Multi-body bar locking metamorphic mechanism

Abstract

The present application relates to a multi-body rod locking metamorphic mechanism, comprising a plurality of parallelly arranged metamorphic kinematic chains, all of which are uniformly spaced in the circumferential direction, the metamorphic kinematic chains are designed in a symmetrical structure, comprising a metamorphic kinematic pair A arranged in the middle, metamorphic kinematic pair A is connected with component A on both sides, component A is connected with component B through rotating pair A, component B is connected with component C through rotating pair B, component C is connected with component D through metamorphic kinematic pair B, all the ends of component D on the same side are connected through rotating pair C, and adjacent two rotating pairs B on the same side are connected through flexible components. The metamorphic mechanism has the advantages of good symmetry, all metamorphic kinematic pairs can work simultaneously or individually, the change of the kinematic pair is controlled by external force, the shape after the structure metamorphosis can meet some special requirements, etc.

Description

Technical fields:

[0001] This invention relates to the field of variable cell mechanism technology, and more specifically to a multi-body linkage locking variable cell mechanism. Background technology:

[0002] A variable-topology mechanism is a mechanism in which the topological characteristics of the mechanism undergo at least two or more abrupt changes during continuous motion, resulting in a significant change in its motion and dynamic characteristics.

[0003] Based on the method of cell transformation, cell transformation mechanisms can be divided into three categories: link-locking cell transformation mechanisms, geometrically locking cell transformation mechanisms, and variable-pair locking cell transformation mechanisms.

[0004] 1) Link-locking variable-cell mechanism. The configuration change of this type of mechanism is achieved through certain components in the locking mechanism, such as… Figure 4 The transformation of the planar brake variable cell mechanism shown is achieved by locking components 6 and 5 respectively. Therefore, according to the variable cell method, this mechanism belongs to the rod locking variable cell mechanism.

[0005] 2) Geometrically Locked Variable-Dome Mechanisms. The configuration transformation of this type of mechanism is achieved through the special geometric shapes, dimensions, and positions of certain components within the mechanism. For example, the configuration transformation of a double-crank parallelogram variable-memory mechanism utilizes the specific positions of the components; such as... Figure 5 The intermittent variable cell mechanism shown uses the geometry of the radial groove of the wheel to achieve configuration transformation. In addition, the underwater variable cell vehicle, which will be mentioned later, uses the change of component shape to achieve configuration transformation.

[0006] 3) Variable-pair locking variable-cell mechanism. The configuration transformation of this type of mechanism is achieved by changing the type of kinematic pairs and the constraints within those pairs. For example, the common gas stove ignition mechanism utilizes the conversion between revolute and prismatic joints to achieve configuration transformation. In addition, some mechanisms are variable-cell mechanisms with multiple combinations.

[0007] Since the concept of variable cell has been proposed in 1998, it has made new progress in the study of robot structure. Professor Dai Jiansheng of the University of London developed a variable cell sphere mechanism using the variable cell principle. Its structure and mobility change during operation, thereby providing additional mobility and making it easy to control. The variable cell method adopts rotational self-locking. The Mars variable cell rover developed by Tian Na, Ding Xilun and others of Beijing University of Aeronautics and Astronautics uses the variable cell principle to transform components, so that the vehicle can change different walking modes. The variable cell underwater vehicle developed by Chen et al. of Nanyang Technological University in Singapore

[71] uses the variable cell concept to change the vehicle model. The expansion and contraction of 8 water-filled spheres are controlled by a microcomputer to realize the change of its configuration and complete the required tasks. If the extended motion steering mechanism

[72] is a motion limiting mechanism, it is also a variable cell mechanism. In addition, variable cell mechanisms have a wide range of applications. Therefore, the research on new variable cell mechanisms, especially variable cell mechanisms with good structural symmetry, easy variable cell control and unique shape after variable cell transformation, has good application prospects.

[0008] It should be noted that the above content falls within the inventor's technical knowledge and does not necessarily constitute prior art. Summary of the Invention:

[0009] The purpose of this invention is to solve the problems existing in the prior art and provide a multi-body linkage locking variable cell mechanism. A novel variable cell mechanism is presented, which has the advantages of good symmetry, all variable cell kinematic pairs can work simultaneously or individually, the change of kinematic pairs is controlled by external force, and the shape of the structure after the cell transformation can be adapted to some places with special requirements.

[0010] The present invention achieves the above objectives by adopting the following technical solutions:

[0011] A multi-body linkage locking variable cell mechanism includes multiple parallel variable cell kinematic chains, all of which are evenly spaced along the circumferential direction. The variable cell kinematic chains are designed with a symmetrical structure, including a variable cell kinematic pair A located in the middle. Components A are connected to both sides of the variable cell kinematic pair A. Component A is connected to component B through a revolute pair A. Component B is connected to component C through a revolute pair B. Component C is connected to component D through a variable cell kinematic pair B. All ends of component D on the same side are connected through a revolute pair C. Two adjacent revolute pairs B on the same side are connected by a flexible component.

