A robot based on pseudo three-dimensional Hilbert curve

Abstract

The present invention discloses a robot based on a pseudo-Hilbert curve, comprising a robot body and a controller. The robot body is composed of sixty-three telescopic units connected end to end according to a second-order pseudo-three-dimensional Hilbert curve. The telescopic unit comprises a telescopic rod, a telescopic rod bracket, a cube connection block and a driver. The cube connection block is a hollow structure. The driver is placed in the inner cavity of the cube connection block. The second bracket of the telescopic unit is used to be fixedly connected with the three-dimensional connection block of another telescopic unit. The telescopic rod is connected to the driver through a wire. The controller controls the driver to control the extension and retraction of each telescopic rod. The robot of the present invention is designed in combination with a pseudo-three-dimensional Hilbert curve. The movement of the robot body is achieved by controlling the extension and retraction of the telescopic rod. Its structure can effectively reduce the influence of fluid resistance in the environment and complete some operations in an environment with large or changing fluid resistance.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a robot based on a pseudo three-dimensional Hilbert curve. Background Art

[0002] Currently, when the fluid resistance is large or the fluid resistance changes greatly in the working environment, the movement of the robot often requires a lot of energy to offset these resistances, and a precise control system is required to reduce the impact of the fluid resistance changes and move to the specified position, which will increase costs.

[0003] Therefore, it is necessary to design a robot that is less affected by the environmental fluid resistance. Summary of the invention

[0004] The object of the present invention is to provide a robot which is less affected by the resistance of the environmental fluid and can move.

[0005] To this end, the present invention provides a robot based on a pseudo-Hilbert curve, comprising a robot body and a controller. The robot body is composed of sixty-three telescopic units connected end to end according to a second-order pseudo-three-dimensional Hilbert curve. The telescopic units include a telescopic rod, a first telescopic rod bracket, a second telescopic rod bracket, a cube connecting block and a driver. The first rod end of the telescopic rod is fixedly connected to the cube connecting block through the first telescopic rod bracket, and the second rod end of the telescopic rod is fixedly connected to the second telescopic rod bracket. The cube connecting block is a hollow structure, and the driver is placed in the inner cavity of the cube connecting block, wherein the second bracket of the telescopic unit is used to be fixedly connected to the three-dimensional connecting block of another telescopic unit, the telescopic rod is connected to the driver through a wire, and the controller controls the extension and retraction of each telescopic rod by controlling the driver.

[0006] Compared with the prior art, the present invention has the following beneficial effects:

[0007] The present invention combines the pseudo three-dimensional Hilbert curve in mathematics with a robot. It is composed of sixty-three telescopic units connected to each other, which can realize the movement of the robot body. At the same time, because the space formed by the robot is a non-closed space, it has multiple uses. For example, when the fluid in the environment contacts the robot, it will pass through the internal space of the robot. Therefore, the robot is less affected by the resistance of the environmental fluid during operation. In addition, the non-closed space inside the robot can be used to carry objects, so some operations and transportation of objects can be carried out.

[0008] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0010] Figure 1 It is a structural schematic diagram of a robot based on a pseudo three-dimensional Hilbert curve of the present invention;

[0011] Figure 2 It is a structural schematic diagram of the telescopic unit of the present invention;

[0012] Figure 3 is a schematic diagram of the second order of the pseudo three-dimensional Hilbert curve on which the present invention is based;

[0013] Figure 4 It is a schematic structural diagram of the robot body of the present invention;

[0014] Figure 5 It is a schematic structural diagram of the robot body of the present invention;

[0015] Figure 6a-Figure 6i is a schematic diagram of the gait of the robot body of the present invention walking to the right;

[0016] Figure 7a-Figure 7i is a schematic diagram of the gait of the robot main body of the present invention walking forward;

[0017] Figure 8 A schematic diagram showing a camera being arranged on the telescopic unit of the robot of the present invention is shown.

[0018] in:

[0019] Figure 1 In: 1. Robot body; 2. Controller;

[0020] Figure 2 Middle: 301, cube connecting block; 302, driver; 303, 305, telescopic rod bracket; 304, telescopic rod;

[0021] Figure 4 and Figure 5 Middle: 101 to 163, telescopic unit. DETAILED DESCRIPTION

[0022] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0023] Figure 1 It is a structural schematic diagram of a robot based on a pseudo three-dimensional Hilbert curve provided by the present invention, which includes a robot body 1 and a controller 2.

