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Movement mechanism with two modes

A technology of mobile mechanism and form, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of poor adaptability to the ground environment and surrounding space environment

Inactive Publication Date: 2015-07-01
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: the mobile mechanism generally has only one form during the moving process, and has poor adaptability to the ground environment and the surrounding space environment

Method used

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  • Movement mechanism with two modes
  • Movement mechanism with two modes

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach

[0059] The six curved surface shells and two apex shells are fixedly connected to the outside of the two drive rod groups, which play the role of protection and movement support;

[0060] Such as image 3 , the driving rod group (A) includes three rod group branch chains (A-1), a connecting vertex (A-2), a connecting ring (A-3) and six branch chain connecting shafts (2);

[0061] Among them, the rod group branch chain (A-1) such as Figure 4, consisting of apex connecting rod (A-1-1), ring connecting rod (A-1-2), rod group connecting rod (A-1-3), auxiliary connecting rod (A-1-5), branch chain Composed of a motor (A-1-4) and three branch-chain connecting shafts (2);

[0062] Such as Figure 4 , the first branch chain is connected to the rotating shaft (2), passes through the hole b of the apex connecting rod (A-1-1) and the hole a of the auxiliary connecting rod (A-1-5), and fixes it axially with a circlip, Make a rotating joint between the top connecting rod (A-1-1) and th...

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Abstract

A movement mechanism with two modes comprises two symmetrically-arranged drive rod groups (A) and curved surface housings (A-a). Each of the drive rod groups comprises three rod group branch chains (A-1), a connecting ejection point (A-2) and a connecting ring (A-3), and the rod group branch chains, the connecting ejection point (A-2) and the connecting ring are connected through six branch chain connecting rotation shafts (2). The bottoms of the two drive rod groups are oppositely arranged and are connected as a whole thorough three rod group connecting rotation shafts (1). The connecting ejection point is provided with a platform and an eccentric block motor serving as a power-driven member, and a casing (A-b) for the protection and the positioning of the platform is arranged outside the platform of the connecting ejection point. The mechanism has two movement modes: the mechanism can perform the ellipsoid shape rolling movement and is driven and controlled through an eccentric block when the curved surface housings are closed, and the mechanism can perform the triangular pyramid shape transformation movement and is driven by controlling the transformation and is controlled in steering through the matching of the eccentric block when the curved surface housings are opened.

Description

technical field [0001] The invention relates to a mechanism, in particular to a moving mechanism with two forms. Background technique [0002] The movement modes of the ground mobile mechanism include walking, jumping, wriggling and rolling, etc. Among them, rolling on the flat ground is a high-efficiency movement mode. The rolling robot with variable shape can make the mechanism move through the change of its own shape, and at the same time Improve your own stability. Chinese patent CN 1302717A proposes a spherical mobile robot that can move in any direction of the sphere; Chinese patent CN 101890714A proposes a single-degree-of-freedom link mobile robot and its control method, which realizes a certain sense of straight travel and steering functions. The spherical mobile robot and the single-degree-of-freedom link mobile robot have only one form of movement, and the mobile mechanism with two forms can change the movement mode according to the ground environment and the sur...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 姚燕安李晔卓翟美丽郝艳玲
Owner BEIJING JIAOTONG UNIV
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