CN114987639B - Multi-configuration reversible rolling mechanism - Google Patents

Abstract

The invention relates to a multi-configuration reversible rolling mechanism, which includes an upper platform (1), a lower platform (2), a constrained branch chain (3) and four moving branch chains (4). The upper platform (1) ) and the lower platform (2) are in an between chains (4). Compared with the existing technology, the present invention has the advantages of smooth movement on flat roads and rough roads, and can change directions at will, so it has good application prospects.

Description

A multi-configuration reversible rolling mechanism

Technical field

The invention relates to the technical field of mechanical design, and in particular to a multi-configuration reversible rolling mechanism.

Background technique

Mobile mechanisms have a variety of movement modes, such as walking, crawling, rolling, creeping, etc. Among them, scrolling is considered an efficient way to move. The spherical mechanism has become a typical rolling mechanism with its unique geometric shape. The mechanism is spherical in shape, can be driven by a motor to flexibly change directions, and has good stiffness and load-bearing capacity.

In addition, the spherical shape can be transformed into a quadrilateral. Taking advantage of the unstable structure of the quadrilateral mechanism, it is easier to achieve morphological transformation and direction reversal. Through connectors and structural design, the movement function of straight travel and flexible change of direction can be obtained. . The characteristics of the spherical structure include: single point landing, low friction, low power consumption; easy steering and high maneuverability; no loss phenomenon; easy to protect the internal equipment of the sphere, etc.

Contents of the invention

The purpose of the present invention is to provide a multi-configuration reversible rolling mechanism that has good stiffness and load-bearing capacity and is convenient for reversing.

The object of the present invention can be achieved by the following technical solution: a multi-configuration reversible rolling mechanism, including an upper platform, a lower platform, a constraint branch chain and four moving branch chains, the upper platform and the lower platform are in the shape of X Shape, symmetrically arranged, and the four movable branch chains are symmetrically and evenly arranged on the four sides of the upper platform and the lower platform, and the constraint branch chains are arranged between the movable branch chains.

Preferably, the structures of the four moving branch chains are exactly the same, including a first upper rod, a second upper rod, a first lower rod and a second lower rod; both ends of the first upper rod are respectively connected to the upper platform and the second upper rod. , both ends of the first lower rod are respectively connected to the lower platform and the second lower rod, and the second upper rod and the second lower rod are connected through a rotating pair.

Further preferably, the constraining branch chain is located between the second upper rod and the second lower rod.

Further preferably, the first upper rod is connected to the upper platform through the rotating pair I, the second upper rod is connected to the second upper rod through the rotating pair II, the second upper rod is connected to the connecting piece through the rotating pair III, and the connecting piece is connected to the second upper rod through the rotating pair IV. The lower rod, the second lower rod is connected to the first lower rod by rotating the vice V, and the first lower rod is connected to the lower platform by rotating the vice VI.

More preferably, the rotating pair I is a Hooke hinge, the rotating pairs II to V are positioning pins, and the rotating pair VI is a Hooke hinge.

Preferably, the first upper rod and the second upper rod and the first lower rod and the second lower rod are connected by positioning pins, and Mecanum wheels are installed therebetween.

Further preferably, the rotating pair I, the rotating pair II, the rotating pair III, the rotating pair IV, the rotating pair V and the Mecanum wheel are all driven by independent driving parts.

Preferably, the restraint branch chain is composed of four groups of components with the same structure, each group of components includes a first link, a second link and a third link; the first link is connected to the moving branch chain, One end is connected to the second connecting rod, and the other end is connected to the third connecting rod of another group of components adjacent to it.

Further preferably, the connecting parts of the first link and the moving branch chain cross each other and are fixed by pins.

Further preferably, the second link and the third link are connected through a Hooke hinge.

Further preferably, one end of the first connecting rod is connected to the second connecting rod through a positioning pin, and the other end is connected to a third connecting rod of another group of components adjacent thereto through a positioning pin.

Preferably, the configurations of the rolling mechanism include a spherical configuration, a prismatic configuration that constrains branch chain abduction, a prismatic configuration that constrains branch chain infolding, a butterfly configuration that constrains branch chain infolding, and constrains branch chain infolding. Stacked planetary configurations.

