Quadrilateral rolling mechanism capable of steering

A quadrilateral and fourth technology, which is applied in the field of steerable quadrilateral rolling mechanisms, can solve problems such as poor maneuverability, and achieve the effects of low cost, easy manufacturing and engineering realization, and simple mechanism structure.

Inactive Publication Date: 2013-11-13
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: the rolling robot (such as a rolling four-bar mechanism) generally does not change the direction of motion during the rolling process, and the mobility of the motion is poor

Method used

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  • Quadrilateral rolling mechanism capable of steering
  • Quadrilateral rolling mechanism capable of steering
  • Quadrilateral rolling mechanism capable of steering

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Embodiment approach

[0035] Such as figure 1 , The connecting plate of the motor base (1) and the synchronous connecting plate of the motor (2) constitute one side of the quadrilateral, the connecting plate of the motor base (3) and the synchronous connecting plate of the motor (4) form one side of the quadrilateral, the connecting plate of the motor base (5) It forms one side of the quadrilateral with the motor synchronous connecting plate (6), the motor seat connecting plate (7) and the motor synchronous connecting plate (8) form a side of the quadrilateral, the motor synchronous connecting plate (2) and the motor seat connecting plate (3) The revolving pair serves as a vertex of the quadrilateral, the motor synchronous connecting plate (4) and the motor seat connecting plate (5) form a revolving pair as a vertex of the quadrilateral, the motor synchronous connecting plate (6) and the motor seat connecting plate (7) constitute the rotating The pair serves as a vertex of the quadrilateral, and th...

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Abstract

The invention discloses a quadrilateral rolling mechanism capable of steering. The quadrilateral rolling mechanism capable of steering comprises eight connection plates and connection structures thereof. Each connection plate is provided with two shaft holes; according to each connection plate, the perpendicular distances of axes between two shaft holes are equal; the eight connection plates form a quadrilateral, wherein the plates (1) and (2), the plates (3) and (4), the plates (5) and (6), and the plates (7) and (8) form four sides of the quadrilateral respectively; any adjacent connection plates are connected by a rotation pair; when the interior angles of the quadrilateral are 90 degrees, and the axes of the rotation pairs of the four corners of a square are parallel to each other, the mechanism has a square appearance; and the movement of the mechanism is controlled by motors (9), (10) and (15); and counter weights (11), (12), (13), (14) and (16) have the same weight as the motors to ensure that the structure of the mechanism is symmetrical. The motor (13) is controlled, so that the mechanism is deformed and rolls due to inertia; and the motors (9) and (10) are controlled, the mechanism is formed so as to swerve.

Description

technical field [0001] The invention relates to a robot, in particular to a steering quadrilateral rolling mechanism. Background technique [0002] The planar four-bar linkage mechanism is the most widely used linkage mechanism. It has a simple structure and convenient design. The planar four-bar linkage mechanism is divided into crank-rocker mechanism, double-rocker mechanism, crank-slider mechanism and other forms. The quadrilateral mechanism is a special double-rocker mechanism. The frame, the middle link and the two rockers that make up the mechanism have the same length, and only one drive is needed to control the movement of the mechanism. Chinese patent CN 2789106Y proposes a single-power rolling four-bar mechanism, which uses a driving motor and realizes the overall rolling of the four-bar mechanism by relying on the inertia generated when the mechanism itself deforms. The structure is simple and has certain movement capabilities, but the mechanism Only linear motio...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/04
Inventor 姚燕安张伟涛李晔卓
Owner BEIJING JIAOTONG UNIV
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