Rolling double four-parallelogram robot

A parallelogram and robot technology, applied in the field of robots, can solve the problems of unchanged shape, poor adaptability to the ground environment and surrounding space environment, etc., and achieve the effects of low cost, simple structure, easy manufacturing and engineering realization.

Active Publication Date: 2012-08-01
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention: rolling robots (such as spherical or wheeled robots) generally do not change in shape during the rolling process, and have poor adaptability to the ground environment and the surrounding space environment

Method used

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  • Rolling double four-parallelogram robot
  • Rolling double four-parallelogram robot
  • Rolling double four-parallelogram robot

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Embodiment approach

[0036] like figure 2 , the first quadrilateral is composed of the motor synchronous link (1), the motor seat link (3), the public link (4) and the public link (20), the motor synchronous link (1) and the motor seat link ( 3) Constitute a revolving pair as a vertex of a parallelogram, the motor seat connecting rod (3) and the common connecting rod (4) constitute a revolving pair as a vertex of a parallelogram, and the common connecting rod (4) and the common connecting rod (20) constitute a revolving pair As a vertex of a parallelogram, the motor synchronous connecting rod (1) and the public connecting rod (20) constitute a revolving pair as a vertex of a parallelogram; the second quadrilateral consists of a motor synchronous connecting rod (6), a motor base connecting rod (8), Public connecting rod (10) and public connecting rod (4) constitute, and motor synchronous connecting rod (6) and motor seat connecting rod (8) constitute rotating pair as a vertex of parallelogram, and...

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Abstract

A rolling double four-parallelogram robot comprises connecting bars, two four-parallelogram mechanisms and connection of the two four-parallelogram mechanisms. Each four-parallelogram mechanism comprises four parallelograms consisting of twelve connecting bars, the adjacent two parallelograms share one side, the four parallelograms share one peak, any two adjacent edges are connected by a rotation pair, when the inner angles are all 90 degrees, the appearance takes the shape of a Chinese character 'tian'(meaning field or farmland). The bars (1),(3),(4) and(20) form a parallelogram which is controlled by a motor (2), the bars (4), (6), (8) and (10) form a parallelogram which is controlled by a motor (7), and the bars (10), (11), (13) and (14) form a parallelogram which is controlled by a motor (12); the bars (14), (16), (18) and (20) form a follow-up parallelogram; and a balance weight (17) is as heavy as the motor, so that the structure is symmetric. The changes of the inner angles of the parallelograms are controlled, so that the mechanisms deform and turn over; and when the rolling speeds of the two parallelograms are different, the robot makes a turn.

Description

technical field [0001] The invention relates to a robot, in particular to a double quadrilateral parallelogram robot rolling and traveling. Background technique [0002] The planar four-bar linkage mechanism is the simplest and most widely used linkage mechanism, and it can evolve into various forms such as crank-rocker, crank-slider, and rocker mechanisms. The parallelogram mechanism is a special double crank mechanism. The length of the frame, two cranks and the middle connecting rod are all the same, and only one drive can realize the control of the parallelogram shape. Chinese patent CN 2789106Y proposes a single-power rolling four-bar mechanism, which uses a driving motor, and relies on the deformation of the parallelogram and the inertia of the mechanism itself to realize the overall rolling of the four-bar mechanism. The structure is simple and has certain movement capabilities, but the Mechanisms relying solely on the deformation of the parallelogram are not enough ...

Claims

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Application Information

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IPC IPC(8): B25J11/00B62D57/02
Inventor 姚燕安刘长焕李晔卓
Owner BEIJING JIAOTONG UNIV
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