CN113443038B - Center-driven hexagonal robot - Google Patents
Center-driven hexagonal robot Download PDFInfo
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- CN113443038B CN113443038B CN202110790374.8A CN202110790374A CN113443038B CN 113443038 B CN113443038 B CN 113443038B CN 202110790374 A CN202110790374 A CN 202110790374A CN 113443038 B CN113443038 B CN 113443038B
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- connecting rod
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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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- 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
- B62D57/022—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 consisting of members having both rotational and walking movements
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Abstract
The utility model belongs to ground mobile robot field, concretely relates to center driven hexagonal robot, robot include platelike connecting rod A, first crank link assembly B, central subassembly C, right side direction subassembly D, second crank link assembly E, left direction subassembly F, its characterized in that: the structural sizes of components and parts contained in the first crank connecting rod assembly B and the second crank connecting rod assembly E are completely the same, the structural sizes of components and parts contained in the right guide assembly D and the left guide assembly F are completely the same, and the components and parts are symmetrically arranged relative to the central slider C-2; the robot realizes robot walking through the relative position between the single driving adjustment rod pieces positioned at the central position, can realize independent linear walking and climbing functions, reduces the impact of a mechanism and the ground by design, is simple in structure, easy to manufacture and realize engineering, and can be used for manufacturing a reconnaissance robot by virtue of left and right differential design.
Description
Technical Field
The application belongs to the field of ground mobile robots, and particularly relates to a center-driven hexagonal robot.
Background
Rolling gait is a special movement mode of the movement mechanism. But constructing a moving linkage with a symmetrical geometry is more difficult. Chinese patent CN2789106Y discloses a mechanism for realizing rolling motion by using a parallelogram mechanism, but the mechanism is asymmetric and has poor motion performance. Chinese patent CN201310050744.X provides a hexagonal rolling mechanism, which changes the shape of the mechanism through the rotation of a motor, thereby changing the gravity center position of the mechanism, leading the mechanism to roll under the action of inertia force and further achieving the purpose of rolling the mechanism. But due to the structural characteristics, the contact impact with the ground in the moving process is large, and the damage to the machine body is obvious.
Disclosure of Invention
In order to solve the problems, the invention provides a center-driven hexagonal robot, which is characterized in that the driving arrangement and the driving mode of the hexagonal robot are mechanically designed and practically optimized on the basis of a hexagonal structure, so that the hexagonal robot can realize the unidirectional movement of the mass center through self deformation, has the straight walking and climbing capabilities under the driving of a single degree of freedom, and is not afraid of overturning and collision, thereby improving the ground moving capability and adaptive capability and realizing the passive walking function.
In order to achieve the purpose of the invention, the technical scheme of the invention is as follows:
a center-driven hexagonal robot comprising: the device comprises a plate-shaped connecting rod A, a first crank connecting rod component B, a center component C, a right guide component D, a second crank connecting rod component E and a left guide component F;
the structural sizes of the components and the structural sizes of the components contained in the first crank connecting rod assembly B and the second crank connecting rod assembly E are completely the same; the structural sizes of the components and the components contained in the left guide assembly F and the right guide assembly D are completely the same, and the components are symmetrically arranged relative to the central slider C-2;
the plate link A includes: the connecting rod mechanism comprises a first plate-shaped connecting rod A-1, a second plate-shaped connecting rod A-2, a third plate-shaped connecting rod A-3, a fourth plate-shaped connecting rod A-4, a fifth plate-shaped connecting rod A-5 and a sixth plate-shaped connecting rod A-6, wherein the first plate-shaped connecting rod A-1, the fourth plate-shaped connecting rod A-4, the second plate-shaped connecting rod A-2, the fifth plate-shaped connecting rod A-5 and the third plate-shaped connecting rod A-3 are the same in structure and size;
