Tensioning integral structure wheeled robot with anisotropic function

Abstract

The invention discloses a tensegrity structure wheeled robot with an anisotropic function. The tensegrity structure wheeled robot comprises a bearing workpiece, a middle vertical plate, a driving wheel mechanism and an auxiliary wheel mechanism. The two bearing workpieces are respectively arranged on a headstock and a tailstock; the middle vertical plates are rotationally connected with the adjacent bearing workpieces, and every two adjacent middle vertical plates are rotationally connected, so that the wheeled robot with the tensegrity structure forms a structure that multiple sections of vehicle bodies can swing in the running process, and tension springs are connected among the multiple sections of vehicle bodies of the wheeled robot with the tensegrity structure; the driving wheel mechanism is used for driving the wheeled robot with the tensegrity structure to run; the auxiliary wheel mechanism is arranged at the bottom of the middle vertical plate and is of a structure capable of elastically moving back and forth in the rotating axial direction. According to the scheme, sufficient rigidity is achieved in the longitudinal direction for bearing effective loads, sufficient flexibility is achieved in the transverse direction for turning, the robot can adapt to the complex and changeable working environment, and the advantages of being high in environment robustness, high in quality efficiency and the like are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of wheeled robots, and in particular to a tensegrity wheeled robot with anisotropic functions. Background Art

[0002] Today, in the field of wheeled robots, although traditional wheeled robots have certain advantages in structure, they have limitations in their ability to adapt to diverse environments. For example, when robots are performing tasks on complex terrain, traditional wheeled robots will be affected by gullies and cracks in the ground and will stagnate. They will be unable to cross the cracks in the ground and thus will not be able to complete their work tasks on complex terrain.

[0003] Therefore, how to solve this dilemma has become an urgent problem to be solved. Summary of the invention

[0004] The purpose of the present invention is to provide a tensegrity wheeled robot with anisotropic function to solve the problem that existing wheeled robots are unable to perform work tasks on complex terrains.

[0005] In order to solve the above technical problems, the present invention provides a tensegrity wheeled robot with anisotropic function, comprising a load-bearing workpiece, an intermediate vertical plate, a driving wheel mechanism and an auxiliary wheel mechanism; the two load-bearing workpieces are respectively placed at the front and rear of the tensegrity wheeled robot; a plurality of the intermediate vertical plates are separately arranged between the two load-bearing workpieces, and the intermediate vertical plates are rotatably connected to adjacent load-bearing workpieces, as well as to adjacent two intermediate vertical plates, so that the tensegrity wheeled robot forms a structure in which a multi-section body can swing during driving, and tension springs are connected between the multi-section bodies of the tensegrity wheeled robot; the driving wheel mechanism is arranged at the bottom of the load-bearing workpiece, and the driving wheel mechanism is used to drive the tensegrity wheeled robot to travel; the auxiliary wheel mechanism is arranged at the bottom of the intermediate vertical plate, and the auxiliary wheel mechanism is a structure that can elastically move back and forth along the rotation axis.

[0006] In one of the embodiments, an end vertical plate is provided on the load-bearing workpiece, and the end vertical plate is rotatably connected to the adjacent middle vertical plate.

[0007] In one embodiment, the upper and lower parts between the middle vertical plate and the adjacent end vertical plate, and the upper and lower parts between two adjacent middle vertical plates are rotatably connected with two cross-arranged connecting beams.

[0008] In one embodiment, the tension springs are connected to both sides between the middle vertical plate and the adjacent end vertical plates, and both sides between two adjacent middle vertical plates.

[0009] In one embodiment, both ends of the tension spring are connected to the rotational connection of the connecting beam.

[0010] In one embodiment, the driving wheel mechanism includes a DC reduction motor and a driving wheel, the DC reduction motor is fixedly connected to the bottom of the load-bearing workpiece, and the output shaft of the DC reduction motor is connected to the driving wheel.

