CN113696990A - Variable-function actuator - Google Patents
Variable-function actuator Download PDFInfo
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- CN113696990A CN113696990A CN202010438762.5A CN202010438762A CN113696990A CN 113696990 A CN113696990 A CN 113696990A CN 202010438762 A CN202010438762 A CN 202010438762A CN 113696990 A CN113696990 A CN 113696990A
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- 210000000078 claw Anatomy 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Classifications
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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
- B62D57/028—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 having wheels and mechanical legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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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
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a function-variable actuator, belonging to the technical field of robots, and being characterized in that: comprises a four-bar linkage mechanism, a mounting rod and an actuating motor; the four-bar mechanism comprises two simple straight bars and two connecting rods with semi-arc surfaces, wherein one ends of the two simple straight bars are hinged together, the other ends of the two simple straight bars are hinged together with the connecting rods with the semi-arc surfaces respectively, and the other ends of the two connecting rods with the semi-arc surfaces are hinged together; the mounting rod is formed by connecting two long plates and a short plate in a concave shape and is used for connecting the four-bar mechanism with the robot body; the two executing motors are respectively fixed on the two long plates of the mounting rod, the output end of the left executing motor penetrates through the central point to be integrally connected with the four-bar mechanism, and the output end of the right executing motor penetrates through the central point to be connected with a simple straight rod. The right-side actuating motor is controlled to drive the four-bar mechanism to deform, so that the four-bar mechanism is changed into an actuator with different structures such as a wheel type actuator, a foot type actuator or a claw type actuator.
Description
Technical Field
The invention relates to an actuator, in particular to a function-variable actuator which can be changed in various forms and realize different functions, belonging to the technical field of robots.
Background
With the progress of science and technology and the development of times, artificial intelligence is gradually created, the robot technology with autonomy and intelligence is also rapidly developed, the robot gradually has the capabilities of sensing environment, autonomous planning and interacting with the environment, more and more industries use the robot to carry out production operation, the working efficiency is improved, the labor cost is greatly reduced, particularly, high-risk work is realized, the robot can replace manpower by priority, and researchers also focus more on improving the autonomous adaptability and functionality of the robot by improving an actuator structure, so that the robot can adapt to more complex environments and is suitable for more extensive fields.
The common forms of the actuators of the existing robots are wheel type, foot type, claw type and the like, some robots have wheel type and foot type simultaneously and are called as wheel-foot type robots, the rapid movement is realized on flat ground by adopting a wheel type structure, and the foot type structure is adopted on rugged ground to adapt to complex environment. For example, the wheel-foot dual-purpose mobile robot disclosed in patent [ ZL200810056851.2], the wheel-foot robot leg structure disclosed in patent [ ZL201420779081.5], the wheel-foot robot with the leg structure, and the wheel-foot robot disclosed in patent [201620669063.0] are all provided with two sets of actuators, namely wheel and foot, wherein one actuator is retracted to allow the other actuator to contact with the ground to realize different motions, or the wheel actuator is directly mounted on the foot motion mechanism to realize wheel-foot dual-purpose, and the combination form of the actuators is relatively complex in the aspects of the whole structure and the control system. Therefore, the function-variable actuator with simple structure, convenient control and low cost can widen the application field of the robot.
Disclosure of Invention
The invention aims to provide a function-variable actuator, which integrates a wheel type actuator, a foot type actuator and a claw type actuator into a whole and realizes free change of three functions of rotation, movement and grabbing.
The technical method adopted by the invention for solving the technical problemsThe scheme is as follows: a function variable actuator comprises a four-bar linkage, a mounting rod and an actuating motor; the four-bar mechanism comprises two simple straight bars and two connecting bars with semi-arc surfaces, wherein the two simple straight bars are equal in length, and the two connecting bars with semi-arc surfaces are equal in length and are the same in length as the simple straight bars
One ends of two simple straight rods are hinged together, the hinged point is taken as a central point, the other ends of the two simple straight rods are respectively hinged with a connecting rod with a semi-circular arc surface, and the other ends of the two connecting rods with the semi-circular arc surfaces are hinged together; the mounting rod is formed by connecting two long plates and a short plate in a concave shape and is used for connecting the four-bar mechanism with the robot body; the two executing motors are respectively fixed on the two long plates of the mounting rod, one executing motor is marked as a left executing motor, the other executing motor is marked as a right executing motor, the output end of the left executing motor penetrates through the central point to be integrally connected with the four-bar linkage, and the output end of the right executing motor penetrates through the central point to be connected with a simple straight bar. In different application occasions, the four-bar mechanism can be driven to deform by controlling the rotation angle of the right actuating motor and be changed into actuators with different structures such as a wheel type, a foot type or a claw type, so that the four-bar mechanism is suitable for different environments or different functions are realized.