[0012] The variable cell kinematic pair A is one of the following: variable element kinematic pair, combined kinematic pair, additional constraint kinematic pair, geometrically limited kinematic pair, and unidirectional kinematic pair; the variable cell kinematic pair B is one of the following: variable element kinematic pair, combined kinematic pair, additional constraint kinematic pair, geometrically limited kinematic pair, and unidirectional kinematic pair.

[0013] The morphological kinematic chain consists of four chains.

[0014] The present invention, by adopting the above technical solution, can bring the following beneficial effects:

[0015] The multi-body linkage locking variable cell mechanism of this application has the advantages of structural symmetry, all variable cell kinematic pairs can work simultaneously or individually, the change of kinematic pairs is controlled by external force, and the shape of the structure after cell transformation can be adapted to some places with special requirements. Attached image description:

[0016] Figure 1 This is a schematic diagram of the variable cell mechanism of the present invention;

[0017] Figure 2 This is a left view of the variable cell mechanism of the present invention before the cell is changed;

[0018] Figure 3 This is a left view of the variable cell mechanism of the present invention after the cell has been modified.

[0019] Figure 4 A schematic diagram of the transformation structure of the existing planar brake variable cell mechanism;

[0020] Figure 5 This is a schematic diagram of an existing intermittent variable cell mechanism;

[0021] In the figure, 1 is a variable cell kinematic chain, 2 is a variable cell kinematic pair A, 3 is a component A, 4 is a revolute pair A, 5 is a component B, 6 is a revolute pair B, 7 is a component C, 8 is a variable cell kinematic pair B, 9 is a component D, 10 is a revolute pair C, and 11 is a flexible component. Detailed implementation method:

[0022] To more clearly illustrate the overall concept of the present invention, a detailed description will be provided below with reference to the accompanying drawings and examples.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0024] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0025] In this invention, the terms “parallel,” “circumferential direction,” “A,” “B,” “C,” etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly indicating the location of the indicated technical feature.

[0026] In this invention, unless otherwise explicitly specified and limited, the terms "provided with," "set up," "connected," and "connected" should be interpreted broadly. For example, "provided with" and "set up" can refer to a fixed installation, a detachable installation, or an integral part of the device; "connected" can refer to a direct connection or a connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0027] like Figure 1-3 As shown, the multi-body linkage locking variable cell mechanism includes multiple parallel variable cell kinematic chains 1. All the variable cell kinematic chains 1 are evenly spaced along the circumferential direction. The variable cell kinematic chains 1 are designed with a symmetrical structure, including a variable cell kinematic pair A2 located in the middle. Components A3 are connected to both sides of the variable cell kinematic pair A2. Components A3 are connected to component B5 through a revolute pair A4. Component B5 is connected to component C7 through a revolute pair B6. Component C7 is connected to component D9 through a variable cell kinematic pair B8. All ends of components D9 on the same side are connected through a revolute pair C10. Two adjacent revolute pairs B6 on the same side are connected through a flexible component 11.

[0028] The variable cell kinematic pair A2 is one of the following: variable element kinematic pair, combined kinematic pair, additional constraint kinematic pair, geometrically limited kinematic pair, and unidirectional kinematic pair; the variable cell kinematic pair B is one of the following: variable element kinematic pair, combined kinematic pair, additional constraint kinematic pair, geometrically limited kinematic pair, and unidirectional kinematic pair.

[0029] The variable cell kinematic chain 1 has four chains.

[0030] The above specific embodiments should not be construed as limiting the scope of protection of the present invention. For those skilled in the art, any alternative improvements or modifications made to the embodiments of the present invention shall fall within the scope of protection of the present invention.

[0031] Any aspects of this invention not described in detail are well-known to those skilled in the art.

Claims

1. A multi-body linkage locking variable-cell mechanism, characterized in that, It includes four variable cell kinematic chains that are evenly spaced and arranged in parallel along the circumference; Each of the aforementioned variable cell kinematic chains has a symmetrical structure. Each variable cell kinematic chain has a variable cell kinematic pair A in the middle. A component A is connected to each side of the variable cell kinematic pair A. Each side of the component A is hinged to component B through a revolute joint A. Component B is hinged to component C through a revolute joint B. The end of component C away from the revolute joint B is connected to the variable cell kinematic pair B. Component D is assembled at the end of the variable cell kinematic pair B. The outer ends of components D of all variable cell kinematic chains on the same side are hinged to each other through revolute joint C to form an integral end ring. A flexible component is connected between the revolute joints B of two adjacent variable cell kinematic chains on the same side. The flexible component is used to synchronously coordinate the variable cell movements of multiple variable cell kinematic chains and to buffer variable cell impacts. The variable cell kinematic pair A is one of the following: variable element kinematic pair, combined kinematic pair, additional constraint kinematic pair, geometrically limited kinematic pair, and unidirectional kinematic pair. The variable cell kinematic pair B is one of the following: variable element kinematic pair, combined kinematic pair, additional constraint kinematic pair, geometrically limited kinematic pair, and unidirectional kinematic pair. The variable cell kinematic pair A and the variable cell kinematic pair B can be locked individually or simultaneously. By changing the internal constraints of the kinematic pair with external force, the topological change of the mechanism can be achieved, and the linkage locking configuration transformation can be completed.

Images