CN111452032B - Single-power steerable mobile two-rod robot - Google Patents
Single-power steerable mobile two-rod robot Download PDFInfo
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- CN111452032B CN111452032B CN202010284725.3A CN202010284725A CN111452032B CN 111452032 B CN111452032 B CN 111452032B CN 202010284725 A CN202010284725 A CN 202010284725A CN 111452032 B CN111452032 B CN 111452032B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
A single power can turn to and move two pole robots, the mechanism only comprises two member bars, greatly simplifies the structural complexity of the mobile device, and the composition comprises: a first link and a second link; the first connecting rod comprises a first long supporting rod (1), a second long supporting rod (5), a first short supporting rod (2), a second short supporting rod (3), a third short supporting rod (6), a fourth short supporting rod (7), a first hemisphere (4) and a second hemisphere (8); the second connecting rod comprises a middle long supporting rod (9) and a motor (10). In addition, the robot can drive the mechanism to advance and turn by utilizing the positive and negative rotation of the driving motor, and the difficulty and the cost of control can also be effectively reduced.
Description
Technical Field
The invention relates to a single-power steerable mobile two-rod robot, in particular to a single-power steerable mobile two-rod robot which is based on a two-rod mechanism and further drives a mechanism to advance and steer by utilizing the positive and negative rotation of a driving motor.
Background
Considering a ground moving device from the angle of freedom of mechanics, at least two degrees of freedom are needed to realize moving and steering, that is, at least two power machines are needed to drive and control. If the ground moving device which can realize the moving function and the steering control by using one power machine can be realized, the structural complexity of the moving device is necessarily greatly simplified, and the control difficulty can be effectively reduced.
Chinese patent CN104477270B discloses a single-power six-rod moving robot, which is based on a spatial six-rod mechanism and realizes the integral translation and steering of the mechanism through the turning and swinging actions of a power machine driving part.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: generally, a single degree of freedom mechanism can only realize movement, but cannot realize steering.
A single power steerable mobile two-bar robot comprising: a first link and a second link; the first connecting rod comprises a first long supporting rod, a second long supporting rod, a first short supporting rod, a second short supporting rod, a third short supporting rod, a fourth short supporting rod, a first hemisphere and a second hemisphere; the second connecting rod comprises a middle long supporting rod and a motor.
The component structure of the mechanism is as follows:
the first long supporting rod is a rod piece with a circular section, and one end of the first long supporting rod is provided with a dome while the other end is provided with an external thread; the second long supporting rod and the first long supporting rod have the same structural appearance size.
The first short support rod is a rod piece with a circular section, one end of the first short support rod is provided with a round top, the other end of the first short support rod is provided with an external thread, and the length of the second short support rod is shorter than that of the first long support rod; the second short supporting rod, the third short supporting rod and the fourth short supporting rod are the same as the first short supporting rod in structure and overall dimension.
The first hemisphere is obtained by cutting a certain thickness along the normal direction of the plane of the first hemisphere according to a hemisphere shape; a D-shaped groove for mounting and fixing a motor shaft is arranged on the plane of the first hemisphere, and three orthogonal threaded holes are formed in the spherical surface; the second hemisphere has the same structure and external dimension as the first hemisphere.
The cross section of the middle support long rod is cylindrical, the top end of the middle support long rod is provided with a circular top, a motor groove for installing a driving motor is arranged at a certain distance from the top end, the bottom end of the middle support long rod is a short cylinder which is vertically intersected, the plane formed by the axis of the middle support long rod is vertical to the axis of the middle support long rod cylinder, and four end parts of the two short cylinders which are vertically intersected are provided with four circular tops.
The connection mode of the parts forming the mechanism is as follows:
the robot comprises a robot, a first connecting rod, a second connecting rod, a motor stator, a motor shaft D-shaped groove, a motor supporting long rod, a motor stator and a motor stator, wherein the first connecting rod and the second connecting rod of the robot are in rotary connection through an output shaft of the motor; install first long bracing piece and first short bracing piece, the threaded hole of three quadrature on first type hemisphere with three pole external screw thread ends of second short bracing piece, install the threaded hole of three quadrature on second type hemisphere with three pole external screw thread ends of second long bracing piece and third short bracing piece, fourth short bracing piece to guarantee first long bracing piece and the collineation of the long bracing piece of second, first short bracing piece and the collineation of the short bracing piece of third, the collineation of the short bracing piece of second and fourth.
The single-power steerable mobile two-rod robot is characterized in that: in every straight-going state, a short cylinder at the bottom end of a long support rod, two short support rods and a middle support long rod is in contact with the ground, and the robot moves and turns in such a mode.