The invention has the advantages of simple structure, convenient control and low cost, and can be transformed into an actuator capable of realizing different functions through a simple four-bar mechanism.
Drawings
Fig. 1 is a schematic view of the overall structure of the variable function actuator of the present invention.
Fig. 2 is a schematic structural diagram of a wheel-type embodiment of the function-variable actuator according to the present invention.
Fig. 3 is a schematic structural diagram of a foot-type embodiment of the variable function actuator of the present invention.
FIG. 4 is a schematic structural diagram of a claw-type embodiment of the variable function actuator of the present invention.
Detailed Description
The invention will be further described with reference to the following examples and figures:
the invention relates to a function-variable actuator (see fig. 1-4), which comprises a four-bar mechanism, a mounting rod 7, a left actuating motor 2 and a right actuating motor 5, wherein the four-bar mechanism consists of a simple straight bar 1, a simple straight bar 6, a connecting rod 3 with a semicircular arc surface and a connecting rod 4 with a semicircular arc surface.
Specific examples of the present invention are given below. The specific examples are intended to be illustrative of the invention only and are not to be construed as limiting the claims of the invention.
Example 1:
the function-variable actuator related to the invention is changed into a wheel type structure, as shown in figure 2, a right-side actuating motor 5 is controlled to drive a simple straight rod 6 connected with the right-side actuating motor to rotate, so that an included angle between two simple straight rods 1 and 6 is 120 degrees, after a four-bar mechanism correspondingly moves, two semicircular surfaces of two connecting rods 3 and 4 with semicircular surfaces just form a whole circle, and the left-side actuating motor 2 is controlled to rotate to drive the four-bar mechanism to integrally roll, so that the wheel type structure actuator is formed.
Example 2:
the function variable actuator related to the invention is changed into a foot type structure, as shown in figure 3, a right side actuating motor 5 is controlled to drive a simple straight rod 6 connected with the right side actuating motor to rotate, so that two simple straight rods 1 and 6 are completely overlapped, after a four-bar mechanism moves correspondingly, the straight rod parts of two connecting rods 3 and 4 with semi-circular arc surfaces are also positioned on the same straight line with the two simple straight rods 1 and 6, and the four-bar mechanism can be driven to integrally swing back and forth by controlling a left side actuating motor 2 to rotate in a reciprocating manner, so that the actuator with the foot type structure is formed.
Example 3:
the function variable actuator related to the invention is changed into a claw type structure, as shown in figure 4, a right side actuating motor 5 is controlled to drive a simple straight rod 6 connected with the right side actuating motor to rotate, so that an included angle between two simple straight rods 1 and 6 is larger than 120 degrees, after a four-bar mechanism generates corresponding motion, arc parts of two connecting rods 3 and 4 with semi-arc surfaces are opened to form a claw shape, the right side actuating motor 5 is controlled to rotate in a reciprocating mode to drive, and the arc parts of the two connecting rods 3 and 4 with semi-arc surfaces generate clamping motion, so that the claw type structure actuator is formed.
Claims (4)
1. A variable function actuator, comprising: comprises a four-bar linkage mechanism, a mounting rod and an actuating motor; the four-bar mechanism comprises two simple straight bars and two connecting bars with semi-arc surfaces, wherein the two simple straight bars are equal in length, the two connecting bars with the semi-arc surfaces are equal in length and are double the length of the simple straight bars, one ends of the two simple straight bars are hinged together, the hinged point is used as a central point, the other ends of the two simple straight bars are hinged together with the connecting bars with the semi-arc surfaces respectively, and the other ends of the two connecting bars with the semi-arc surfaces are hinged together; the mounting rod is formed by connecting two long plates and a short plate in a concave shape and is used for connecting the four-bar mechanism with the robot body; the two executing motors are respectively fixed on the two long plates of the mounting rod, one executing motor is marked as a left executing motor, the other executing motor is marked as a right executing motor, the output end of the left executing motor penetrates through the central point to be integrally connected with the four-bar linkage, and the output end of the right executing motor penetrates through the central point to be connected with a simple straight bar.