the first crank link assembly B includes: the left end of the first outer crank B-2 is a circular connecting hole B-2-1, the right end of the first outer crank B-2 is a square connecting hole B-2-2, and the left end and the right end of the first inner crank B-4 are respectively a first square connecting hole B-4-1 and a second square connecting hole B-4-2;
the center component C includes: the center slide block C-2 is provided with a pair of counter bores which are a first counter bore C-2-1, a second counter bore C-2-2, a third counter bore C-2-3 and a fourth counter bore C-2-4 respectively;
the right guide assembly D includes: the right rear movable slide rail D-1, the right rear fixed slide rail D-2, the right connecting block D-3, the right auxiliary connecting rod D-4, the right front fixed slide rail D-5 and the right front movable slide rail D-6;
the second crank link assembly E includes: a second outer connecting rod E-1, a second outer crank E-2, a second inner connecting rod E-3 and a second inner crank E-4;
the connection relationship of each component is as follows:
the first plate-shaped connecting rod A-1, the second plate-shaped connecting rod A-2, the third plate-shaped connecting rod A-3, the fourth plate-shaped connecting rod A-4, the fifth plate-shaped connecting rod A-5 and the sixth plate-shaped connecting rod A-6 are connected in sequence from head to tail through revolute pairs;
one end of a right connecting block D-3 is connected with one end of a second plate-shaped connecting rod A-2 and the other end of a third plate-shaped connecting rod A-3 through a revolute pair, the other end of the right connecting block is connected with a right auxiliary connecting rod D-4 through a revolute pair, and the front end face and the rear end face of the right connecting block are fixedly connected with a right front fixed slide rail D-5 and a right rear fixed slide rail D-2 through screws respectively;
the rear side and front side inner end faces of the right end of the central sliding block C-2 are respectively and fixedly connected with a right rear movable sliding rail D-1 and a right front movable sliding rail D-6 of the right guide assembly D through a second counter bore C-2-2 and a third counter bore C-2-3, the rear side and front side inner end faces of the left end are respectively and fixedly connected with a left rear movable sliding rail F-1 and a left front movable sliding rail F-6 of the left guide assembly F through a first counter bore C-2-1 and a fourth counter bore C-2-4, and the central position is rotatably connected with the central position of the central connecting rod C-1;
one end of the central connecting rod C-1 is rotationally connected with the other end of the right auxiliary connecting rod D-4, and the other end of the central connecting rod C-1 is rotationally connected with the other end of the left auxiliary connecting rod F-4;
the other end of the first outer connecting rod B-1 is connected with the other end of the fifth plate-shaped connecting rod A-5 through a revolute pair, and the other end of the first outer connecting rod B-1 is connected with a first outer crank B-2 at the round hole end B-2-1 through a revolute pair;
the first outer crank B-2 is fixedly connected with one end of a first inner crank B-4 through a square hole B-2-2;
one end of the first inner connecting rod B-3 is connected with one end of the fourth plate-shaped connecting rod A-4 and the other end of the fifth plate-shaped connecting rod A-5 through a rotating pair, and the other end of the first inner connecting rod B-3 is connected with the first outer crank B-2 at the square hole end B-2-2 through a rotating pair;
one end of a first inner crank B-4 is fixedly connected with the motor C-3, and the other end of the first inner crank B-4 is connected with a first inner connecting rod B-3 through a revolute pair;
the connection modes of the second outer connecting rod E-1, the second outer crank E-2, the second inner connecting rod E-3 and the second inner crank E-4 with the first outer connecting rod B-1, the first outer crank B-2, the first inner connecting rod B-3 and the first inner crank B-4 are the same, and the difference between the first inner crank B-4 and the second inner crank E-4 is 120 degrees;
the rotary connection is in the form of a revolute pair, and the direction of the revolute pair is perpendicular to the plane of the rod piece.
The invention has the beneficial effects that:
according to the center-driven hexagonal robot, the passive walking of the robot is realized through the relative position between the single-degree-of-freedom driving adjusting rod pieces positioned at the center position, the independent linear walking and climbing functions can be realized, the impact of a mechanism and the ground is reduced through the design, the mechanism is simple in structure, the manufacture and the engineering are easy to realize, and the left-right differential design can be carried out for manufacturing a reconnaissance robot.