The single-power steerable mobile two-rod robot is characterized in that: the output shaft of the motor is a motor with double-side output shafts.
The invention has the beneficial effects that: the single-power steerable moving two-rod robot is a single-degree-of-freedom mechanism, the mechanism is only composed of two rod pieces, the structural complexity of the moving device is greatly simplified, in addition, the robot can drive the mechanism to advance and steer by utilizing the positive and negative rotation of the driving motor, and the control difficulty and the control cost can also be effectively reduced.
Drawings
FIG. 1 is a schematic diagram of an assembly principle of a single-power steerable mobile two-rod robot
FIG. 2 is a view showing the structure of the first long support bar
FIG. 3 is a view showing the structure of the first short supporting rod
FIG. 4 is a diagram of a first hemisphere of a structure
FIG. 5 shows the structure of the middle support pole
FIG. 6 is a schematic diagram of the moving operation of the two-bar robot in the forward moving state
FIG. 7 is a schematic diagram of the movement of a mobile two-bar robot to perform a turning gait I
FIG. 8 is a schematic diagram of the operation of the two-bar robot to perform a turning gait II
FIG. 9 is a schematic diagram of the operation of the mobile two-bar robot to perform a turning gait III
FIG. 10 is a schematic diagram of the operation of the mobile two-bar robot to perform a turning gait four
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, a single power steerable mobile two-bar robot includes: a first link and a second link; the first connecting rod comprises a first long supporting rod (1), a second long supporting rod (5), a first short supporting rod (2), a second short supporting rod (3), a third short supporting rod (6), a fourth short supporting rod (7), a first hemisphere (4) and a second hemisphere (8); the second connecting rod comprises a middle long supporting rod (9) and a motor (10).
The component structure of the mechanism is as follows:
as shown in fig. 2, the first long support rod (1) is a rod with a circular section, and is provided with a dome (1-1) at one end and an external thread (1-2) at the other end; the second long supporting rod (5) and the first long supporting rod (1) have the same structural external dimension.
As shown in fig. 3, the first short support rod (2) is a rod with a circular section, and is provided with a dome (2-1) at one end and an external thread (2-2) at the other end, and the length of the second short support rod (3) is shorter than that of the first long support rod (1); the second short supporting rod (3), the third short supporting rod (6) and the fourth short supporting rod (7) are the same as the first short supporting rod (2) in structure and overall dimension.
As shown in fig. 4, the first hemisphere (4) is cut to a certain thickness along the normal direction of the plane thereof according to a hemispherical shape; a D-shaped groove (4-2) for mounting and fixing a motor shaft is arranged on the plane of the first hemisphere (4), and three orthogonal threaded holes (4-1) are arranged on the spherical surface; the structure and the external dimension of the second hemisphere (8) are completely the same as those of the first hemisphere (4).
As shown in figure 5, the section of the middle support long rod (9) is cylindrical, a circular top (9-1) is arranged at the top end, a motor groove (9-3) for installing a driving motor is arranged at a certain distance from the top end, two short cylinders (9-2) which are vertically crossed are arranged at the bottom end, a plane formed by the axes of the two short cylinders is vertical to the axis of the middle support long rod, and four circular tops are arranged at the four end parts of the two short cylinders (9-2) which are vertically crossed.
The connection mode of the parts forming the mechanism is as follows:
as shown in fig. 1, a first connecting rod and a second connecting rod of the robot are rotationally connected through an output shaft of a motor (10), a stator shell part of the motor (10) is installed in a motor groove (9-3) reserved in a middle support long rod (9), and output shafts on two sides of the motor are respectively connected with a motor shaft D-shaped groove (4-2) on a first hemisphere (4) and a second hemisphere (8) in an interference mode; install first long bracing piece (1) and first short bracing piece (2), three screw thread one end of second short bracing piece (3) in screw hole (4-1) of three quadrature on first type hemisphere (4), install second long bracing piece (5) and third short bracing piece (6), three screw thread one end of fourth short bracing piece (7) in screw hole (4-1) of three quadrature on second type hemisphere (8), and guarantee first long bracing piece (1) and second long bracing piece (5) collineation, first short bracing piece (2) and third short bracing piece (6) collineation, second short bracing piece (3) and fourth short bracing piece (7) collineation.
The specific use method comprises the following steps:
the single-power steerable mobile two-rod robot can realize ground advancing and steering. Fig. 6a-l illustrate the movement of the robot in the next cycle of the forward motion. Fig. 6a is an initial state of the robot, the robot is driven by the driving motor, the supporting rods on the quasi-hemisphere touch alternately to form a triangular supporting area (fig. a, c, e, g, i and k), and the robot is driven by the driving motor to turn forward along one side of the triangular supporting area (fig. b, d, f, h, j and l) respectively to urge the robot to move forward continuously, and the tail supporting rod is always in contact with the ground in the whole forward moving process to perform sliding motion.
