CN111976856B - Single-power crawling robot based on Sarrus mechanism - Google Patents
Single-power crawling robot based on Sarrus mechanism Download PDFInfo
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- CN111976856B CN111976856B CN202010707362.XA CN202010707362A CN111976856B CN 111976856 B CN111976856 B CN 111976856B CN 202010707362 A CN202010707362 A CN 202010707362A CN 111976856 B CN111976856 B CN 111976856B
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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
The utility model provides a single power robot of crawling based on Sarrus mechanism, this robot uses six pole mechanisms in space as the basis, single power robot of crawling based on Sarrus mechanism is single closed chain mechanism in space, by type U-shaped pole (1), driving motor (2), first short connecting rod (3), first long connecting rod (4), arc pole (5), the long connecting rod of second (6), the short connecting rod of second (7) is constituteed, realize the robot is straight going and turn to through the positive and negative rotation of control motor, will obtain fine application in fields such as education, amusement, military affairs.
Description
Technical Field
The invention relates to a single-power crawling robot based on a Sarrus mechanism, in particular to a single-power moving six-rod robot which is based on a spatial six-rod Sarrus mechanism and drives the robot to move straight and turn through 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.
The single-power crawling robot based on the Sarrus mechanism comprises a U-shaped rod, a driving motor, a first short connecting rod, a first long connecting rod, an arc-shaped rod, a second long connecting rod and a second short connecting rod;
the part structure of the mechanism is as follows:
the section of the U-shaped rod (1) is circular, a motor mounting hole (1-1) for mounting a driving motor (2) is formed in one end of the U-shaped rod, a first inflection point (1-2) and a second inflection point (1-3) are arranged at positions away from two ends by a certain distance, and corners of the two inflection points are identical;
the driving motor (2) is a motor with a D-shaped shaft, and is arranged in a motor mounting hole (1-1) of the U-shaped rod (1), and the D-shaped motor shaft is connected with a D-shaped hole of the first short connecting rod (3);
one end of the first short connecting rod (3) is provided with a D-shaped hole (3-1) which is connected with the shaft of the driving motor (2), and the other end of the first short connecting rod is provided with a round hole which is parallel to the axis of the D-shaped hole and is in rotating connection with the first long connecting rod (4) through the shaft;
the two ends of the first long connecting rod (4) are provided with a first round hole (4-1) and a second round hole (4-2) which are parallel to each other in axis and have the same diameter, wherein the first round hole (4-1) is rotatably connected with the round hole (3-2) of the first short connecting rod (3) through a shaft, and the second round hole (4-2) is rotatably connected with one end of the arc-shaped rod (5) through a shaft;
the section of the arc-shaped rod (5) is circular, and the included angle formed by the axes at the two ends of the arc-shaped rod is the same as the included angle of the two shafts of the U-shaped rod (1);
the second long connecting rod (6) and the first long connecting rod (4) have the same structure and the same external dimension;
and two ends of the second short connecting rod (7) are round holes, the axes of the two holes are parallel, and the distance between the two holes is the same as that between the two holes of the first short connecting rod (3).
The connection mode of the parts forming the mechanism is as follows:
a D-shaped output shaft of the driving motor (2) is in interference connection with a D-shaped hole of the first short connecting rod (3), and a shell of the driving motor is in interference connection with a motor mounting hole (1-1) of the U-shaped rod (1); the first short connecting rod (3) is connected with the first long connecting rod (4) through a shaft, the connecting shaft can not extend out of the surfaces of the first short connecting rod (3) and the first long connecting rod (4), and the first short connecting rod (3) is arranged between the U-shaped rod (1) and the first long connecting rod (4); the first long connecting rod (4) is connected with the arc-shaped rod (5) through a shaft, and the protruding direction of the arc-shaped rod (5) is the same as the protruding direction of the U-shaped rod (1); the arc-shaped rod (5) is connected with the second long connecting rod (6) through a shaft; two ends of the first short connecting rod (7) are respectively connected with the second long connecting rod (6) and the U-shaped rod (1) by using shafts, and the second short connecting rod (7) is positioned between the second long connecting rod (6) and the U-shaped rod (1).
The first short connecting rod (3) and the second short connecting rod (7) have the same length and are smaller than the first long connecting rod (4) and the second long connecting rod (6); the first short connecting rod (3) and the second short connecting rod (7) rotate around the U-shaped rod (1) in the whole circle to realize the movement of the mechanism, and the tail arc-shaped rod (5) mainly plays a supporting role.
The driving motor (2) is a D-shaped output shaft motor.
