CN105109573B - A kind of deformable triangular prism robot - Google Patents

Abstract

A kind of deformable triangular prism mobile robot, mainly including upper component and lower component, upper component is provided with the first to the 5th connecting rod, the identical first to the 3rd motor；Lower component is provided with the 6th to the tenth connecting rod；5th connecting rod is flexibly connected with the tenth connecting rod by pin；First, second motor is fixedly connected with the first, the 3rd connecting rod respectively, its motor shaft is fixedly connected with the seven, the 9th connecting rods, with this realize above and below two components connection, the robot can realize a variety of rolling gaits, rolling gait, serpenoid curve, folder function etc..

Description

A deformable triangular prism robot

1. Technical field

The invention relates to a mobile robot, in particular to a deformable triangular prism mobile robot, which can realize various posture changes and detection functions.

2. Background technology

Chinese patent application CN2789106Y discloses a single power rolling four-bar mechanism. The mechanism consists of 4 rods and is driven by a motor. It can realize rolling forward in the plane, but the mechanism can only roll and cannot walk, and it cannot change direction.

Chinese patent application CN101890714A discloses a single-degree-of-freedom link mobile robot. The robot can realize the directional movement and steering functions of the robot by utilizing the position change of the center of gravity of the mechanism and the unstable state during the movement. However, it has less degrees of freedom and poor flexibility.

3. Contents of the invention

The technical problem to be solved by the present invention is to develop a five-triangular prism deformed rolling robot on the basis of the existing rolling robot, which can realize ground movement more flexibly and improve the ability to adapt to the environment.

Technical scheme of the present invention: the robot includes: two platforms up and down, three branch chains that can rotate by themselves, the branch chains and the platforms are connected by a rotating pair perpendicular to the direction of the platforms, the assembly of the mechanism is completed through the above steps, and the robot can realize multiple Rolling motion, tumbling motion, etc.

The invention has the beneficial effects: the machine robot has strong deformation ability and high flexibility, and can conveniently control the robot to realize movement. The invention can be used as a special deformed mobile robot, and realizes movement on complex ground by using various motion modes of the robot. Further, special ground reconnaissance robots can be designed and manufactured.

4. Description of drawings

Figure 1. Three-dimensional diagram of the mechanism

Figure 2. Three-dimensional diagram of the upper component

Figure 3. Three-dimensional map of the upper platform

Figure 4. 3D diagram of the first universal joint block

Figure 5. Three-dimensional diagram of the first connecting rod

Figure 6. Three-dimensional view of the second connecting rod

Figure 7. Three-dimensional diagram of the third universal joint block

Figure 8. Three-dimensional diagram of the fifth connecting rod

Figure 9. Three-dimensional diagram of the lower platform

Figure 10. Three-dimensional diagram of the seventh connecting rod

Figure 11. Robot deformation map

5. Specific implementation plan

As shown in Figure 1, a deformable triangular prism mobile robot is characterized in that it mainly includes an upper component A and a lower component B.

As shown in Figure 2, the upper assembly A is provided with an upper platform A11, identical first to sixth motors A3, A6, A14, A1, A10, A12, first to third universal joint blocks A2, A9, A13 , The first to fifth connecting rods A4, A5, A7, A8, A15.

As shown in FIG. 3 , the upper platform A11 is two triangular plates fixedly connected up and down in parallel through the central small axis, and the structural dimensions of the lower platform B1 and the upper platform A11 are exactly the same.

As shown in Figure 4, the first universal joint block A2 is a cubic block provided with two cylindrical protrusions; the second universal joint block A9, the first universal joint block A2, the fourth universal joint block The structural dimensions of B4 and the fifth universal joint block B7 are exactly the same.

As shown in FIG. 5 , the first connecting rod A4 is a "Z"-shaped rod with a first rotating auxiliary hole A4a; the third connecting rod A7 and the first connecting rod A4 have exactly the same structural dimensions.

As shown in Figure 6, the second connecting rod A5 is an "L" shaped rod with a second rotating auxiliary hole A5a; the fourth connecting rod A8, the eighth connecting rod B8, the sixth connecting rod B3 and the first The structural dimensions of the two connecting rods A5 are exactly the same.