The mechanism components of the present invention can realize various movement modes through the cooperation between the rotating pairs:

Rolling mode: In this mode, the connecting rods of the multi-configuration reversible rolling mechanism are all in the unfolded state. At this time, the mechanism configuration is spherical, and there is a certain angle between the connecting rods, which can realize the rolling reversing function;

Crawling mode: At this time, the upper and lower rods of the mechanism are folded, and the upper and lower platforms shrink inward until they contact. The mechanism is in a planetary shape and can walk on the folded rods;

Sliding mode: When the lower platform is close to the upper platform, the upper and lower rods fold and the wheel appears. In this state, the multi-configuration reversible rolling mechanism can realize sliding on a flat road surface.

Compared with the prior art, the present invention has the following advantages:

1. The present invention provides a multi-configuration reversible rolling mechanism that is completely symmetrical in spatial structure and can adapt to various terrains;

2. The mechanism of the present invention has good stiffness and load-bearing capacity, and is easy to change directions. It can realize the transformation of the machine configuration and can adapt to various road conditions. When the mechanism configuration is spherical, it is easy to turn and has high maneuverability; the mechanism structure When the shape is prism, smaller drive can be used to move;

3. The special configuration of the mechanism of the present invention and the connection method between the rods enable the mechanism to easily realize the rolling reversal requirements, and the parallelogram mechanism deformation and instability mechanism can be used to realize the conversion of the mechanism configuration;

4. The mechanism component of the present invention can drive the rotating pair through a rotating motor to transform the mechanism from a spherical configuration to a right prism configuration;

5. The spherical structure of the present invention can realize the functions of linear travel and flexible direction change using a relatively simple control method, and has good stiffness and load-bearing capacity;

6. The mechanism configuration of the present invention can be divided into eight spaces with identical structures according to the installation arrangement of its components. It has the advantages of smooth movement on both flat and rough roads, and can be reversed at will, so it has good application prospects.

Description of the drawings

Figure 1 is an overall assembly diagram of the multi-configuration reversible rolling mechanism of the present invention;

Figure 2 is a schematic diagram of the connection between the upper and lower platforms and the first upper rod and the first lower rod of the multi-configuration reversible rolling mechanism of the present invention;

Figure 3 is a schematic diagram of the connection between the second upper rod, the second lower rod and the constrained branch chain of the multi-configuration reversible rolling mechanism of the present invention;

Figure 4 is a schematic diagram of the connection between the second link and the third link of the multi-configuration reversible rolling mechanism of the present invention;

Figure 5 is a schematic diagram of the installation of the Mecanum wheel of the multi-configuration reversible rolling mechanism of the present invention;

Figure 6 is a prism schematic diagram of the restrained branch chain abduction mode of the multi-configuration reversible rolling mechanism of the present invention;

Figure 7 is a prism schematic diagram of the inward folding mode of the constrained branch chain of the multi-configuration reversible rolling mechanism of the present invention;

Figure 8 is a schematic diagram of the restrained branch chain of the multi-configuration reversible rolling mechanism of the present invention folding inwards and sliding in a butterfly shape;

Figure 9 is a schematic diagram of the restrained branch chain of the multi-configuration reversible rolling mechanism of the present invention folding inward and sliding in a planetary state;

In the picture: 1-upper platform, 2-lower platform, 3-constrained branch chain, 301-first link, 302-second link, 303-third link, 4-moving branch chain, 401-first Upper pole, 402-second upper pole, 403-first lower pole, 404-second lower pole, 405-connector, 5-Mecanum wheel, 6-first Hook hinge, 7-second Hook Hinge.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The following examples are implemented on the premise of the technical solution of the present invention and provide detailed implementation modes and specific operating processes. However, the protection scope of the present invention is not limited to the following examples.

Example 1

A multi-configuration reversible rolling mechanism, including an upper platform 1, a lower platform 2, a constrained branch chain 3 and four moving branch chains 4; the upper and lower platforms are symmetrically arranged, and the platform is in a vertical X shape; the two ends of the four moving branch chains 4 The upper and lower platforms are connected by Hooke hinges respectively; four movable branch chains 4 are symmetrically and evenly arranged at the four corners of the upper and lower platforms; the movable branch chains 4 include a first upper rod 401, a second upper rod 402, a first lower rod 403, and a second lower rod 404. ; The first upper rod 401 and the second upper rod 402, and the first lower rod 403 and the second lower rod 404 are connected through a rotating pair (locating pin), with a Mecanum wheel 5 installed therebetween; the restraint branch chain 3 includes four groups of components with the same structure, each group of components includes three connecting rods with different structures (the first connecting rod 301, the second connecting rod 302 and the third connecting rod 303), wherein the second connecting rod 302 and the third connecting rod 303 The three connecting rods 303 are connected through the first Hooke hinge 6; the constraining branch chain 3 is located between the second upper rod 402 and the second lower rod 404; the rods between the moving branch chain 4 and the constraining branch chain 3 are rotated Vice (positioning pin) connected.

