-wheel module and a second vehicle body connecting pipe. First automobile body connecting pipe and second automobile body connecting pipe parallel are placed, and its both ends respectively with first double round module and second double round module fixed connection, the robot can stably travel on the road surface.
Description
Technical Field
The invention relates to a special-shaped wheeled robot based on a Schatz mechanism, in particular to a wheeled mobile robot which takes a spatial six-rod mechanism as a basic power unit and enables the robot to integrally move through the cooperative motion of two double-wheel modules.
Background
The mobile robot takes the Schatz mechanisms as basic power units, two Schatz mechanisms are symmetrically arranged to serve as double-wheel modules, and the two double-wheel modules are spatially arranged to serve as a composite power system of the whole mobile robot. Wherein the Schatz mechanism is a typical single closed chain space six bar 6R mechanism. According to the characteristic of single degree of freedom of the Schatz mechanism, the whole power unit mechanism can be driven to move by only using one motor.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: generally, the single Schatz mechanism has limited motion modes and cannot realize more flexible motion.
The technical scheme of the invention is as follows:
a dysmorphism wheeled robot based on Schatz mechanism which characterized in that: the first double-wheel module, the first vehicle body connecting pipe, the second double-wheel module and the second vehicle body connecting pipe are arranged on the vehicle body;
the first vehicle body connecting pipe and the second vehicle body connecting pipe are arranged in parallel, and two ends of the first vehicle body connecting pipe and the second vehicle body connecting pipe are fixedly connected with the first double-wheel module and the second double-wheel module respectively.
The first dual wheel module includes: first single round module, upper junction plate, lower connecting plate, second single round module.
The upper connecting plate is of a rectangular flat plate structure, and through holes are formed in two ends of the upper connecting plate and are respectively used for connecting the first single-wheel module and the second single-wheel module.
The lower connecting plate and the upper connecting plate are completely the same in structure and size.
The first vehicle body connecting pipe is of a rectangular square pipe structure.
The second vehicle body connecting pipe and the first vehicle body connecting pipe are identical in structure and size.
The second double-wheel module and the first double-wheel module are identical in structure and size.
The first single-wheel module includes: the device comprises a machine frame rod, a first motor, a flange coupler, a driven rotating pair, a first main shaft, a first auxiliary rod, a second auxiliary rod, a special-shaped wheel and a second main shaft.
The rack rod is of a rectangular square tube structure, a round hole and a threaded hole are formed in the front side face, a hollow groove is formed in the rear side face, connecting holes are formed in the upper side face and the lower side face and used for mounting and fixing the first motor and the driven revolute pair respectively, and connecting holes are formed in the upper side face and the lower side face and used for being fixedly connected with the upper connecting plate and the lower connecting plate through screws.
The flange coupling is of a cylindrical structure, a group of connecting holes are formed in a large cylindrical disc at the lower end of the flange coupling and are used for being fixedly connected with the first main shaft through screws, and a round hole is formed in a hollow cylinder at the upper end of the flange coupling and is used for being connected with and fixed to the driven revolute pair.
The driven revolute pair is of a square block structure, a group of connecting holes are formed in the square base and used for being fixedly connected with the rack rod through screws, and the small cylindrical shaft is a rotary connecting shaft and is fixedly connected with the flange coupling.
The first main shaft is of a cylindrical structure, a connecting hole is formed in the circular face of the lower end of the first main shaft and fixedly connected with the flange coupler through a screw, and symmetrical connecting holes are formed in the side face of the cylinder at the upper end and connected with the first auxiliary rod in a revolute pair mode.
The cross section of the first auxiliary rod is of a rectangular structure, two groups of connecting holes with mutually vertical axes are respectively arranged on the side surfaces of two ends of the first auxiliary rod and are respectively connected with the first main shaft and the first auxiliary rod in a revolute pair mode.
The second auxiliary rod and the first auxiliary rod are identical in structure and size.