[0011] In one embodiment, the auxiliary wheel mechanism includes an axle, an auxiliary wheel and a centering spring; the axle passes through the bottom of the middle vertical plate in an axially movable manner, and both ends of the axle are connected to the auxiliary wheels; the centering spring is provided between the two auxiliary wheels and the two sides of the middle vertical plate; the centering spring is sleeved outside the axle.

[0012] The beneficial effects of the present invention are as follows:

[0013] This invention uses tension springs as key components of the load-bearing system, which work together with the end vertical plates, the middle vertical plates, etc. to provide the wheeled robot with good rigidity in the longitudinal direction, so that it can effectively carry the designed load. This design allows the robot to maintain structural stability and integrity when bearing heavy objects. This invention applies the unique concept of tensegrity structure to the design of wheeled robots, so that the wheeled robot has sufficient flexibility in the lateral direction and can flexibly turn. This structural design improves the robot's maneuverability and adaptability in narrow or complex terrains, thereby effectively solving the problem that existing wheeled robots cannot perform work tasks in complex terrains.

[0014] Moreover, the invention adopts a modular mechanism unit design method, which can realize corresponding functions by connecting different modules, while improving overall work efficiency. The modular design not only simplifies the production and assembly process, but also facilitates future upgrades and maintenance, allowing the robot to quickly adapt to different task requirements. The invention adopts a conformal design of the overall structure. When the wheeled robot turns, it can conform to the narrow road surface through the telescopic cooperation of the tensionable spring, while maintaining the consistency of the overall structural curvature, improving the robot's adaptability and passability in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1It is a schematic diagram of the structure provided by an embodiment of the present invention;

[0017] Figure 2 yes Figure 1 Schematic diagram of the structure viewed from above.

[0018] The reference numerals are as follows:

[0019] 10. Load-bearing workpieces;

[0020] 20. Middle vertical board;

[0021] 30. driving wheel mechanism; 31. DC reduction motor; 32. driving wheel;

[0022] 40. Auxiliary wheel mechanism; 41. Wheel axle; 42. Auxiliary wheel; 43. Centering spring;

[0023] 50. Tension spring;

[0024] 60. End vertical plate;

[0025] 70. Connecting beam. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0027] In order to cope with unexpected situations that may be encountered in the working environment, such as cracks in the ground or tortuous paths, as well as situations where the turning angle of the wheeled robot is strictly required, a wheeled robot with anisotropic structure, high turning flexibility and precise control is required. Because traditional rigid wheeled robots lack a complex suspension system to absorb the unevenness of the ground, they cannot effectively buffer when encountering cracks, which limits their ability to pass through complex terrain. In addition, in a working environment with complex terrain, wheeled robots need to have sufficient lateral flexibility to complete turning tasks in narrow terrain.

[0028] To this end, this paper designs a tensegrity wheeled robot with anisotropic functions, which has sufficient rigidity in the longitudinal direction to carry the payload and sufficient flexibility in the lateral direction to achieve flexible turning on narrow and irregular paths. This design enables the robot to adapt to changing working environments while maintaining structural stability, improving its adaptability and reliability in practical applications.

[0029] Specifically, its implementation is as follows: Figure 1 and Figure 2As shown, it includes a load-bearing workpiece 10, an intermediate vertical plate 20, a driving wheel mechanism 30 and an auxiliary wheel mechanism 40; the two load-bearing workpieces 10 are respectively placed at the front and rear of the tensegrity structure wheeled robot; a plurality of the intermediate vertical plates 20 are separately arranged between the two load-bearing workpieces 10, and the intermediate vertical plates 20 and the adjacent load-bearing workpieces 10, as well as the two adjacent intermediate vertical plates 20 are rotatably connected, so that the tensegrity structure wheeled robot forms a structure in which a multi-section body can swing during driving, and tension springs 50 are connected between the multi-section bodies of the tensegrity structure wheeled robot; the driving wheel mechanism 30 is arranged at the bottom of the load-bearing workpiece 10, and the driving wheel mechanism 30 is used to drive the tensegrity structure wheeled robot to travel; the auxiliary wheel mechanism 40 is arranged at the bottom of the intermediate vertical plate 20, and the auxiliary wheel mechanism 40 is a structure that can elastically move back and forth along the rotation axis.