Drawings
FIG. 1 is a three-dimensional view of a hexagonal robot;
FIG. 2 is a three-dimensional view of a plate link;
FIG. 3 is a three-dimensional view of a first crank link assembly;
FIG. 4 is a fixed angle three-dimensional view of the first and second crank link assemblies;
FIG. 5 is a three-dimensional view of the first outer crank;
FIG. 6 is a three-dimensional view of the first inner crank;
FIG. 7 is a three-dimensional view of a center assembly;
FIG. 8 is a cross-sectional three-dimensional view of the center slide;
FIG. 9 is a three-dimensional view of a right guide assembly;
FIGS. 10a, 10b, 10c, 10d, 10e are exploded views of a rolling gait of a center-driven hexagonal robot;
FIG. 10a straight gait initiation pose;
figure 10b straight gait center of gravity shifting action;
figure 10c a straight walking gait tumbling action;
FIG. 10d recovery motion for orthodromic gait;
FIG. 10e is the end motion of the orthokinetic gait;
11a, 11b, 11c, 11d and 11e are exploded views of a climbing and rolling gait of a center-driven hexagonal robot;
fig. 11a climbing gait initiation pose;
FIG. 11b a climbing gait center of gravity shifting action;
FIG. 11c climbing gait rollover action;
FIG. 11d depicts a restoring action in a climbing gait;
FIG. 11e is the end of the climbing gait;
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
A center-driven hexagonal robot, as shown in fig. 1, comprising: plate-like connecting rod A, first crank link assembly B, center subassembly C, right side direction subassembly D, second crank link assembly E, left side direction subassembly F, its characterized in that: the first crank connecting rod component B and the second crank connecting rod component E are identical in structure and size, and the right guide component D and the left guide component F are identical in structural size and are symmetrically arranged relative to the central slider C-2;
as shown in fig. 2, the plate link a includes: a first plate link A-1, a second plate link A-2, a third plate link A-3, a fourth plate link A-4, a fifth plate link A-5, a sixth plate link A-6, wherein: the first plate-shaped connecting rod A-1, the fourth plate-shaped connecting rod A-4, the second plate-shaped connecting rod A-2, the fifth plate-shaped connecting rod A-5 and the third plate-shaped connecting rod A-3 are identical in structure and size, and the first plate-shaped connecting rod A-1, the second plate-shaped connecting rod A-2, the third plate-shaped connecting rod A-3, the fourth plate-shaped connecting rod A-4, the fifth plate-shaped connecting rod A-5 and the sixth plate-shaped connecting rod A-6 are sequentially connected in a head-position rotating mode;
as shown in fig. 3 and 4, the first crank link assembly B includes: the first outer connecting rod B-1, the first outer crank B-2, the first inner connecting rod B-3 and the first inner crank B-4 are fixedly arranged at the relative positions of the first outer crank B-2 and the first inner crank B-4; the second crank link assembly E includes: the crank comprises a first outer connecting rod B-1, a first outer crank B-2, a first inner connecting rod B-3, a first inner crank B-4, a second outer connecting rod E-1, a second outer crank E-2, a second inner connecting rod E-3 and a second inner crank E-4, and is characterized in that: the two components of the first inner crank B-4 and the second inner crank E-4 are arranged with a difference of 120 degrees;
as shown in FIG. 5, the circular end of the first outer crank B-2 crank is a circular connecting hole B-2-1, and the square end is a square connecting hole B-2-2;
as shown in FIG. 6, the left end and the right end of the first inner crank B-4 are respectively provided with a first square connecting hole B-4-1 and a second square connecting hole B-4-2;
as shown in fig. 7 and 8, includes: the center assembly is centrosymmetric about the motor C-3, and a pair of counter bores are respectively formed at the left end of the rear side, the right end of the front side and the left end of the front side of the center slider C-2 and are respectively a first counter bore C-2-1, a second counter bore C-2-2, a third counter bore C-2-3 and a fourth counter bore C-2-4;
as shown in fig. 9, includes: the right rear movable slide rail D-1, the right rear fixed slide rail D-2, the right connecting block D-3, the right auxiliary connecting rod D-4, the right front fixed slide rail D-5 and the right front movable slide rail D-6 are arranged on different horizontal planes.
The working process is as follows: a center-driven hexagonal robot can realize the whole rolling gait and the climbing rolling gait of the robot. As shown in fig. 10 and 11, the rolling gait is realized by continuously changing the configuration of the robot by driving the central connecting rod by the motor.