The special-shaped wheel is formed by fitting a closed curve through a special method, two bosses are arranged in front of and behind the geometric center of the special-shaped wheel, and through holes are formed in the bosses and are respectively connected with the second main shaft and the second auxiliary rod in a revolute pair mode.
The second main shaft is of a cylindrical structure, a connecting hole is formed in the circular face of the lower end of the second main shaft and used for being fixedly connected with the first motor, and symmetrical connecting holes are formed in the side face of the cylinder at the upper end and connected with the special-shaped wheel in a rotating pair mode.
The second single-wheel module and the first single-wheel module are identical in structure and size.
Drawings
FIG. 1 is a three-dimensional diagram of a special-shaped wheeled robot based on a Schatz mechanism
FIG. 2 three-dimensional view of a first dual wheel module
FIG. 3 is a three-dimensional view of an upper connecting plate
FIG. 4 is a three-dimensional view of a first body attachment tube
FIG. 5 first Single-wheel Module three-dimensional drawing
FIG. 6 three-dimensional view of a rack bar
FIG. 7 three-dimensional view of a flange coupling
FIG. 8 three-dimensional view of a driven revolute pair
FIG. 9 first principal axis three-dimensional drawing
FIG. 10 three-dimensional view of the first auxiliary bar
FIG. 11 three-dimensional view of a contour wheel
FIG. 12 second principal axis three-dimensional view
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A special-shaped wheel robot based on Schatz mechanism, as shown in fig. 1, the special-shaped wheel robot based on Schatz mechanism is characterized in that: the first double-wheel module, the first vehicle body connecting pipe, the second double-wheel module and the second vehicle body connecting pipe.
The first vehicle body connecting pipe and the second vehicle body connecting pipe are arranged in parallel, and two ends of the first vehicle body connecting pipe and the second vehicle body connecting pipe are fixedly connected with the first double-wheel module and the second double-wheel module respectively.
As shown in fig. 2, the first dual wheel module includes: first single round module, upper junction plate, lower connecting plate, second single round module.
As shown in fig. 3, the upper connecting plate is a rectangular flat plate structure, and through holes are formed at two ends of the upper connecting plate and are respectively used for connecting the first single-wheel module and the second single-wheel module.
The lower connecting plate and the upper connecting plate are completely the same in structure and size.
As shown in fig. 4, the first vehicle body connection pipe has a rectangular square pipe structure.
The second vehicle body connecting pipe and the first vehicle body connecting pipe are identical in structure and size.
The second double-wheel module and the first double-wheel module are identical in structure and size.
As shown in fig. 5, the first single-wheel module includes: the device comprises a machine frame rod, a first motor, a flange coupler, a driven rotating pair, a first main shaft, a first auxiliary rod, a second auxiliary rod, a special-shaped wheel and a second main shaft.
As shown in fig. 6, the rack rod is a rectangular square tube structure, the front side surface is provided with a round hole and a threaded hole, the rear side surface is provided with a hollow groove, and the upper side surface and the lower side surface are provided with connecting holes respectively used for installing and fixing a first motor and a driven revolute pair; the upper and lower side surfaces are provided with connecting holes for fixedly connecting with the upper and lower connecting plates through screws.
As shown in fig. 7, the flange coupler is of a cylindrical structure, a group of connecting holes are formed in a large cylindrical disc at the lower end of the flange coupler and used for being fixedly connected with the first main shaft through screws, and a circular hole is formed in a hollow cylinder at the upper end of the flange coupler and used for being connected with and fixed to the driven revolute pair.
As shown in fig. 8, the driven revolute pair is a square block structure, a group of connecting holes are formed in the square base and used for being fixedly connected with the rack rod through screws, and the small cylindrical shaft is a rotary connecting shaft and fixedly connected with the flange coupler.
As shown in fig. 9, the first main shaft is of a cylindrical structure, the circular surface of the lower end of the first main shaft is provided with connecting holes, the first main shaft is fixedly connected with the flange coupler through screws, and the side surface of the upper end cylinder is provided with symmetrical connecting holes and is connected with the first auxiliary rod in a revolute pair manner.