[0030] Specifically, Figure 1 and Figure 2 As shown, in this embodiment, an end vertical plate 60 is provided on the load-bearing workpiece 10 . The end vertical plate 60 is arranged on the upper surface of the load-bearing workpiece 10 in a vertical arrangement, and the end vertical plate 60 is rotatably connected to the adjacent middle vertical plate 20 .

[0031] Specifically, Figure 1 and Figure 2 As shown, in this embodiment, the upper and lower parts between the middle vertical plate 20 and the adjacent end vertical plate 60, and the upper and lower parts between two adjacent middle vertical plates 20 are rotatably connected with two cross-arranged connecting beams 70.

[0032] Specifically, Figure 1 and Figure 2 As shown, in this embodiment, both sides between the middle vertical plate 20 and the adjacent end vertical plate 60, and both sides between two adjacent middle vertical plates 20 are connected with tension springs 50; when the wheeled robot is in a non-turning state, the tension springs 50 on both sides are parallel and opposite.

[0033] Specifically, Figure 1 and Figure 2 As shown, in this embodiment, both ends of the tension spring 50 are connected to the rotation connection of the connecting beam 70.

[0034] Specifically, Figure 1 and Figure 2 As shown, this embodiment provides a driving wheel mechanism 30 including a DC reduction motor 31 and a driving wheel 32. The DC reduction motor 31 is fixedly connected to the bottom of the load-bearing workpiece 10, and the output shaft of the DC reduction motor 31 is connected to the driving wheel 32. For example, two DC reduction motors 31 are provided at the bottom of each load-bearing workpiece 10, and the output shafts of the two DC reduction motors 31 can be respectively connected to the driving wheels 32, thereby providing power for the wheeled robot to move.

[0035] Specifically, Figure 1 and Figure 2 As shown, in this embodiment, an auxiliary wheel mechanism 40 includes an axle 41, an auxiliary wheel 42 and a centering spring 43; the axle 41 passes through the bottom of the middle vertical plate 20 in an axially movable manner, and both ends of the axle 41 are connected to the auxiliary wheels 42; centering springs 43 are provided between the auxiliary wheels 42 and both sides of the middle vertical plate 20; the centering springs 43 are sleeved outside the axle 41.

[0036] Therefore, after adopting this setting, once the wheeled robot is turning, the wheel axle 41 can adaptively move at the bottom of the middle vertical plate 20, thereby changing the compression degree of the two auxiliary wheels 42 on the two centering springs 43; for example, at this time, one auxiliary wheel 42 will move in the direction away from the middle vertical plate 20, so that the centering spring 43 on this side is in a state of reduced pressure, and the other auxiliary wheel 42 will move in the direction close to the middle vertical plate 20, so that the centering spring 43 on this side is in a state of increased pressure; after the wheeled robot returns to the state of walking in a straight line, the two centering springs 43 will apply force to the auxiliary wheels 42 and drive the wheel axle 41 to reset, thereby realizing the centering of the wheels on both sides of the wheeled robot when moving.

[0037] After adopting the above-mentioned setting method, the main module of the wheeled robot is equivalent to using multiple intermediate vertical plates 20 to achieve series connection, and the connection beam 70 and the tension spring 50 are used between different vertical plates to realize the tensioned overall structure; the connection beam 70 connects the upper and lower parts of the adjacent vertical plates, that is, the intermediate vertical plate 20 and the end vertical plate 60; the tension spring 50 is fixed at the end intersection of the connection beam 70, so as to achieve conformity with the narrow road surface when the wheeled robot turns, and keep the overall structural curvature consistent when the wheeled robot turns.