[0024] Figure 2304, wherein the driver 302 is placed in the cube connecting block 301, the telescopic rod bracket 303 is welded to the cube connecting block 301, and the two rod ends of the electric telescopic rod 304 are respectively fixedly connected to the telescopic rod brackets 303 and 305.

[0025] Figure 3 It is a schematic diagram of the second order of the pseudo three-dimensional Hilbert curve on which the present invention is based, and the curve is formed by folding a continuous line in three-dimensional space.

[0026] Figure 4 and Figure 5 is a schematic diagram of the structure of the robot body of the present invention, comprising sixty-three telescopic units 101 to 163, wherein the telescopic units 101 to 163 are arranged according to Figure 3 The pseudo three-dimensional Hilbert curve is connected to each other in the second order, that is, the expansion units 101 to 163 are replaced by Figure 3 For each straight line in the second order of the pseudo three-dimensional Hilbert curve, the telescopic units 101 to 163 are connected to each other in such a way that the telescopic rod bracket 305 in the telescopic unit is welded to the connecting block 301 in the adjacent telescopic unit.

[0027] The telescopic rod 304 is connected to the driver 302 via a wire, and the driver 302 in the telescopic units 101 to 163 is connected to the controller 2 via a wire / wireless connection. The controller 2 can control the telescopic rod 304 in the telescopic units 101 to 163 to extend and retract through the driver 302.

[0028] Figure 6a-Figure 6i : is a schematic diagram of the gait of the robot body of the present invention walking to the right, and the moving steps are:

[0029] Step 1: Place the robot body 1 according to Figure 6a The robot body 1 is placed on the ground 4 as an initial posture, and the telescopic units 110, 114, 116, 134, 142, 146, 150 and 154 are extended to make the lower side of the robot body 1 rise and the right front side move to the right, as shown in FIG. Figure 6b As shown;

[0030] Step 2: The telescopic units 118 and 122 are extended to lower the right front lower side of the robot body 1, as shown in FIG. Figure 6c As shown;

[0031] Step 3: The telescopic units 134, 142 and 146 are retracted, and the telescopic unit 148 is extended, so that the lower right rear side of the robot body 1 is lifted and the right rear side moves to the right, as shown in FIG. Figure 6d As shown;

[0032] Step 4: The telescopic units 142 and 146 are extended to lower the right rear lower side of the robot body 1, as shown in FIG. Figure 6e As shown;

[0033] Step 5: The telescopic units 110, 114 and 116 are retracted to raise the lower left front side of the robot body 1 and move the left front side to the right. Figure 6f As shown;

[0034] Step 6: The telescopic units 110 and 114 extend to lower the left front lower side of the machine body 1. Figure 6g As shown;

[0035] Step 7: The telescopic units 148, 150 and 154 are retracted to raise the lower left rear side of the robot body 1 and move the left rear side to the right, as shown in FIG. Figure 6h As shown;

[0036] Step 8: The telescopic units 110, 114, 118, 122, 142 and 146 are retracted to lower the lower side of the robot body 1 and return to the initial posture. Figure 6i As shown; at this time, the robot body 1 moves a distance to the right relative to the ground 4.

[0037] By repetition Figure 6a-Figure 6i The gait of the robot body 1 of the present invention walking to the right can make the robot body 1 of the present invention continue to move to the right. Figure 6a-Figure 6i The gait of the robot body 1 of the present invention walking to the right can make the robot body 1 of the present invention move to the left, and the robot body 1 can continue to move to the left by continuously repeating the reverse gait.