As shown in fig. 10, the cross section of the first auxiliary rod is a rectangular structure, and two sets of connecting holes with mutually perpendicular axes are respectively arranged on the side surfaces of the two ends and are respectively connected with the first main shaft and the first auxiliary rod in a revolute pair manner.
The second auxiliary rod and the first auxiliary rod are identical in structure and size.
As shown in fig. 11, the special-shaped wheel is formed by fitting a closed curve by a special method, two bosses are arranged at the front and the rear of the geometric center of the special-shaped wheel, and through holes are arranged on the bosses and are respectively connected with the second main shaft and the second auxiliary rod in a revolute pair mode.
As shown in fig. 12, the second spindle is a cylindrical structure, the lower circular surface of the second spindle is provided with connecting holes for fixedly connecting with the first motor, and the side surface of the upper cylinder is provided with symmetrical connecting holes for connecting with the special-shaped wheel in a revolute pair manner.
The second single-wheel module and the first single-wheel module are identical in structure and size.
Claims (3)
1. A dysmorphism wheeled robot based on Schatz mechanism which characterized in that: a first two-wheel module (A), a first body connection tube (B), a second two-wheel module (C), a second body connection tube (D);
the first vehicle body connecting pipe (B) and the second vehicle body connecting pipe (D) are placed in parallel, and two ends of the first vehicle body connecting pipe (B) and the second vehicle body connecting pipe (D) are fixedly connected with the first double-wheel module (A) and the second double-wheel module (C) respectively.
2. The Schatz mechanism-based contoured wheel robot of claim 1, wherein:
the first two-wheel module (A) comprises: a first single-wheel module (A1), an upper connecting plate (A2), a lower connecting plate (A3) and a second single-wheel module (A4);
the upper connecting plate (A2) is of a rectangular flat plate structure, through holes are formed in two ends of the upper connecting plate, and the through holes are respectively used for connecting the first single-wheel module (A1) and the second single-wheel module (A4);
the lower connecting plate (A3) and the upper connecting plate (A4) have the same structure and size;
the first vehicle body connecting pipe (B) is of a rectangular square pipe structure;
the second vehicle body connecting pipe (D) and the first vehicle body connecting pipe (B) have the same structure and size;
the second double-wheel module (C) and the first double-wheel module (A) are completely the same in structure and size.
3. The Schatz mechanism-based contoured wheel robot of claim 2, wherein:
the first single-wheel module (A1) comprising: the device comprises a rack rod (A1-1), a first motor (A1-2), a flange coupling (A1-3), a driven revolute pair (A1-4), a first main shaft (A1-5), a first auxiliary rod (A1-6), a second auxiliary rod (A1-7), a special-shaped wheel (A1-8) and a second main shaft (A1-9);
the rack rod (A1-1) is of a rectangular square tube structure, the front side surface is provided with round holes (A1-1-a and c) and threaded holes (A6-1-b), the rear side surface is provided with a hollow groove, and the upper side surface and the lower side surface are provided with connecting holes (A1-1-e) which are respectively used for installing and fixing a first motor (A1-2) and a driven revolute pair (A1-4); the upper and lower side surfaces are provided with connecting holes (A1-1-d) which are used for being fixedly connected with the upper and lower connecting plates (A2, 3) through screws;
the flange coupling (A1-3) is of a cylindrical structure, a group of connecting holes (A1-3-a) are formed in a large cylindrical disc at the lower end and used for being fixedly connected with a first main shaft (A1-5) through screws, and a circular hole (A1-3-b) is formed in a hollow cylinder at the upper end and used for being connected with and fixed to a driven revolute pair (A1-4);
the driven revolute pair (A1-4) is of a square block structure, a group of connecting holes (A1-4-a) are formed in the square base and are used for being fixedly connected with a rack rod (A1-1) through screws, and the small cylindrical shaft is a rotary connecting shaft and is fixedly connected with a flange coupler (A1-3);