The lengths of the first short connecting rod (3) and the second short connecting rod (7) meet the requirement that the interference phenomenon cannot occur when the short connecting rods move to a plane formed by two axes of the U-shaped rod (1). Under the rod length arrangement, the mechanism has two singular positions, and the steering mode and the straight mode are switched at the singular positions.
The invention has the beneficial effects that: the single-power crawling robot based on the Sarrus mechanism is a single-degree-of-freedom mechanism, and moves straight and turns by utilizing a forward and reverse rotation driving mechanism of a driving motor. The mechanism has simple structure and is easy to manufacture and process. In the civilian field, provide the opportunity to the understanding of moving mechanism for middle and primary school's students, can be used to make toy, teaching aid, in the military field, also can further design, reform transform into for military use detection robot.
Drawings
Figure 1 single power crawling robot based on Sarrus mechanism
FIG. 2 is a view showing a structure of a similar U-shaped bar
FIG. 3 is a view showing the structure of the first short link
FIG. 4 is a view showing the structure of the first long link
FIG. 5 structure diagram of arc rod
FIG. 6 is a view showing the second short link
FIG. 7 inner singular position
Figure 8 outer singular position
Figure 9 mechanism straight forward gait
Figure 10 mechanism right turn gait
Straight forward to straight backward gait of mechanism of fig. 11
Figure 12 mechanism left turn gait
Figure 13 mechanism straight backward to straight forward gait
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the Sarrus mechanism-based single-power crawling robot is a single closed chain mechanism, and comprises: the device comprises a U-like rod (1), a driving motor (2), a first short connecting rod (3), a first long connecting rod (4), an arc-shaped rod (5), a second long connecting rod (6) and a second short connecting rod (7);
as shown in fig. 2, the section of the U-like rod (1) is circular, a motor mounting hole (1-1) for mounting a driving motor (2) is formed in one end of the U-like rod, a first inflection point (1-2) and a second inflection point (1-3) are arranged at a certain distance from the two ends of the U-like rod, and corners of the two inflection points are the same;
as shown in fig. 3, one end of the first short connecting rod (3) is a D-shaped hole (3-1) which is connected with the shaft of the driving motor (2), and the other end is a round hole which is parallel to the axis of the D-shaped hole and is in rotary connection with the first long connecting rod (4) through the shaft;
as shown in fig. 4, two ends of the first long connecting rod (4) are a first round hole (4-1) and a second round hole (4-2) which are parallel to each other in axis and have the same diameter, wherein the first round hole (4-1) is connected with the round hole (3-2) of the first short connecting rod (3) through a shaft, and the second round hole (4-2) is rotatably connected with one end of the arc-shaped rod (5) through the shaft; and has the same size with the second long connecting rod (6);
as shown in fig. 5, the section of the arc-shaped rod (5) is circular, and the included angle formed by the axes at the two ends of the arc-shaped rod is the same as the included angle of the two shafts of the U-shaped rod (1);
as shown in fig. 6, both ends of the second short connecting rod (7) are round holes, the axes of the two holes are parallel, and the distance between the two holes is the same as that between the two holes of the first short connecting rod (3).
As shown in fig. 1, a D-shaped output shaft of a driving motor (2) is in interference connection with a D-shaped hole of a first short connecting rod (3), and a shell of the driving motor is in interference connection with a motor mounting hole (1-1) of a U-shaped rod (1); the first short connecting rod (3) is connected with the first long connecting rod (4) through a shaft, the connecting shaft can not extend out of the surfaces of the first short connecting rod (3) and the first long connecting rod (4), and the first short connecting rod (3) is arranged between the U-shaped rod (1) and the first long connecting rod (4); the first long connecting rod (4) is connected with the arc-shaped rod (5) through a shaft, and the protruding direction of the arc-shaped rod (5) is the same as the protruding direction of the U-shaped rod (1); the arc-shaped rod (5) is connected with the second long connecting rod (6) through a shaft; two ends of the first short connecting rod (7) are respectively connected with the second long connecting rod (6) and the U-shaped rod (1) by using shafts, and the second short connecting rod (7) is positioned between the second long connecting rod (6) and the U-shaped rod (1).
The specific use method comprises the following steps:
the single-power crawling robot based on the Sarrus mechanism can achieve the ground straight-going and steering functions. When the second short connecting rod (7) and the second long connecting rod (6) are collinear, the mechanism can generate a singular position, and when the whole mechanism moves, the second short connecting rod (7) and the second long connecting rod (6) can pass through the singular position by using the movement inertia and have the same rotation direction as before.
