Novel multifunctional structure variable detection robot

A multifunctional and variable structure technology, applied in the fields of motor vehicles, transportation and packaging, etc., can solve the problems of Mars exploration robots such as limited space geometry, easy to be restricted by obstacles, damage to core equipment, etc., and achieve strong task completion capabilities , easy to transport and store, increase the effect of working space

Inactive Publication Date: 2011-06-29

TIANJIN POLYTECHNIC UNIV

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AI-Extracted Technical Summary

Problems solved by technology

At present, most of the probe vehicles in the world are developed based on the fixed number of components, and have fixed degrees of freedom, so their structure and function will not change during the working process. When facing unknown difficulties (such as the attitude or orientation of the actuator) Need to adjust, sudden changes in the terrain, harsh changes in the environment, and limited transportation space, etc., especially the harsh changes in the environment may even completely damage the core equipment required to complete the task), the adaptability of this type of probe vehicle becomes poor

Currently, there are four main problems in the developed rover: (1) The core equipment is directly installed on...

Method used

Transformation of platform guiding function to folding protection function: on the structural basis with platform guiding function shown in Fig. Combined into one body, the planar unfolded state of the present invention (as shown in Figure 2) is formed. In the plane unfolded state, the folded plate 6a and the folded plate 6c are turned upwards by 90° respectively, and then the crawling mechanisms on...

Abstract

The invention relates to a multifunctional structure variable detection robot. The robot comprises a body, and is characterized in that: a hollow stander is arranged above the body; wheels are uniformly distributed below the body; the front end and the rear end of the hollow stander are provided with a deformation combined member respectively; each deformation combined member is connected with four creeping mechanisms through a rotating pair R5; each creeping mechanism is connected with one deformation combined member; and each deformation combined member is connected with a foldable moving platform mechanism. Due to the characteristics of a variable structure and multiple functions, the robot can adapt to a surrounding environment and the variation in a working condition well, an executing mechanism has large working space, and the robot has high capacity of finishing tasks and can be applied to different fields through proper improvement. In addition, the robot also has the advantages of simple structure, high space utilization rate, convenience for deformation, easiness of control and the like.

Application Domain

Vehicles

Technology Topic

EngineeringMultiple function +4

Image

Examples

Experimental program(1)

Example Embodiment

[0024] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples, and detailed descriptions are as follows with accompanying drawings:

[0025] See Figure 1 to Figure 4 , A new type of multifunctional variable structure detection robot, comprising a body 1, a hollow frame 1-1 is arranged above the body 1, and wheels 2 are evenly arranged under the body 1, and the front and rear ends of the hollow frame 1-1 are Equipped with a deformed combination member 3; the deformed combination member 3 is connected to four crawling mechanisms 4 through a rotating pair R5; each crawling mechanism 4 is connected with a deformed combination member 5, which is connected with a foldable movable platform mechanism 6 .

[0026] The deformed combination member 3 includes a corner plate 3a, a connecting plate 3b, a triangular plate 3c, a center plate 3d, a triangular plate 3c', a connecting plate 3b' and a corner plate 3a', and the central plate 3d is hinged to the hollow frame through a rotating pair R1 The two sides of the center plate 3d are connected to the triangular plate 3c and the triangular plate 3c' through the rotating pair (R2, R16), and the outer sides of the triangular plate 3c and the triangular plate 3c' are respectively connected by the rotating pair (R3, R15), and the connecting plate 3b and The outer sides of the connecting plate 3b', the connecting plate 3b and the connecting plate 3b' are respectively connected to the angle plate 3a and the angle plate 3a' through the rotating pair (R4, R14), and the outside of the angle plate 3a is connected to the crawling mechanism via the rotating pair R5.

[0027] The crawling mechanism 4 includes a sole 4a, a lower leg 4b and a thigh 4c. The sole 4a and the lower leg 4b are connected by a rotating pair R6, and the lower leg 4b and the thigh 4c are connected by a rotating pair R7.

[0028] The deformed combination member 5 includes a connecting plate 5a, a corner plate 5b, and a connecting plate 5c. The connecting plate 5a and the corner plate 5b are connected by a rotating pair R9, the corner plate 5b and the connecting plate 5c are connected by a rotating pair R10, and the connecting plate 5a is connected by rotating Secondary R8 connected crawling mechanism

[0029] The foldable movable platform mechanism 6 includes a folded plate 6a, a central plate 6b, and a folded plate 6c. The folded plate 6a and the central plate 6b are connected by a rotating pair R12, and the folded plate 6c and the central plate 6b are connected by a rotating pair R13. The plate 6a is connected to the metamorphic mechanism through the rotating pair R11.

[0030] In the above structure, the rotation axes of the rotating pairs,, and always intersect at a point, and the rotation axes of the rotating pairs,, and always intersect at a point.

[0031] The present invention can change through a series of mechanisms and has a platform-oriented function (such as figure 1 Shown), folding protection function (such as image 3 Shown), wheeled movement function (such as figure 1 with image 3 Shown) and crawling movement function (such as Figure 4 Shown), and corresponding to complete the task objectives of each functional stage. The detection robot is usually in the state of platform-oriented function and wheeled movement function. When facing unknown difficulties (such as sudden terrain changes, harsh changes in the environment, and limited transportation space, etc.), it can realize the folding protection function or crawling movement function through its own structural changes. Specific implementation The process is as follows:

[0032] Transformation from platform-oriented function to folding protection function: figure 1 On the basis of the structure with platform guiding function shown, firstly by folding the crawling mechanism, the center plate 6b of the movable platform and the hollow frame 1-1 are overlapped and fixed as a whole to form the flat unfolded state of the present invention (such as figure 2 Shown). In the flat unfolded state, the folded plate 6a and the folded plate 6c are respectively turned upwards by 90°, and then the crawling mechanism on both sides of the folded plate 6a and the folded plate 6c, as well as the gusset 3a, the connecting plate 5a, and the gusset 5b as a whole Turn inside 90° to form a protective cavity. The two ends of the protective cavity are formed by folding the deformed combination members (3, 5) as image 3 The sealing structure shown enables the present invention to have a protective function.

[0033] The transformation of platform-oriented functions to crawling mobile functions: figure 1 On the basis of the structure with platform guiding function shown, firstly by folding the crawling mechanism, the center plate 6b of the movable platform and the hollow frame 1-1 are overlapped and fixed as a whole to form the flat unfolded state of the present invention (such as figure 2 Shown). In the flat unfolded state, disconnect the rotating pair R5 between each crawling mechanism 4 and the deformed combined member 3, and extend the crawling mechanism 4 along the ground direction, thereby supporting the entire vehicle body and the moving platform. At this time, the structure and Generally, reptiles have similar structure and composition, which has practical research significance and application value.

[0034] In summary, the variable structure and multi-function features of the present invention make it well adapt to changes in the surrounding environment and working conditions. The actuator has a large working space and a strong task completion ability, and can be applied to different fields through appropriate improvements. In addition, the invention has the advantages of simple structure, high space utilization, convenient deformation and easy control.

[0035] The foregoing descriptions are only preferred embodiments of the present invention, and are not used to limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made according to the content of the patent application scope of the present invention fall into the technical scope of the present invention.

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Novel multifunctional structure variable detection robot

AI-Extracted Technical Summary

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Abstract

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Examples

Example Embodiment

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Description & Claims & Application Information

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