CN114161404A

CN114161404A - 6-rod curved rod tensioning integral robot with solar power supply sliding block

Info

Publication number: CN114161404A
Application number: CN202111317463.7A
Authority: CN
Inventors: 徐佶; 冯晓东; 王奇; 冯达; 沈军; 娄晓峰
Original assignee: University of Shaoxing
Current assignee: University of Shaoxing
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2022-03-11
Anticipated expiration: 2041-11-09
Also published as: CN114161404B

Abstract

The invention discloses a 6-rod curved bar stretching integral robot of a solar power supply sliding block, which comprises 6 curved bars, wherein 24n inhaul cables are hinged to two ends of any curved bar as hinged points, the 6 curved bars are connected through the inhaul cables to form a hollow outer frame in a curved bar stretching integral form, each curved bar is provided with a movable weight block which can independently move along the bending direction of the curved bar, each curved bar is also provided with a driving piece for controlling the movable weight block, the curved bar stretching integral advancing is realized by simultaneously controlling the movement of the movable weight blocks, and a detachable solar power generation film is arranged in the space of the formed outer frame. The six-rod curved bar tensioning integral movable structure formed by the invention has certain compression resistance and impact resistance, can realize rapid movement by controlling the gravity center offset of a plurality of curved bars, is superior to the traditional tensioning integral structure in movement performance and environmental adaptability, can flexibly move even on a hollow ground, and can bring continuous energy for the movement of the built-in solar power generation film.

Description

6-rod curved rod tensioning integral robot with solar power supply sliding block

Technical Field

The invention relates to the technical field of prestressed cable-rod structures, in particular to a 6-rod curved rod tensioning integrated robot of a solar power supply sliding block.

Background

The integral tensioning structure is a novel space structure system consisting of discrete compression bars and continuous inhaul cables, and is widely applied to multiple subject fields due to the characteristics of light weight, high strength, simple structure, high environmental robustness and deformability.

At present, the existing tensioning integral robot with 4 compression bars, 6 compression bars, 12 compression bars and 30 compression bars is of a straight bar tensioning integral structure, the edges and corners of the traditional straight bar tensioning integral structure are clear, and the movement efficiency is not high and is not stable.

In addition, if a tensioning integral structure in the form of curved bars such as 2 bars and 3 bars is adopted, the whole structure system has a large gap and is unstable in structure, some protruding objects are easily embedded into the gap particularly when the hollow ground moves, so that the stretching integral robot cannot move stably along a straight line like a wheel, and the tensioning integral robot with a small number of curved bars has great defects. Secondly, if the multi-rod spherical tensioning integral structure (such as twelve rods or thirty rods) is adopted, the manufacturing and forming are relatively complex, the required driving is correspondingly increased, and effective control is difficult to realize. Finally, driving the whole tensioning integral structure to operate requires extremely large electricity consumption, and once the electricity is exhausted, the whole structure is completely in a paralysis state, which is a huge loss.

In order to solve the problems, the scheme is developed accordingly.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a 6-rod curved rod tensioning integrated robot of a solar power supply sliding block, which solves the problems in the background technology.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a 6 pole bent lever stretch-draw whole robot of solar energy power supply slider, includes 6 bent levers, the both ends of an arbitrary bent lever are articulated to have 24n cables as the pin joint, and connect the hollow outer frame that forms the whole form of bent lever stretch-draw through the cable between 6 bent levers, every all be equipped with on the bent lever and carry out the activity pouring weight that independently removes along its crooked direction, and still be equipped with the driving piece of control activity pouring weight on every bent lever, realize that the bent lever stretch-draw is whole to advance through the removal of a plurality of activity pouring weights of simultaneous control, be provided with detachable solar power generation film in the outer frame space of formation, solar power generation film covers in the inside structural surface of bent lever skeleton to the removal that gives the activity pouring weight provides the energy consumption.

Preferably, the driving piece includes the motor, and the output of motor is connected with the gear, follows the arc trend of curved bar is equipped with the rack in the bottom of its inner wall, and gear and rack mesh mutually, movable weight is connected in one side of motor, movable weight is including the slider that has the quality, and the slider passes through the connecting block to be connected in motor one side, be equipped with ball bearing on the slider, follow the arc trend of curved bar has seted up the guide rail groove in the bottom of its inner wall, and ball bearing removes at the guide rail inslot.