the first main shaft (A1-5) is of a cylindrical structure, a connecting hole (A1-5-a) is formed in the circular face of the lower end of the first main shaft and fixedly connected with a flange coupler (A1-3) through a screw, and symmetrical connecting holes (A1-5-b) are formed in the side face of the cylinder of the upper end of the first main shaft and connected with a first auxiliary rod (A1-6) in a revolute pair mode;
the cross section of the first auxiliary rod (A1-6) is of a rectangular structure, two groups of connecting holes (A1-5-a, b) with mutually vertical axes are respectively arranged on the side surfaces of two ends of the first auxiliary rod and are respectively connected with the first main shaft (A1-5) and the first auxiliary rod (A1-7) in a revolute pair mode;
the second auxiliary rod (A1-7) is identical to the first auxiliary rod (A1-6) in structure and size;
the special-shaped wheel (A1-8) is formed by fitting a closed curve through a special method, two bosses are arranged at the front and the back of the geometric center of the special-shaped wheel, through holes (A1-7-a and b) are arranged on the bosses, and the bosses are respectively connected with a second main shaft (A1-9) and a second auxiliary rod (A1-7) in a revolute pair mode;
the second main shaft (A1-9) is of a cylindrical structure, a connecting hole (A1-9-a) is formed in the circular face of the lower end of the second main shaft and used for being fixedly connected with the first motor (A1-2), and symmetrical connecting holes (A1-9-b) are formed in the side face of the cylinder of the upper end of the second main shaft and connected with the special-shaped wheel (A1-8) in a rotating pair mode;
the second single-wheel module (A4) is identical to the first single-wheel module (A1) in structure and size.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010230165.3A CN111409719B (en) | 2020-03-27 | 2020-03-27 | Special-shaped wheeled robot based on Schatz mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010230165.3A CN111409719B (en) | 2020-03-27 | 2020-03-27 | Special-shaped wheeled robot based on Schatz mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN111409719A true CN111409719A (en) | 2020-07-14 |
| CN111409719B CN111409719B (en) | 2022-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010230165.3A Active CN111409719B (en) | 2020-03-27 | 2020-03-27 | Special-shaped wheeled robot based on Schatz mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802507A (en) * | 2022-04-19 | 2022-07-29 | 北京交通大学 | Omnidirectional mobile robot based on Schatz mechanism |
Citations (7)
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| WO1993018850A1 (en) * | 1992-03-16 | 1993-09-30 | Bioengineering Ag | Electric drive for a mixing machine |
| US5466124A (en) * | 1993-03-05 | 1995-11-14 | Dettwiler; Hermann | Device for generating an inversion-kinematic movement |
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2020
- 2020-03-27 CN CN202010230165.3A patent/CN111409719B/en active Active
Patent Citations (7)
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| WO1993018850A1 (en) * | 1992-03-16 | 1993-09-30 | Bioengineering Ag | Electric drive for a mixing machine |
| US5466124A (en) * | 1993-03-05 | 1995-11-14 | Dettwiler; Hermann | Device for generating an inversion-kinematic movement |
| CN103407507A (en) * | 2013-07-05 | 2013-11-27 | 北京交通大学 | Single-power crawling six-rod mechanism |
| CN104477270A (en) * | 2014-08-08 | 2015-04-01 | 北京交通大学 | Single-power-moved six-rod robot |
| CN204801917U (en) * | 2015-06-29 | 2015-11-25 | 宫兆涛 | Height is barrier nature double round differential moving platform more |
| CN109623774A (en) * | 2019-01-07 | 2019-04-16 | 安徽工程大学 | A kind of Double-wheel self-balancing robot |
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Non-Patent Citations (1)
| Title |
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| 姚燕安 等: "双Schatz机构爬行机器人 ", 《北京交通大学学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802507A (en) * | 2022-04-19 | 2022-07-29 | 北京交通大学 | Omnidirectional mobile robot based on Schatz mechanism |
| CN114802507B (en) * | 2022-04-19 | 2023-04-25 | 北京交通大学 | Omnidirectional mobile robot based on Schatz mechanism |
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| Publication number | Publication date |
|---|---|
| CN111409719B (en) | 2022-06-21 |
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