Example 2

A multi-configuration reversible rolling mechanism. All rods are connected through rotating pairs. Through the relative rotation between the rods, various forms of the moving mechanism can be realized. As shown in Figure 1, the state of the mechanism is spherical at this time. In this state, all interconnected rods have a certain angle. When the rods are locked, they can roll forward and can Achieve any reversal. The constraint branch chain 3 is composed of four groups of identical components, and each group of components has three structures: the first link 301, the second link 302 and the third link 303. When the constraint branch chain 3 moves, to the third of the four groups of components The two links 302 and the third link 303 are orthogonal to each other. The movement of the constrained branch chain 3 will drive the first upper rod 401, the second upper rod 402, the first lower rod 403 and the second lower rod 404 of each moving branch chain 4. exercise.

The upper platform 1 is connected to the first upper rods 401 of the four moving branches 4 through the second Hooke hinge 7, which can achieve four-direction reversal. Due to the symmetry of the mechanism, the upper and lower platforms are connected to the connected rods. The connection methods are the same, and the specific connection methods are shown in Figure 2; there are two different connection methods for connecting adjacent rods between the middle over-constrained branch chains 3, one is shown in Figure 3, and the first connecting rod 301 are connected to each other. Since they are also connected to the moving branch chain 4, two connecting rods are used: the first connecting rod 301 and the connecting piece 405. The first connecting rod 301 and the connecting piece 405 cross each other and are connected by pins. The first connecting rod 301 and the second connecting rod 302, the first connecting rod 301 and the adjacent third connecting rod 303, the connecting piece 405 and the second upper rod 402 and the second lower rod 404 are all connected by shaft pins. It can realize free rotation and can change the structural form in time;

Another connection method is shown in FIG. 4 . The directly connected rods (the second link 302 and the third link 303 ) are connected through the first Hooke hinge 6 . A Mecanum wheel (Mecanum wheel 5) is installed between the first rod (the first upper rod 401 or the first lower rod 403) and the second rod (the second upper rod 402 or the second lower rod 404). It enables the use of smaller drivers on smooth ground, which is more in line with design requirements. The specific connection method is shown in Figure 5.

Most of the connections between adjacent rods of this mechanism rely on Hooke hinges, so this mechanism can change into various forms. The upper platform 1 and the lower platform 2 move until the upper platform 1 is connected to the four first upper rods 401, and the lower platform When the platform 2 and the four connected first lower rods 403 are coplanar, and the first link 301 and the second link 302 in each set of components of the constrained branch chain 3 are coplanar, the mechanism state at this time is as shown in Figure 6, which is constraint. Prismatic with branched chains. When the constrained branch chain 3 moves in the reverse direction, the mechanism can be transformed from the prism constraining the branch chain to expand to the state shown in Figure 7. In this state, the mechanism can be divided into two spaces according to the structure, and the divided surface can be viewed as an orthogonal two-sided space as a whole. X-shaped, the uppermost layer is the upper platform 1 and four first upper rods 401 forming the top surface of the prism, the middle layer is composed of the constrained branch chain 3, and the bottom surface of the prism is composed of the lower platform 2 and four first lower rods 403.

As shown in Figure 8, the upper platform 1 and the lower platform 2 of the mechanism continue to shrink inward. The angle between the first upper rod 401 and the second upper rod 402 is an acute angle. Due to the symmetry of its structure, the first lower rod 403 and the second upper rod 402 are at an acute angle. The included angle between the lower rods 404 is the same angle. At this time, the shape of the mechanism is similar to a butterfly shape, and the sliding on the flat ground can be realized through the wheat wheel.

The mechanism state shown in Figure 9 is a planetary shape that constrains the abduction of the branch chain. At this time, the mechanism can achieve gait walking on rough roads. In the state shown in the figure, the bottom surface of the upper platform 1 and the top surface of the lower platform 2 are in contact. At this time, the angle between the first upper rod 401 and the second upper rod 402, and the first lower rod 403 and the second lower rod 404 is less than 30°. acute angle. The angle between the second link 302 and the third link 303 of each group of components in the constrained branch chain 3 is an acute angle.