[0038] Figure 7a-Figure 7i : is a schematic diagram of the gait of the robot body of the present invention walking forward, and the moving steps are:

[0039] Step 1: Place the robot body 1 according to Figure 7a The robot body 1 is placed on the ground 5 as an initial posture, and the telescopic units 110, 114, 115, 132, 142, 146, 150 and 154 are extended to make the lower side of the robot body 1 rise and the right front side move forward, as shown in FIG. Figure 7b As shown;

[0040] Step 2: The telescopic units 118 and 122 are extended to lower the right front lower side of the robot body 1, as shown in FIG. Figure 7c As shown;

[0041] Step 3: The telescopic units 110, 114 and 115 are retracted to lift the lower left front side of the robot body 1 and move the left front side forward, as shown in FIG. Figure 7d As shown;

[0042] Step 4: The telescopic units 110 and 114 are extended to lower the left front lower side of the robot body 1. Figure 7e As shown;

[0043] Step 5: The telescopic units 132, 142 and 146 are retracted, and the telescopic unit 147 is extended, so that the lower right rear side of the robot body 1 rises and the right rear side moves forward, as shown in FIG. Figure 7f As shown;

[0044] Step 6: The telescopic units 142 and 146 are extended to lower the lower right rear side of the machine body 1, as shown in FIG. Figure 7g As shown;

[0045] Step 7: The telescopic units 147, 150 and 154 are retracted to raise the lower left rear side of the robot body 1 and move the left rear side forward, as shown in FIG. Figure 7h As shown;

[0046] Step 8: The telescopic units 110, 114, 118, 122, 142 and 146 are retracted to lower the lower side of the robot body 1 and return to the initial posture. Figure 7i As shown; at this time, the robot body 1 moves forward a distance relative to the ground 5.

[0047] By repetition Figure 7a-Figure 7i The gait of the robot body 1 of the present invention walking forward can make the robot body 1 of the present invention continue to move forward. Figure 7a-Figure 7i The forward walking gait of the robot body 1 of the present invention shown can make the robot body 1 of the present invention move backward, and the robot body 1 can continue to move backward by continuously repeating the reverse gait.

[0048] The running gait of the robot of the present invention is not limited to the gait form described above. According to the content disclosed in the present invention, those skilled in the art can also adopt other specific methods to design the gait.

[0049] Example:

[0050] like Figure 8 As shown, the camera 6 is placed on the telescopic unit 132 of the robot based on the pseudo three-dimensional Hilbert curve provided by the present invention, so that the robot body 1 can perform image transmission and shooting operations during operation.

[0051] There are many telescopic units in the robot of the present invention. To simplify the control, the second-order pseudo three-dimensional Hilbert robot can be split into 8 space frame units with the same structure. For example, seven telescopic units 101-107 constitute a first space frame unit, and seven telescopic units 109-115 constitute a second space frame unit. Adjacent space frame units are connected by a telescopic unit. For example, the first space frame unit and the second space frame unit are connected by telescopic unit 108. Therefore, by specifying the sequence number of the space frame unit (for example, the eight space frame units AH) and the sequence number of the telescopic unit in the space frame unit (for example, the seven telescopic units 1-7), individual control of the telescopic units can be achieved.

[0052] The robot of the present invention has other uses, such as cube expansion or contraction, personnel spatial thinking training, etc.

[0053] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot based on a pseudo-Hilbert curve, characterized in that: The robot body includes two parts: a robot body and a controller. The robot body is composed of sixty-three telescopic units connected end to end according to a second-order pseudo three-dimensional Hilbert curve. The telescopic unit comprises a telescopic rod, a first telescopic rod bracket, a second telescopic rod bracket, a cube connecting block and a driver, wherein the first rod end of the telescopic rod is fixedly connected to the cube connecting block through the first telescopic rod bracket, the second rod end of the telescopic rod is fixedly connected to the second telescopic rod bracket, the cube connecting block is a hollow structure, and the driver is placed in the inner cavity of the cube connecting block. Among them, the second telescopic rod bracket of the telescopic unit is used to be fixedly connected to the cube connecting block of another telescopic unit, the telescopic rod is connected to the driver through a wire, the controller controls the extension and retraction of each telescopic rod by controlling the driver, and the robot can walk by controlling the extension and retraction of the telescopic rod.

2. The robot based on pseudo-Hilbert curve according to claim 1, characterized in that: The outer surface of the cube connecting block is a roughened surface so as to have sufficient friction when in contact with the ground.

3. The robot based on pseudo-Hilbert curve according to claim 1, characterized in that: The four surfaces of the cube connecting block are provided with through holes for wiring.

4. The robot based on pseudo-Hilbert curve according to claim 1, characterized in that: The controller is wirelessly connected to each of the drivers.

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