Preferably, each curved rod bends outwards at an arc of 120 degrees, a spherical space is formed inside the curved rod, each curved rod extends outwards at two end nodes at a distance of 15 degrees, and the arc of the whole curved rod is 150 degrees, so that the whole structure is close to a sphere in shape.

Preferably, the outer envelope surface of the formed outer frame main structure is formed by two basic figures of 12 isosceles triangles and 8 equilateral triangles, wherein each side of each equilateral triangle is a guy cable, the two sides of each isosceles triangle are provided with the guy cables, one side of each isosceles triangle is provided with no guy cable, each arc rod is bent outwards, and the solar power generation film is integrally arranged into 8 equilateral triangles and 12 isosceles triangles which are correspondingly arranged on the structural surface inside the curved rod framework.

Preferably, the three sides of the single solar film are provided with magic tapes, the magic tapes are divided into a magic tape stabbing hair part and a magic tape round hair part, and a part connected with the rigid inhaul cable is reserved in the middle of the magic tape stabbing hair part and directly sticks the magic tape on the rigid inhaul cable to fix the solar film.

(III) advantageous effects

After adopting the technical scheme, compared with the prior art, the invention has the following advantages:

1. the six-rod curved bar tensioning integral movable structure formed by the invention has certain compression resistance and impact resistance, and meanwhile, the six-rod curved bar tensioning integral movable structure can realize rapid movement by controlling the gravity center offset of a plurality of curved bars, is superior to the traditional tensioning integral structure in the aspects of movement performance and environmental adaptability, and can flexibly move even on a hollow ground.

2. According to the six-rod curved rod tensioning integral movable structure, the solar power generation film is arranged in the integral movable structure, so that continuous energy can be brought to the movement of the curved rods, and the robot integrally formed by tensioning the six-rod curved rods can carry small equipment, can better move in rugged and severe environments, and can be applied to the fields of engineering rescue detection or space task execution and the like in the future; secondly, the impact on the solar thin film can be reduced due to the overall stable operation of the curved rod, so that the damage of the solar thin film is reduced, and the service life of the solar thin film is prolonged.

Drawings

FIG. 1 is a schematic view of the present invention;

FIG. 2 is a wire frame perspective view of the present invention

FIG. 3 is a schematic diagram of a solar power film modification of the present invention;

FIG. 4 is a schematic view of a single curved bar construction of the present invention;

FIG. 5 is a schematic view of the internal structure of the single curved bar of the present invention after being disassembled;

FIG. 6 is a schematic structural view of a solar power film according to the present invention;

FIG. 7 is a front view of a solar power film structure according to the present invention;

FIG. 8 is a schematic view of the balance state 1 of the overall mechanism of the present invention;

FIG. 9 is a schematic view of the equilibrium state 3 of the overall mechanism of the present invention;

FIG. 10 is a schematic view of the sliding state of the integral mechanism of the present invention;

fig. 11 is a schematic view of the equilibrium state 2 of the overall mechanism of the present invention.

In the figure: 1. a curved bar; 2. a cable; 3. a solar power generation film; 4. a motor; 5. a gear; 6. a rack; 7. a slider; 8. a ball bearing; 9. a guide rail groove; 10. magic tape; 101. a barbed portion; 102. A round hair portion; 11. an equipment box; 12. the slider is driven.

Detailed Description

The invention is explained in more detail below with reference to the figures and examples.

As shown in fig. 1-7: the utility model provides a 6 pole curved bar stretch-draw whole robots of solar energy power supply slider, the major structure is the outer frame of the whole form of curved bar stretch-draw, by 6 arc depression bars, 24

cable

2 and 12 articulated nodes are constituteed, every arc pole is outwards outstanding, inside forms a spherical space, every curved bar 1 outwards extends one section distance respectively at both ends node in addition, makes whole structure more be close the spheroid in the shape, and whole motion structure's component has the rigidity.

The 6-rod curved rod tensioning integral movable structure comprises 6 arc-shaped slide rails and 24 inhaul cables 2, each slide rail is provided with one mass slide block 7 (2 or even a plurality of mass slide blocks 7 can be arranged for increasing the reaction efficiency of movement, but the control is more complicated, so that the scheme takes one slide block 7 as an example), the mass center of the structure is adjusted by sliding the slide block 7 on the rail, the relative position of the mass center and the bottom surface on the ground is changed to realize the structural movement, and each slide rail extends outwards for a certain distance at the node of two ends respectively, so that the structural movement is more flexible and efficient.