The single-power steerable mobile two-rod robot can realize steering action. The steering action is four: a first turning gait, a second turning gait, a third turning gait and a fourth turning gait.
Figure 7 is a schematic diagram of the robot's motion in a turning gait I. The robot is firstly driven by the motor in the forward direction to be in the state of figure 7a when the first long support rod (1), the third short support rod (6) and the fourth short support rod (7) are grounded, at the moment, the motor is driven in the reverse direction to lift the middle support long rod (9), along with the driving of the motor, the top end dome (9-1) of the middle support rod is grounded as shown in figure 7b, the robot is inclined along the connecting line of the grounding points of the third short support rod (6) and the fourth short support rod (7) as shown in figure 7c, the support triangular area is changed to be grounded by the second long support rod (5), the third short support rod (6) and the fourth short support rod (7) as shown in figure 7d, at the moment, the whole robot has only three support points, the motor keeps rotating direction to rotate continuously, the middle support rod (9) rotates along with the motor as shown in figure 7e, and then the bottom end cylinder (9-3) of the middle support rod (9) is grounded as shown in figure 7f, the robot turns along the connecting line of the landing points of the second long support rod (5) and the fourth short support rod (7) as shown in figure 7g, and finally the turning gait is completed as shown in figure 7 h.
Fig. 8 is a schematic diagram showing the operation of the robot in the turning gait two. The robot is firstly driven by the motor in the forward direction to be in the state of figure 8a when the first long support rod (1), the third short support rod (6) and the fourth short support rod (7) are grounded, at the moment, the motor is driven in the reverse direction to lift the middle support long rod (9), along with the driving of the motor, the top end dome (9-1) of the middle support rod is grounded as shown in figure 8b, the robot is inclined along the connecting line of the grounding points of the third short support rod (6) and the fourth short support rod (7) as shown in figure 8c, the support triangular area is changed to be grounded by the second long support rod (5), the third short support rod (6) and the fourth short support rod (7) as shown in figure 8d, at the moment, the whole robot has only three support points, at the moment, the motor changes the rotation direction, the middle support rod (9) rotates along with the motor as shown in figure 8e, and then the bottom end cylinder (9-3) of the middle support rod (9) is grounded as shown in figure 8f, the robot turns along the connecting line of the landing points of the second long support rod (5) and the third short support rod (6) as shown in figure 8g, and finally the turning gait is completed as shown in figure 8 h.
The main difference between the first steering mode and the second steering mode is the rotation direction of the motor after the mechanism is toppled.
The third steering mode is consistent with the first steering mode in principle, when the robot is firstly driven by the motor in the forward direction and is positioned on the second long support rod (5), the first short support rod (2) and the second short support rod (3) to land, as shown in the state of fig. 9a, the motor is driven in the reverse direction at the moment, and the third steering mode is as shown in fig. 9 a-h.
The principle of the turning mode IV is consistent with that of the turning mode II, when the robot is firstly driven by the motor in the forward direction and is positioned on the second long supporting rod (5), the first short supporting rod (2) and the second short supporting rod (3) to land, as shown in the state of a figure 10a, the motor is driven in the reverse direction at the moment, and the turning mode III is as shown in figures 10 a-h.