The inner singular position is shown in fig. 7 and the outer singular position is shown in fig. 8
As shown in fig. 9(a) - (f), for the mechanism straight forward gait, the driving motor (2) drives the first short connecting rod (3) to rotate anticlockwise around the motor shaft, the second short connecting rod (7) rotates in the same direction, when the mechanism moves to the outer side singular position, fig. 9(c), the original moving direction is kept unchanged by means of the movement inertia, and finally the mechanism returns to the inner side singular position of fig. 9(f) and passes by means of the movement inertia, so that one period of straight movement is completed. When backing, the driving motor is just required to be reversed at a non-singular position.
The mechanism can realize left rotation and right rotation in the moving process
As shown in fig. 10(a) - (d), for a mechanism right turn gait, when the mechanism is traveling straight forward to the medial singular position of fig. 10(a), due to the supporting action of the U-shaped rod (1) and the arc-shaped rod (5), the connecting shaft of the second short connecting rod (7) and the second long connecting rod (6) cannot touch the ground and is influenced by the self gravity of the two rods, the connecting shaft tends to move towards the ground, the driving motor rotates anticlockwise, the contact point at the front end is the inflection point of the second short connecting rod (7) and the opposite U-shaped rod (1), during manufacturing, the arc-shaped rod (5) is made of smooth materials, right turning is achieved, when the automobile runs to the outer singular position in the figure 10(c), the speed of the driving motor (2) is changed to be 0, and analysis can be conducted to obtain the trend that the connecting shaft of the second short connecting rod (7) and the second long connecting rod (6) still moves towards the ground, and the trend is opposite to the rotation trend of the inner singular position. The driving motor continues to rotate anticlockwise, the first short connecting rod (3) and the second short connecting rod (7) rotate anticlockwise simultaneously, and the mode is switched to a straight advancing mode.
As shown in fig. 11(a) - (d), in order to realize the mechanism forward-straight-going/backward-going gait, when the mechanism moves forward straight to the inner singular position of fig. 11(a), the driving motor (2) rotates clockwise, so that the forward-straight-going/backward-going mode can be realized.
As shown in fig. 12(a) - (d), for the mechanism turning left gait, when the mechanism moves forward to the outer side singular position of fig. 12(a), due to the supporting function of the U-like rod (1) and the arc rod (5), the connecting shaft of the second short connecting rod (7) and the second long connecting rod (6) does not touch the ground, and is acted by the gravity of the two rods, the connecting shaft tends to move towards the ground, at this time, the driving motor rotates clockwise, the front end touch point is the inflection point of the second short connecting rod (7) and the opposite side U-like rod (1), when the mechanism is manufactured, the arc rod (5) is made of smooth material, the left turning is realized, when the mechanism moves to the inner side singular position of fig. 12(c), the speed of the driving motor (2) is rapidly reversed, the second short connecting rod (7) still moves along the original rotating direction, and the mechanism is switched to the straight forward mode.
As shown in fig. 13(a) - (d), in order to realize the mechanism straight backward movement and forward movement, when the mechanism moves straight backward to the outer side singular position of fig. 13(a), the driving motor (2) rotates counterclockwise, so that the straight backward movement and forward movement mode can be realized.
Claims (4)
1. The utility model provides a single power robot of crawling based on Sarrus mechanism which characterized in that: a single-power crawling robot based on a Sarrus mechanism is a single-closed-chain mechanism and comprises a U-shaped rod (1), a driving motor (2), a first short connecting rod (3), a first long connecting rod (4), an arc-shaped rod (5), a second long connecting rod (6) and a second short connecting rod (7);
the section of the U-shaped rod (1) is circular, a motor mounting hole (1-1) for mounting a driving motor (2) is formed in one end of the U-shaped rod, a first inflection point (1-2) and a second inflection point (1-3) are arranged at positions away from two ends by a certain distance, and corners of the two inflection points are identical;
the driving motor (2) is a motor with a D-shaped shaft, and is arranged in a motor mounting hole (1-1) of the U-shaped rod (1), and the D-shaped motor shaft is connected with a D-shaped hole of the first short connecting rod (3);
one end of the first short connecting rod (3) is provided with a D-shaped hole (3-1) which is connected with the shaft of the driving motor (2), and the other end of the first short connecting rod is provided with a round hole which is parallel to the axis of the D-shaped hole and is in rotating connection with the first long connecting rod (4) through the shaft;
the two ends of the first long connecting rod (4) are provided with a first round hole (4-1) and a second round hole (4-2) which are parallel to each other in axis and have the same diameter, wherein the first round hole (4-1) is rotatably connected with the round hole (3-2) of the first short connecting rod (3) through a shaft, and the second round hole (4-2) is rotatably connected with one end of the arc-shaped rod (5) through a shaft;
the section of the arc-shaped rod (5) is circular, and the included angle formed by the axes at the two ends of the arc-shaped rod is the same as the included angle of the two shafts of the U-shaped rod (1);
the second long connecting rod (6) and the first long connecting rod (4) have the same structure and the same external dimension;
both ends of the second short connecting rod (7) are round holes, the axes of the two holes are parallel, and the distance between the two holes is the same as that between the two holes of the first short connecting rod (3);
a D-shaped output shaft of the driving motor (2) is in interference connection with a D-shaped hole of the first short connecting rod (3), and a shell of the driving motor is in interference connection with a motor mounting hole (1-1) of the U-shaped rod (1); the first short connecting rod (3) is connected with the first long connecting rod (4) through a shaft, the connecting shaft can not extend out of the surfaces of the first short connecting rod (3) and the first long connecting rod (4), and the first short connecting rod (3) is arranged between the U-shaped rod (1) and the first long connecting rod (4); the first long connecting rod (4) is connected with the arc-shaped rod (5) through a shaft, and the protruding direction of the arc-shaped rod (5) is the same as the protruding direction of the U-shaped rod (1); the arc-shaped rod (5) is connected with the second long connecting rod (6) through a shaft; two ends of the first short connecting rod (7) are respectively connected with the second long connecting rod (6) and the U-shaped rod (1) by using shafts, and the second short connecting rod (7) is positioned between the second long connecting rod (6) and the U-shaped rod (1).