The internal fixable equipment box 11 of curved bar stretch-draw overall structure places required equipment, make full use of inner space, and it has the solar energy power generation film of dismantling to cover at the structure internal surface, and solar energy film links to each other with cable 2 for supply power for driving motor 4 and internal plant.

Like figure 2, solar energy power generation film 3 comprises solar energy film electricity generation part, electric energy transmission interface and magic subsides 10, and solar energy film electricity generation part comprises solar wafer, customizes into equilateral triangle and isosceles triangle according to the demand, covers better on the whole robot surface of stretch-draw.

As shown in fig. 6 (i) and (ii), three sides of the solar thin film power generation part (or two sides thereof according to the position) are provided with magic tapes 10, each magic tape 10 comprises a burred part 101 and a round hair part 102, the middle part is used for placing a pull rope 2 and fixing the solar thin film on the pull rope 2, and the magic tapes 10 can be directly torn off to detach the solar thin film when the solar thin film is not needed.

An electric energy transmission interface is arranged below the solar thin film power generation part and can be connected with a USB interface on the slide rail sealing cover through a data line to supply power to the driving device and the equipment. Meanwhile, the impact on the solar thin film can be reduced due to the stable operation of the curved rod, so that the damage of the solar thin film is reduced, and the service life of the solar thin film is prolonged.

The solar power generation film 3 is integrally arranged into 8 equilateral triangles and 12 isosceles triangles which are correspondingly arranged on the structural surface inside the curved bar framework.

It should be noted that, connecting the guy cable 2 to the integral inner ring of the curved bar 1 structure, the guy cable 2 can intersect at a point, and from this, can arrange complete solar power generation film 3, but the area of single solar energy film is less relatively, absorbs solar energy less, and partial film is located inside the bar, can't receive solar energy, and the guy cable is little to the constraint nature of curved bar, and the curved bar is easy side direction upset, finally influences overall stability.

As an improvement, as shown in fig. 3 and fig. 7, the cable 2 is connected to the outer side of the curved bar 1, so that 8 solar power generation films 3 can be arranged on the cable 2, the area of a single film can be increased, the absorption of solar energy can be increased, people can increase films with specific shapes according to requirements, and the structural stability is relatively good.

The solar power generation film 3 can be arranged according to the requirement, and can have various arrangement forms, not limited to the two.

The whole structure is set as follows, batteries driven by sliders 7 with the same quality are placed in battery boxes at two ends of a curved bar 1, wire holes preset in a universal guide rail for the batteries are connected, and in addition, wire holes are preset in a sealing cover at one end of a sliding rail and used for connecting the batteries with a driving device, so that 24-hour power supply of a solar film can be realized, and the motion of a robot is not influenced. Two sides of the end part of the arc-shaped guide rail are respectively provided with a connecting hole of a pull rope 2 for connecting the pull rope 2; the upper part of the arc-shaped guide rail is covered with an outer shell at the upper part of the curved rod 1 for protecting the guide rail and the driving device, and the outer shell is provided with an equipment box connecting port which can be used for fixing an equipment box.

The driving piece of control activity pouring weight includes motor 4, the output of motor 4 is connected with gear 5, arc trend along curved bar 1, bottom at its inner wall is equipped with rack 6, gear 5 meshes with rack 6 mutually, the activity pouring weight is connected in one side of motor 4, the activity pouring weight is including the slider 7 that has the quality, slider 7 passes through the connecting block and connects in motor 4 one side, be equipped with ball bearing 8 on the slider 7, arc trend along curved bar 1, guide rail groove 9 has been seted up in the bottom of its inner wall, ball bearing 8 removes in guide rail groove 9.

Each of the driving sliders 12 can be independently controlled without interfering with each other, and when a failure occurs in one of the driving sliders 12, the other driving sliders 12 can be driven to move, and the structure can be moved in each direction by controlling the driving sliders 12 of different numbers.

It should be noted that, as shown in fig. 5, which is a partially schematic slider 7 portion that is easy to identify after being cut away, the driving slider 12 shown in fig. 8 to 11 is a one-piece slider, and includes the internal slider 7, the motor, and other components.

The whole motion system is in wireless communication with the PC by radio, so that the motion system transmits all sensor data such as the actual position, speed and direction of motion of the driving device, and data from the accelerometer, and the mobile system is wirelessly controlled by using the transmitted data.