[0038] At this time, the tensioning spring 50 is fixed to the hexagonal screw through a small hook, and the hexagonal screw and the nut are fixed to the middle vertical plate 20 and the end vertical plate 60. The hexagonal screw passes through the reserved holes at the bottom of the middle vertical plate 20 and the end vertical plate 60 and cooperates with the nut to achieve a limiting effect.

[0039] The connecting beam 70 connects the adjacent middle vertical plate 20 and the end vertical plate 60 in series, and cooperates with the expansion and contraction of the tension spring 50 to realize the overall tensioning structure of the wheeled robot, so that the wheeled robot body has sufficient rigidity in the longitudinal direction to carry the effective load, and has sufficient flexibility in the transverse direction to realize the turning task, so that the wheeled robot can easily cross the cracks in the working environment in case of emergencies such as cracks, which improves the working efficiency and environmental robustness compared with traditional rigid robots.

[0040] In addition, the end vertical plates 60 on both sides carry batteries and circuit boards (not shown); and the middle vertical plate 20 serves as a connection device between the auxiliary wheels 42 and the wheeled robot body. At the same time, the middle vertical plate 20 and the end vertical plates 60 provide sufficient longitudinal rigidity for the wheeled robot body.

[0041] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A tensegrity wheeled robot with anisotropic function, characterized in that: It includes a load-bearing workpiece, an intermediate vertical plate, a driving wheel mechanism and an auxiliary wheel mechanism; The two load-bearing workpieces are respectively placed at the front and rear of the tensegrity wheeled robot; A plurality of the intermediate vertical plates are arranged separately between the two load-bearing workpieces, and the intermediate vertical plates are rotatably connected to the adjacent load-bearing workpieces, and to the adjacent two intermediate vertical plates, so that the tensegrity wheeled robot forms a structure in which the multi-segment body can swing during driving, and tension springs are connected between the multi-segment body of the tensegrity wheeled robot; The driving wheel mechanism is arranged at the bottom of the load-bearing workpiece, and the driving wheel mechanism is used to drive the tensegrity structure wheeled robot to travel; The auxiliary wheel mechanism is arranged at the bottom of the middle vertical plate, and the auxiliary wheel mechanism is a structure that can elastically move back and forth along the rotation axis.

2. The tensegrity wheeled robot according to claim 1, characterized in that: The load-bearing workpiece is provided with an end vertical plate, and the end vertical plate is rotatably connected to the adjacent middle vertical plate.

3. The tensegrity wheeled robot according to claim 2, characterized in that: The upper and lower parts between the middle vertical plate and the adjacent end vertical plate, and the upper and lower parts between two adjacent middle vertical plates are all rotatably connected with two cross-arranged connecting beams.

4. The tensegrity wheeled robot according to claim 3, characterized in that: The tension springs are connected to both sides between the middle vertical plate and the adjacent end vertical plates, and both sides between two adjacent middle vertical plates.

5. The tensegrity wheeled robot according to claim 4, characterized in that: Both ends of the tension spring are connected to the rotation connection of the connecting beam.

6. The tensegrity wheeled robot according to claim 1, characterized in that: The driving wheel mechanism comprises a DC reduction motor and a driving wheel. The DC reduction motor is fixedly connected to the bottom of the load-bearing workpiece, and the output shaft of the DC reduction motor is connected to the driving wheel.

7. The tensegrity wheeled robot according to claim 1, characterized in that: The auxiliary wheel mechanism comprises a wheel axle, an auxiliary wheel and a centering spring; The wheel axle passes through the bottom of the middle vertical plate in an axially movable manner, and both ends of the wheel axle are connected to the auxiliary wheels; The centering springs are provided between the two auxiliary wheels and the two sides of the middle vertical plate; The centering spring is sleeved outside the wheel axle.

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