A center-driven hexagonal robot can realize a rolling gait of the robot. First, in the rolling gait initiation pose as shown in fig. 10a, the mechanism is hexagonal at this time; when the mechanism is ready to advance, the motor drives to change the angle between the plate-shaped connecting rods, the configuration of the robot is changed, and the mechanism is a parallelogram at the moment as shown in the attached drawing 10 b; the driving angle is continuously increased, the included angle between the plate-shaped connecting rods is further changed, and the middle transition configuration of the robot is obtained, as shown in the attached drawing 10c, the mechanism can be approximately regarded as a rectangle at the moment; continuing to change the drive angle, as shown in FIG. 10d, the mechanism is now another parallelogram; as the drive motor rotates, the robot obtains the same hexagonal shape as the initial pose, as shown in fig. 10 e. This achieves a rolling gait for one full cycle of the robot, with figures 10a, 10b, 10c, 10d, 10e being exploded views of a rolling gait for a center-driven hexagonal robot. The climbing and rolling gait of the robot is similar to that described above, and firstly, the robot is in the initial pose of the climbing and rolling gait as shown in fig. 11a, and the mechanism is hexagonal at this time; when the mechanism is ready to advance, the motor drives to change the angle between the plate-shaped connecting rods, the configuration of the robot is changed, and the mechanism is a parallelogram at the moment as shown in the attached figure 11 b; the driving angle is continuously increased, the included angle between the plate-shaped connecting rods is further changed, and the middle transition configuration of the robot is obtained, as shown in the attached figure 11c, at the moment, the mechanism can be approximately considered to be rectangular; continuing to change the drive angle, as shown in FIG. 11d, the mechanism is now another parallelogram; as the drive motor rotates, the robot obtains the same hexagonal shape as the initial pose, as shown in fig. 11 e. Thus, a full cycle of climbing and rolling gait of the robot is achieved, and fig. 11a, 11b, 11c, 11d and 11e are exploded views of a center-driven hexagonal robot climbing and rolling gait.
While particular embodiments of the present invention have been described above, it will be understood by those skilled in the art that these are by way of illustration only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (2)
1. A center-driven hexagonal robot comprising: plate-like connecting rod (A), first crank link assembly (B), central component (C), right side direction subassembly (D), second crank link assembly (E), left side direction subassembly (F), its characterized in that: the structural sizes of components and parts contained in the first crank connecting rod component (B) and the second crank connecting rod component (E) are completely the same, the structural sizes of components and parts contained in the left guide component (F) and the right guide component (D) are completely the same, and the components and parts are symmetrically arranged relative to the central sliding block (C-2);
the plate link (A) includes: a first plate-shaped connecting rod (A-1), a second plate-shaped connecting rod (A-2), a third plate-shaped connecting rod (A-3), a fourth plate-shaped connecting rod (A-4), a fifth plate-shaped connecting rod (A-5) and a sixth plate-shaped connecting rod (A-6); the first plate-shaped connecting rod (A-1) and the fourth plate-shaped connecting rod (A-4), the second plate-shaped connecting rod (A-2) and the fifth plate-shaped connecting rod (A-5), and the third plate-shaped connecting rod (A-3) and the sixth plate-shaped connecting rod (A-6) have the same structure and size;
the first crank link assembly (B) includes: the left end of the first outer crank (B-2) is a circular connecting hole (B-2-1), the right end of the first outer crank (B-2) is a square connecting hole (B-2-2), and the left end and the right end of the first inner crank (B-4) are respectively a first square connecting hole (B-4-1) and a second square connecting hole (B-4-2);
the central component (C) comprises: the device comprises a central connecting rod (C-1), a central sliding block (C-2) and a motor (C-3), wherein a pair of counter bores are respectively formed in the left end of the rear side, the right end of the front side and the left end of the front side of the central sliding block (C-2), and are respectively a first counter bore (C-2-1), a second counter bore (C-2-2), a third counter bore (C-2-3) and a fourth counter bore (C-2-4);
the right guide assembly (D) comprises: a right rear movable slide rail (D-1), a right rear fixed slide rail (D-2), a right connecting block (D-3), a right auxiliary connecting rod (D-4), a right front fixed slide rail (D-5) and a right front movable slide rail (D-6);
the left guide assembly (F) comprises: a left rear movable sliding rail (F-1), a left rear fixed sliding rail (F-2), a left connecting block (F-3), a left auxiliary connecting rod (F-4), a left front fixed sliding rail (F-5) and a left front movable sliding rail (F-6);
the second crank link assembly (E) comprises: a second outer connecting rod (E-1), a second outer crank (E-2), a second inner connecting rod (E-3) and a second inner crank (E-4);