The structure is simple to manufacture, can be quickly disassembled and assembled, and is very convenient to transport. When the structure is used, the transportable component is installed on site, and when the structure is used, the whole structure can be disassembled into the sliding rail, the sliding block 7 and the inhaul cable 2, so that the storage and the transportation are convenient. The equipment box and the solar power generation film can be installed and detached according to requirements.

The moving process and the moved equilibrium state of the tensioning whole robot are described in detail below with reference to the accompanying drawings (for convenience of observation, the accompanying drawings are used for demonstration with the solar thin film and the upper cover of the curved rod removed).

Referring to fig. 8, initially, either the global equilibrium state 1 (three-bar landing) or the equilibrium state 2 (the slider of the entire structure is in a symmetrical position) can be selected depending on the terrain. Wherein the equilibrium state 1 can be used for steady state support in a relatively rugged environment.

Referring to fig. 9-11, taking forward movement as an example, the driving slider 12-1 and the driving slider 12-2 of the upper and lower rods slide forward from the middle, the whole structure rolls forward along the trend (fig. 9), after rolling for 90 °, the driving slider 12-3 and the driving slider 12-4 slide forward from the middle, and the driving slider 12-1 and the driving slider 12-2 slide from the end to the middle (fig. 10), so as to reach the state shown in fig. 11, and thus, the movement of the tensioning whole robot is realized in a reciprocating manner.

When the robot needs to turn, the driving slide block 12-5 and the driving slide block 12-6 in the figure 9 can be correspondingly adjusted, so that the turning of the tensioning whole robot is realized.

In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and the protection scope must be determined by the scope of the claims.

Claims

1. The utility model provides a 6 pole bent lever stretch-draw whole robots of solar energy power supply slider which characterized in that: the device comprises 6 curved rods, wherein 24n inhaul cables are hinged to two ends of any curved rod as hinged points, and the 6 curved rods are connected through the inhaul cables to form a hollow outer frame in a curved rod tensioning integral form; every all be equipped with on the curved bar and carry out the activity pouring weight that independently removes along its crooked direction, and still be equipped with the driving piece of control activity pouring weight on the every curved bar, realize that curved bar stretch-draw is whole to advance through the removal of a plurality of activity pouring weights of simultaneous control, be provided with detachable solar power generation film in the frame space of formation, solar power generation film covers in the inside structure surface of curved bar skeleton to the removal that gives activity pouring weight provides the energy consumption.

2. The 6-bar curved bar tensioning integrated robot for the solar power supply sliding block according to claim 1, characterized in that: the driving piece includes the motor, and the output of motor is connected with the gear, follows the arc trend of curved bar is equipped with the rack in the bottom of its inner wall, and gear and rack mesh mutually, movable pouring weight is connected in one side of motor, movable pouring weight is including the slider that has the quality, and the slider passes through the connecting block to be connected in motor one side, be equipped with ball bearing on the slider, follow the arc trend of curved bar has seted up the guide rail groove in the bottom of its inner wall, and ball bearing removes at the guide rail inslot.

3. The 6-bar curved bar tensioning integrated robot for the solar power supply sliding block according to claim 1, characterized in that: the radian of each curved rod which is bent outwards is 120 degrees, a spherical space is formed inside the curved rod, the radian of each curved rod extends outwards at the nodes of two ends respectively and is 15 degrees, and the radian of the whole curved rod is 150 degrees, so that the whole structure is close to a sphere in shape.

4. The 6-bar curved bar tensioning integrated robot for the solar power supply sliding block according to claim 3, characterized in that: the outer envelope surface of the formed outer frame main body structure is composed of two basic figures of 12 isosceles triangles and 8 equilateral triangles, wherein each side of each equilateral triangle is provided with a guy cable, two sides of each isosceles triangle are provided with guys cables, one side of each isosceles triangle is provided with no guy cable, each arc rod is bent outwards, and the solar power generation film is integrally arranged into 8 equilateral triangles and 12 isosceles triangles which are correspondingly arranged on the structural surface inside the curved rod framework.

5. The 6-bar curved bar tensioning integrated robot for the solar power supply sliding block according to claim 4, characterized in that: the three sides of the single solar thin film are provided with the magic tapes, the magic tapes are divided into a magic tape stabbing part and a magic tape round hair part, and a part connected with the rigid inhaul cable is reserved in the middle of the magic tape stabbing part and directly sticks the magic tape on the rigid inhaul cable to fix the solar thin film.