Claims (3)
1. A single-power steerable mobile two-rod robot is characterized by comprising: a first link and a second link; the first connecting rod comprises a first long supporting rod (1), a second long supporting rod (5), a first short supporting rod (2), a second short supporting rod (3), a third short supporting rod (6), a fourth short supporting rod (7), a first hemisphere (4) and a second hemisphere (8); the second connecting rod comprises a middle supporting long rod (9) and a motor (10);
the part structure of the robot is formed as follows:
the first long supporting rod (1) is a rod piece with a circular section, one end of the rod piece is provided with a dome (1-1), and the other end of the rod piece is provided with an external thread (1-2); the structural overall dimensions of the second long supporting rod (5) and the first long supporting rod (1) are completely the same;
the first short support rod (2) is a rod piece with a circular section, one end of the first short support rod is provided with a round top (2-1), the other end of the first short support rod is provided with an external thread (2-2), and the length of the second short support rod (3) is shorter than that of the first long support rod (1); the second short supporting rod (3), the third short supporting rod (6) and the fourth short supporting rod (7) have the same structure and the same external dimension as the first short supporting rod (2);
the first hemisphere (4) is obtained by cutting a certain thickness along the normal direction of the plane of the hemisphere according to the shape of the hemisphere; a D-shaped groove (4-2) for mounting and fixing a motor shaft is arranged on the plane of the first hemisphere (4), and three orthogonal threaded holes (4-1) are arranged on the spherical surface; the structure and the external dimension of the second hemisphere (8) are completely the same as those of the first hemisphere (4);
the section of the middle long support rod (9) is cylindrical, a dome (9-1) is arranged at the top end, a motor groove (9-3) for mounting a driving motor is arranged at a position away from the top end by a certain distance, two short cylinders (9-2) which are vertically intersected are arranged at the bottom end, a plane formed by the axes of the two short cylinders is vertical to the axis of the cylinder of the middle long support rod, and four domes are arranged at the four end parts of the two short cylinders (9-2) which are vertically intersected;
the connection mode of the parts forming the robot is as follows:
the first connecting rod and the second connecting rod of the robot are in rotary connection through an output shaft of a motor (10), the stator shell part of the motor (10) is installed in a motor groove (9-3) reserved in a middle supporting long rod (9), and output shafts on two sides of the motor are respectively connected with a motor shaft D-shaped groove (4-2) on a first hemisphere (4) and a second hemisphere (8) in an interference mode; install first long bracing piece (1) and first short bracing piece (2), three screw thread one end of second short bracing piece (3) in screw hole (4-1) of three quadrature on first type hemisphere (4), install second long bracing piece (5) and third short bracing piece (6), three screw thread one end of fourth short bracing piece (7) in screw hole (4-1) of three quadrature on second type hemisphere (8), and guarantee first long bracing piece (1) and second long bracing piece (5) collineation, first short bracing piece (2) and third short bracing piece (6) collineation, second short bracing piece (3) and fourth short bracing piece (7) collineation.
2. The single power steerable mobile two-bar robot of claim 1, wherein: in each straight-going state, a long support rod, two short support rods and a short cylinder (9-2) at the bottom end of a middle long support rod (9) are contacted with the ground, and the robot moves and turns by the mode.
3. The single power steerable mobile two-bar robot of claim 1, wherein: the output shaft of the motor (10) is a double-side output shaft motor.
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| CN202010284725.3A CN111452032B (en) | 2020-04-13 | 2020-04-13 | Single-power steerable mobile two-rod robot |
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| CN202010284725.3A CN111452032B (en) | 2020-04-13 | 2020-04-13 | Single-power steerable mobile two-rod robot |
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| CN111452032B true CN111452032B (en) | 2021-09-17 |
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| CN111918152B (en) * | 2020-08-07 | 2022-04-01 | 江西绿鸿通信有限责任公司 | Communication data acquisition method based on smart phone |
| CN112896360B (en) * | 2021-02-24 | 2022-03-04 | 北京交通大学 | Single-power moving six-rod robot |
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| CN205386820U (en) * | 2015-12-28 | 2016-07-20 | 天津鼎视汇达科技有限公司 | Intelligent ball |
| CN108001553A (en) * | 2017-11-20 | 2018-05-08 | 北京交通大学 | Single-power double step gait is creeped six-bar mechanism |
| WO2018161089A1 (en) * | 2017-03-03 | 2018-09-07 | The Regents Of The University Of California | Elastic lattices for design of tensegrity structures and robots |
| CN109531558A (en) * | 2018-11-29 | 2019-03-29 | 北京交通大学 | Single-power moves five bar robots |
| CN110465957A (en) * | 2019-09-09 | 2019-11-19 | 安徽建筑大学 | A kind of rolling mobile robot |
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2020
- 2020-04-13 CN CN202010284725.3A patent/CN111452032B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102058982A (en) * | 2010-10-28 | 2011-05-18 | 北京交通大学 | Single-power rolling polygonal mechanism |
| CN104477270A (en) * | 2014-08-08 | 2015-04-01 | 北京交通大学 | Single-power-moved six-rod robot |
| CN205386820U (en) * | 2015-12-28 | 2016-07-20 | 天津鼎视汇达科技有限公司 | Intelligent ball |
| WO2018161089A1 (en) * | 2017-03-03 | 2018-09-07 | The Regents Of The University Of California | Elastic lattices for design of tensegrity structures and robots |
| CN108001553A (en) * | 2017-11-20 | 2018-05-08 | 北京交通大学 | Single-power double step gait is creeped six-bar mechanism |
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| CN110465957A (en) * | 2019-09-09 | 2019-11-19 | 安徽建筑大学 | A kind of rolling mobile robot |
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