As shown in FIG. 7 , the third universal joint block A13 is a rectangular parallelepiped block with four through holes; the sixth universal joint block B12 and the third universal joint block A13 have exactly the same structural dimensions.

As shown in FIG. 8, the fifth connecting rod A15 is a plate with a connecting hole A15a; the tenth connecting rod B10 and the fifth connecting rod A15 are identical in structure and size.

As shown in Figure 9, the lower assembly B is provided with a lower platform B1, identical seventh to tenth motors B2, B6, B11, B13, fourth to sixth universal joint blocks B4, B7, B12, sixth to tenth motors B2, B6, B11, B13, The tenth connecting rod B3, B5, B8, B9, B10; the fifth connecting rod A15 and the tenth connecting rod B10 are movably connected by pins; the first and third connecting rods A4 and A7 are respectively connected to the seventh and ninth connecting rod B5 , B9 is connected through the motor activity.

As shown in Figure 10, the seventh connecting rod B5 is provided with an "L"-shaped rod of the motor shaft hole B5a and the third rotating auxiliary hole B5b; the ninth connecting rod B9 and the seventh connecting rod B5 The structural dimensions are exactly the same.

As shown in Figure 2, the fourth to sixth motors A1, A10, and A12 are fixedly connected to the upper platform A11 by bolts, and the motor shafts are connected to the first universal joint block A2, the second universal joint block A9, and the third universal joint block respectively. The segment A13 is fixedly connected with pins; the third motor A14 is fixedly connected with the fifth connecting rod with bolts, and the motor shaft of the third motor A14 is fixedly connected with the third universal joint block A13 with pins; the first connecting rod A4 of the first The secondary rotation hole A4a, the second secondary rotation hole A5a of the second connecting rod A5 and the two cylindrical protrusions of the first universal joint block A2 form a rotary pair, the fourth secondary rotation hole A7a of the third connecting rod A7, the fourth connection The fifth rotating pair hole A8a of the rod A8 forms a rotating pair with the two cylindrical protrusions of the second universal joint block A9; the first connecting rod A4 and the second connecting rod A5 are fixedly connected by bolts, and the third connecting rod A7 is connected to the fourth The connecting rod A8 is fixedly connected by bolts; the first and second motors A3 and A6 are respectively connected with the first connecting rod A4 and the third connecting rod A7 by using bolts. The first and second motors A3 and A6 are fixedly connected to the second connecting rod A5 and the fourth connecting rod A8 respectively.

As shown in Figure 9, the seventh, eighth, and tenth motors B2, B6, and B13 are fixedly connected to the lower platform B1 respectively, and the motor shafts are respectively connected to the fourth universal joint block B4 and the fifth universal joint block B7 , The sixth universal joint block B12 is fixedly connected with pins; the ninth motor B11 is fixedly connected with the tenth connecting rod B10 with bolts, and the motor shaft of the ninth motor B11 is fixedly connected with the sixth universal joint block B12 with pins; the sixth The sixth rotation pair hole B3a of the connecting rod B3, the third rotation pair hole B5b of the seventh connecting rod B5 and the two cylindrical protrusions of the fourth universal joint block B4 form a rotation pair, and the seventh rotation pair of the eighth connection rod B8 The hole B8a, the eighth rotating pair hole B9b of the ninth connecting rod B9 and the two cylindrical protrusions of the fifth universal joint block B7 form a rotating pair; the sixth connecting rod B3 and the seventh connecting rod B5 are fixedly connected by bolts, and the eighth The connecting rod B8 and the ninth connecting rod B9 are fixedly connected by bolts.

As shown in Figure 11, it is the seven state diagrams of the robot.