2. The Sarrus mechanism-based single-power crawling robot as claimed in claim 1, wherein: the first short connecting rod (3) and the second short connecting rod (7) have the same length and are smaller than the first long connecting rod (4) and the second long connecting rod (6); the first short connecting rod (3) and the second short connecting rod (7) rotate around the U-shaped rod (1) in the whole circle to realize the movement of the mechanism, and the tail arc-shaped rod (5) mainly plays a supporting role.
3. The Sarrus mechanism-based single-power crawling robot as claimed in claim 1, wherein: the driving motor (2) is a D-shaped output shaft motor.
4. The Sarrus mechanism-based single-power crawling robot as claimed in claim 1, wherein: the length of the first short connecting rod (3) and the second short connecting rod (7) meets the requirement that the interference phenomenon cannot occur when the short connecting rods move to a plane formed by two axes of the U-shaped rod (1), and under the arrangement of the length of the rod piece, the mechanism has two singular positions, and the steering mode and the straight mode are switched at the singular positions.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010707362.XA CN111976856B (en) | 2020-07-20 | 2020-07-20 | Single-power crawling robot based on Sarrus mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010707362.XA CN111976856B (en) | 2020-07-20 | 2020-07-20 | Single-power crawling robot based on Sarrus mechanism |
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| CN111976856B true CN111976856B (en) | 2021-08-06 |
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| 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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| CN103407507A (en) * | 2013-07-05 | 2013-11-27 | 北京交通大学 | Single-power crawling six-rod mechanism |
| JP5578738B2 (en) * | 2012-06-20 | 2014-08-27 | 学校法人千葉工業大学 | car |
| CN104477270A (en) * | 2014-08-08 | 2015-04-01 | 北京交通大学 | Single-power-moved six-rod robot |
| CN108001553A (en) * | 2017-11-20 | 2018-05-08 | 北京交通大学 | Single-power double step gait is creeped six-bar mechanism |
| CN109094675A (en) * | 2018-07-18 | 2018-12-28 | 北京交通大学 | The mobile six-bar mechanism of double drive multi-mode and control method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| TW200900210A (en) * | 2006-11-09 | 2009-01-01 | Ihi Corp | Frog-leg arm robot and control method thereof |
| CN109774806B (en) * | 2018-12-27 | 2020-08-21 | 北京交通大学 | Steerable rolling four-bar mechanism |
| CN109592026A (en) * | 2019-01-13 | 2019-04-09 | 吉林大学 | Variable configuration quadrotor unmanned vehicle construction design method based on " class-Sa Lusi " connecting rod |
| CN110561386A (en) * | 2019-08-15 | 2019-12-13 | 中国地质大学（武汉） | Connecting rod mechanism capable of achieving accurate vertical linear motion |
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2020
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101462561A (en) * | 2009-01-13 | 2009-06-24 | 北京交通大学 | Rolling triangular robot |
| JP5578738B2 (en) * | 2012-06-20 | 2014-08-27 | 学校法人千葉工業大学 | car |
| 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 |
| CN108001553A (en) * | 2017-11-20 | 2018-05-08 | 北京交通大学 | Single-power double step gait is creeped six-bar mechanism |
| CN109094675A (en) * | 2018-07-18 | 2018-12-28 | 北京交通大学 | The mobile six-bar mechanism of double drive multi-mode and control method |
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