A multi-configuration reversible rolling mechanism as described above. The multiple configurations include a spherical configuration, a prismatic configuration that constrains branch chain abduction, a prismatic configuration that constrains branch chain infolding, and a constraint branch chain internal stacking configuration. Due to the particularity of the rod structure, the stacked butterfly configuration and the stacked planetary configuration of constrained branches can be divided into eight spaces with completely consistent spatial structures;

Spherical configuration: In this state, there is a certain angle between the rods, which allows the mechanism to roll forward, and the spherical configuration is convenient for reversing.

The prism configuration of the restrained branch chain abduction: the second link and the third link in the restrained branch chain, the upper links, and the lower links are orthogonal to each other, and the overall structure of the mechanism is a straight hexagonal prism.

Prismatic configuration in which constrained branch chains overlap: In this configuration, the mechanism constrains the branch chains to be orthogonal in pairs, and the plane of the upper platform, the plane of the constrained branch chains, and the plane of the lower platform are parallel to each other. The upper rod and the upper rod, The connecting rods between the lower rod and the lower rod are perpendicular to each other, and the overall structure of the mechanism is a regular hexagonal prism.

The butterfly configuration of the constrained branch chain folding inward: the constrained branch chain folds inward, and the adjacent rods are orthogonal to each other, the upper and lower platforms remain parallel and shrink inward, and are sandwiched between the upper rod and the upper rod and between the lower rod and the lower rod. The horns are acute and their shape resembles that of a butterfly.

The planetary configuration of the constrained branch chain infolding: the constrained branch chain is abducted, its shape is planet-shaped, and the angle between the second link and the third link is an acute angle, the bottom surface of the upper platform is in contact with the top surface of the lower platform, and the upper platform is in contact with the top surface of the lower platform. The angles between the pole and the upper pole and between the lower pole and the lower pole are acute angles.

Example 3

A multi-configuration reversible rolling mechanism includes an upper platform 1, a lower platform 2, four moving branch chains 4 and a constrained branch chain 3. The mechanism is spherical in shape and can be divided into eight identical spaces according to its structure.

The structures of the upper platform 1 and the lower platform 2 are X-shaped and arranged symmetrically. The structures of the four moving branch chains 4 are exactly the same, and are composed of a first upper rod 401, a second upper rod 402, a first lower rod 403, and a second lower rod 404, wherein the first upper rod 401, the first lower rod 403, The structures and combinations of the second upper rod 402 and the second lower rod 404 are exactly the same. The first upper rod 401 is connected to a corner of the upper platform 1X through the rotating pair I. Similarly, the first lower rod 403 is connected to the lower platform 2 through the rotating pair VI. The second upper rod 402 is connected to the first upper rod 401 and the second lower rod 404 to the first lower rod 403 through the rotating pairs II and V respectively. A wheat wheel (Mecanum wheel 5) is installed between the first rod and the second rod. ), the upper rod and the lower rod are connected to the connecting piece 405 through the rotating pairs III and IV. The over-constrained branch chain 3 is composed of three staggered rods with different structures. The rotating pairs I and VI are connected by Hooke hinges. The rotating pairs II, III, IV, and V are all pin-connected, and the connected rods are all connected. Relative rotation is possible.

When the rod rotates so that the angle between the constrained branch chain rod, the moving branch chain rod, the upper and lower rods of the moving branch chain and the upper and lower platforms is between 90° and 180°, the mechanism configuration is spherical. In this state, it can be achieved The mechanism can roll forward and change direction at will.

When the upper and lower rods are orthogonal, the upper (lower) platform is coplanar with the first upper (lower) rod, the first link 301 is coplanar with the second link 302 connected to it, and the connecting piece 405 is coplanar with the second rod. When , the mechanism at this time is a prismatic mechanism that constrains the abduction of the branch chain, which is one of several configurations of the mechanism; when other conditions remain unchanged, the first link 301 is orthogonal to the second link 302 connected to it, At this time, the mechanism is a prismatic mechanism that constrains the adduction of the branch chain, which is another configuration of the mechanism.