Claims (1)

1. a kind of deformable triangular prism robot, it is characterised in that mainly including upper component (A) and lower component (B), upper component (A) upper mounting plate (A11), the identical first to the 6th motor (A3, A6, A14, A1, A10, A12), first to the 3rd are provided with Universal locking nub (A2, A9, A13), the first to the 5th connecting rod (A4, A5, A7, A8, A15)；Lower component (B) is provided with lower platform (B1), identical 7th to the tenth motor (B2, B6, B11, B13), the 4th to the 6th universal locking nub (B4, B7, B12), the Six to the tenth connecting rods (B3, B5, B8, B9, B10)；5th connecting rod (A15) passes through pin activity with the tenth connecting rod (B10) Connection；Firstth, the 3rd connecting rod (A4, A7) is connected with the seven, the 9th connecting rods (B5, B9) by motor activity respectively；

Upper mounting plate (A11) is that two triangular plate pieces are abreast fixedly connected up and down by the small axle in center, described lower platform (B1) physical dimension with upper mounting plate (A11) is identical；

First universal locking nub (A2) is a cubic block for being provided with two cylindrical projections；Described the second universal locking nub (A9), the 10000th It is identical with the physical dimension of the 5th universal locking nub (B7) to locking nub (A2), the 4th universal locking nub (B4)；

Head rod (A4) is provided with first " Z " type rod member for rotating secondary orifices (A4a)；Described the 3rd connecting rod (A7) and the The physical dimension of one connecting rod (A4) is identical；

Second connecting rod (A5) is provided with second " L " type rod member for rotating secondary orifices (A5a)；Described the 4th connecting rod (A8), Eight connecting rods (B8), the 6th connecting rod (B3) are identical with the physical dimension of the second connecting rod (A5)；

3rd universal locking nub (A13) is the cuboid block provided with four through holes；6th universal locking nub (B12) and the 3rd universal locking nub (A13) physical dimension is identical；

5th connecting rod (A15) is the plate provided with connecting hole (A15a)；The tenth described connecting rod (B10) and the 5th connecting rod (A15) structure snd size are identical；

The 7th described connecting rod (B5) is provided with motor axis hole (B5a) and the 3rd " L " type rod member for rotating secondary orifices (B5b)；It is described The 9th connecting rod (B9) it is identical with the physical dimension of the 7th connecting rod (B5)；

4th to the 6th motor (A1, A10, A12) is fixedly connected with upper mounting plate (A11) bolt, and motor shaft is again respectively with the 10000th It is fixedly connected to locking nub (A2), the second universal locking nub (A9), the 3rd universal locking nub (A13) using pin；3rd motor (A14) with 5th connecting rod is fixedly connected using bolt, and the motor shaft of the 3rd motor (A14) and the 3rd universal locking nub (A13) are consolidated using pin Fixed connection；Head rod (A4) first rotate secondary orifices (A4a), the second connecting rod (A5) second rotate secondary orifices (A5a) with The two cylindrical projections formation revolute pair of first universal locking nub (A2), the 4th of the 3rd connecting rod (A7) rotates secondary orifices (A7a), the 4th The 5th of connecting rod (A8) rotates secondary orifices (A8a) and the two cylindrical projections formation revolute pair of the second universal locking nub (A9)；First connects Extension bar (A4) is bolted to connection with the second connecting rod (A5), and the 3rd connecting rod (A7) passes through spiral shell with the 4th connecting rod (A8) Bolt is fixedly connected；First, second motor (A3, A6) is consolidated with head rod (A4), the 3rd connecting rod (A7) using bolt respectively Fixed connection, first, second motor (A3, A6) is fixedly connected with the second connecting rod (A5), the 4th connecting rod (A8) respectively；

Seven, the eight, the tenth motors (B2, B6, B13) are fixedly connected with lower platform (B1) using bolt respectively, and motor shaft divides again It is not fixedly connected with the 4th universal locking nub (B4), the 5th universal locking nub (B7), the 6th universal locking nub (B12) using pin；9th Motor (B11) is fixedly connected using bolt with the tenth connecting rod (B10), the motor shaft and the 6th universal joint of the 9th motor (B11) Block (B12) is fixedly connected using pin；The 6th of 6th connecting rod (B3) rotates secondary orifices (B3a), the of the 7th connecting rod (B5) Three rotate secondary orifices (B5b) and the two cylindrical projections formation revolute pair of the 4th universal locking nub (B4), the 7th of the 8th connecting rod (B8) the Rotate secondary orifices (B8a), the eighth-turn of the 9th connecting rod (B9) and move secondary orifices (B9b) and two cylindrical projections of the 5th universal locking nub (B7) Form revolute pair；6th connecting rod (B3) is bolted to connection with the 7th connecting rod (B5), the 8th connecting rod (B8) and the Nine connecting rods (B9) are bolted to connection.