the connection relation of the connecting rod and the component is as follows:
the first plate-shaped connecting rod (A-1), the second plate-shaped connecting rod (A-2), the third plate-shaped connecting rod (A-3), the fourth plate-shaped connecting rod (A-4), the fifth plate-shaped connecting rod (A-5) and the sixth plate-shaped connecting rod (A-6) are sequentially connected in a rotating manner from head to tail;
one end of a right connecting block (D-3) is rotatably connected with one end of a second plate-shaped connecting rod (A-2) and one end of a third plate-shaped connecting rod (A-3), the other end of the right connecting block is rotatably connected with one end of a right auxiliary connecting rod (D-4), and the front end face and the rear end face of the right connecting block are fixedly connected with a right front fixed sliding rail (D-5) and a right rear fixed sliding rail (D-2) respectively;
the rear side and the front side inner end face of the right end of the central sliding block (C-2) are fixedly connected with a right rear movable sliding rail (D-1) and a right front movable sliding rail (D-6) of the right guide assembly (D) through a second counter bore (C-2-2) and a third counter bore (C-2-3), the rear side and the front side inner end face of the left end are fixedly connected with a left rear movable sliding rail (F-1) and a left front movable sliding rail (F-6) of the left guide assembly (F) through a first counter bore (C-2-1) and a fourth counter bore (C-2-4), and the central position is rotatably connected with the central position of the central connecting rod (C-1);
one end of the central connecting rod (C-1) is rotationally connected with the other end of the right auxiliary connecting rod (D-4), and the other end of the central connecting rod (C-1) is rotationally connected with the other end of the left auxiliary connecting rod (F-4);
one end of a first outer connecting rod (B-1) is rotationally connected with one end of the first plate-shaped connecting rod (A-1) and the other end of the second plate-shaped connecting rod (A-2), and the other end of the first outer connecting rod (B-1) is rotationally connected with one end of a first outer crank (B-2) through a round hole (B-2-1);
the first outer crank (B-2) is fixedly connected with the other end of the first inner crank (B-4) through a square hole (B-2-2);
one end of a first inner connecting rod (B-3) is rotationally connected with one end of a fourth plate-shaped connecting rod (A-4) and one end of a fifth plate-shaped connecting rod (A-5), and the other end of the first inner connecting rod is rotationally connected with the right end of a first outer crank (B-2) and one end of a first inner crank (B-4);
one end of the first inner crank (B-4) is fixedly connected with the motor (C-3), and the other end of the first inner crank is connected with the first inner connecting rod (B-3) through a revolute pair;
the second outer connecting rod (E-1), the second outer crank (E-2), the second inner connecting rod (E-3) and the second inner crank (E-4) are connected with the first outer connecting rod (B-1), the first outer crank (B-2), the first inner connecting rod (B-3) and the first inner crank (B-4) in the same way.
2. The center-driven hexagonal robot of claim 1, wherein:
the first inner crank (B-4) and the second inner crank (E-4) are arranged with a 120 DEG difference;
the rotary connection is in the form of a revolute pair, and the directions of the revolute pair are all vertical to the plane of the rod piece.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110790374.8A CN113443038B (en) | 2021-07-13 | 2021-07-13 | Center-driven hexagonal robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110790374.8A CN113443038B (en) | 2021-07-13 | 2021-07-13 | Center-driven hexagonal robot |
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| CN113443038A CN113443038A (en) | 2021-09-28 |
| CN113443038B true CN113443038B (en) | 2022-07-12 |
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| CN102632936A (en) * | 2012-04-26 | 2012-08-15 | 北京交通大学 | Rollingly-marching robot with two wheel-like hexagonal mechanisms |
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| CN112896351A (en) * | 2021-04-14 | 2021-06-04 | 中国科学院合肥物质科学研究院 | Deformable wheel-track composite walking mechanism |
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2021
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|---|---|---|---|---|
| GB594049A (en) * | 1945-06-25 | 1947-10-31 | Cyril James Dew | Improvements in self-laying tracks for vehicle wheels |
| CN102632936A (en) * | 2012-04-26 | 2012-08-15 | 北京交通大学 | Rollingly-marching robot with two wheel-like hexagonal mechanisms |
| CN107200075A (en) * | 2017-06-07 | 2017-09-26 | 宋天钰 | A kind of change wheel footpath movement barrier-surpassing robot of separable wheel rim |
| CN207550350U (en) * | 2017-12-12 | 2018-06-29 | 燕山大学 | Rolling robot based on parallel institution |
| CN111605634A (en) * | 2020-05-28 | 2020-09-01 | 天津捷强动力装备股份有限公司 | Wheel-crawler type variant wheel mechanism |
| CN111845197A (en) * | 2020-08-11 | 2020-10-30 | 中国人民解放军陆军工程大学 | Deformable wheel hub and tire based on wheel type traveling mode and crawler type traveling mode |
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| CN113443038A (en) | 2021-09-28 |
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