2. The function variable actuator of claim 1, wherein: the right-side execution motor is controlled to drive the simple straight rods connected with the right-side execution motor to rotate, so that the included angle between the two simple straight rods is 120 degrees, after the four-bar mechanism moves correspondingly, two semicircular surfaces of the connecting rod with the semicircular surfaces just form a whole circle, and the left-side execution motor is controlled to rotate, so that the four-bar mechanism can be driven to roll integrally, and the wheel type structure actuator is formed.
3. The function variable actuator of claim 1, wherein: the right-side actuating motor is controlled to drive the simple straight rods connected with the right-side actuating motor to rotate, so that the two simple straight rods are completely overlapped, after the four-bar mechanism moves correspondingly, the straight rod parts of the two connecting rods with the semi-circular arc surfaces and the two simple straight rods are also positioned on the same straight line, and the left-side actuating motor is controlled to rotate in a reciprocating manner, so that the four-bar mechanism can be driven to swing back and forth integrally, and the foot type structure actuator is formed.
4. The function variable actuator of claim 1, wherein: the right-side execution motor is controlled to drive the simple straight rods connected with the right-side execution motor to rotate, so that the included angle between the two simple straight rods is larger than 120 degrees, after the four-bar mechanism moves correspondingly, the arc parts of the two connecting rods with the semi-arc surfaces are opened to form a claw shape, the four-bar mechanism can be driven by controlling the right-side execution motor to rotate in a reciprocating mode, and the arc parts of the two connecting rods with the semi-arc surfaces are clamped to move, so that the claw type structure actuator is formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010438762.5A CN113696990A (en) | 2020-05-22 | 2020-05-22 | Variable-function actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010438762.5A CN113696990A (en) | 2020-05-22 | 2020-05-22 | Variable-function actuator |
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| Publication Number | Publication Date |
|---|---|
| CN113696990A true CN113696990A (en) | 2021-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010438762.5A Pending CN113696990A (en) | 2020-05-22 | 2020-05-22 | Variable-function actuator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114435022A (en) * | 2022-01-28 | 2022-05-06 | 德清县浙工大莫干山研究院 | Wheel-foot combined type wheel |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7017687B1 (en) * | 2002-11-21 | 2006-03-28 | Sarcos Investments Lc | Reconfigurable articulated leg and wheel |
| CN202608931U (en) * | 2012-04-13 | 2012-12-19 | 毕明宇 | Separable wheel leg composite type robot |
| CN102849132A (en) * | 2012-03-30 | 2013-01-02 | 中国人民解放军国防科学技术大学 | Wheel-track compound deformation track robot |
| KR101386011B1 (en) * | 2012-12-07 | 2014-04-16 | 서울대학교산학협력단 | Passive transformable wheel and robot having the wheel |
| CN203681688U (en) * | 2013-11-28 | 2014-07-02 | 上海理工大学 | Stairway climbing mechanism |
| CN105774394A (en) * | 2016-04-08 | 2016-07-20 | 重庆大学 | Mobile robot with deformation wheels |
| CN209535272U (en) * | 2019-01-30 | 2019-10-25 | 清华大学 | A kind of robot deformation leg with the sufficient ability to transform of wheel |
| CN212290075U (en) * | 2020-05-22 | 2021-01-05 | 天津工业大学 | Variable-function actuator |
-
2020
- 2020-05-22 CN CN202010438762.5A patent/CN113696990A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7017687B1 (en) * | 2002-11-21 | 2006-03-28 | Sarcos Investments Lc | Reconfigurable articulated leg and wheel |
| CN102849132A (en) * | 2012-03-30 | 2013-01-02 | 中国人民解放军国防科学技术大学 | Wheel-track compound deformation track robot |
| CN202608931U (en) * | 2012-04-13 | 2012-12-19 | 毕明宇 | Separable wheel leg composite type robot |
| KR101386011B1 (en) * | 2012-12-07 | 2014-04-16 | 서울대학교산학협력단 | Passive transformable wheel and robot having the wheel |
| CN203681688U (en) * | 2013-11-28 | 2014-07-02 | 上海理工大学 | Stairway climbing mechanism |
| CN105774394A (en) * | 2016-04-08 | 2016-07-20 | 重庆大学 | Mobile robot with deformation wheels |
| CN209535272U (en) * | 2019-01-30 | 2019-10-25 | 清华大学 | A kind of robot deformation leg with the sufficient ability to transform of wheel |
| CN212290075U (en) * | 2020-05-22 | 2021-01-05 | 天津工业大学 | Variable-function actuator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114435022A (en) * | 2022-01-28 | 2022-05-06 | 德清县浙工大莫干山研究院 | Wheel-foot combined type wheel |
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