When the upper and lower platforms begin to shrink inward to a certain extent, the wheel between the first and second rods begins to function, and the movement form of the mechanism changes from rolling to sliding. At this time, the over-constrained branch chain members are orthogonal to each other.

When the constrained branch chain is abducted, the upper and lower platforms can move until they contact each other. At this time, the structure of the mechanism is planetary, and its movement mode is no longer a single sliding mode. When the road surface is rough and the friction is large, the sliding mode can be transformed into Gait walking.

As the preferred technical solution:

Preferably, the multi-configuration reversible rolling mechanism is completely symmetrical in structure, and the connection between each component is a rotational connection.

The mechanism can be divided into the following movement modes according to its shape:

Rolling mode: In this mode, the connecting rods of the multi-configuration reversible rolling mechanism are all in an unfolded state, and there is a certain angle between the connecting rods to achieve the reversing requirements;

Crawling mode: At this time, the upper and lower rods of the mechanism are folded, and the upper and lower platforms shrink inward until they contact. The mechanism is in a planetary shape and can walk on the folded rods;

Sliding mode: When the lower platform is close to the upper platform, the upper and lower rods fold and the wheel appears. In this state, the multi-configuration reversible rolling mechanism can realize sliding on a flat road surface.

In the present invention, it should be noted that the terms “first”, “second” and “third” are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

The above description of the embodiments is to facilitate those of ordinary skill in the technical field to understand and use the invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without inventive efforts. Therefore, the present invention is not limited to the above embodiments. Based on the disclosure of the present invention, improvements and modifications made by those skilled in the art without departing from the scope of the present invention should be within the protection scope of the present invention.

Claims (4)

1. A multi-configuration reversible rolling mechanism, characterized in that it includes an upper platform (1), a lower platform (2), a constrained branch chain (3) and four moving branch chains (4), and the upper platform The platform (1) and the lower platform (2) are in an between mobile branches (4); The structures of the four moving branch chains (4) are exactly the same, including a first upper rod (401), a second upper rod (402), a first lower rod (403) and a second lower rod (404); The two ends of the rod (401) are respectively connected to the upper platform (1) and the second upper rod (402). The two ends of the first lower rod (403) are respectively connected to the lower platform (2) and the second lower rod (404). The rod (402) and the second lower rod (404) are connected through a rotating pair; The first upper rod (401) is connected to the upper platform (1) through the rotating pair I, connected to the second upper rod (402) through the rotating pair II, and the second upper rod (402) is connected to the connecting piece (405) through the rotating pair III. ), the connector (405) is connected to the second lower rod (404) through the rotating pair IV, the second lower rod (404) is connected to the first lower rod (403) through the rotating pair V, and the first lower rod (403) is connected to the first lower rod (403) through the rotating pair V. VI connects to the lower platform (2); The rotating pair I is a Hooke hinge, the rotating pairs II~V are positioning pins, and the rotating pair VI is a Hooke hinge; The first upper rod (401) and the second upper rod (402), and the first lower rod (403) and the second lower rod (404) are connected by positioning pins, and a McKenna is installed therebetween. Mu Lun (5); The rotating pair I, rotating pair II, rotating pair III, rotating pair IV, rotating pair V and Mecanum wheel (5) are all driven by independent driving parts; The restraining branch chain (3) is composed of four groups of components with the same structure, each group of components includes a first connecting rod (301), a second connecting rod (302) and a third connecting rod (303); A connecting rod (301) is connected to the moving branch chain (4), one end is connected to the second connecting rod (302), and the other end is connected to the third connecting rod (303) of another group of components adjacent to it; The first connecting rod (301) and the connecting piece (405) cross each other and are connected through pins. 2. The multi-configuration reversible rolling mechanism according to claim 1, characterized in that the second link (302) and the third link (303) are connected through a Hooke hinge. 3. The multi-configuration reversible rolling mechanism according to claim 1, characterized in that one end of the first connecting rod (301) is connected to the second connecting rod (302) through a positioning pin, and the other end is connected through a positioning pin. A third link (303) connecting another set of components adjacent to it. 4. A multi-configuration reversible rolling mechanism as claimed in any one of claims 1 to 3, characterized in that the configuration of the rolling mechanism includes a spherical configuration and a prismatic configuration constraining branch chain abduction. state, the prism configuration constraining the infolding of branch chains, the butterfly configuration constraining the infolding of branch chains, and the planetary configuration constraining the infolding of branch chains.