Pentahedron mobile robot based on flexible articulation

Abstract

This invention discloses a pentagonal mobile robot based on flexible hinges, comprising first to fifth truncated tetrahedral vertices and first to tenth telescopic branches; each pair of truncated tetrahedral vertices is connected by telescopic branches to form a pentagonal body; the special flexible hinge method forms a fixed connection with high rigidity and strong stability of deformation and movement; the specially designed vertex and hinge method enable the mobile robot to achieve complete vertex passage movement, vertex position interchange, overall inward and outward flipping, and movement through deformation; this invention can be applied to reconnaissance and detection in unknown environments.

Description

Technical Field

[0001] This invention relates to a deformable mobile robot, specifically a pentagonal mobile robot based on flexible hinges. This mobile robot employs specially designed truncated tetrahedral vertices, with the vertices and retractable branches connected by flexible hinges. This allows the entire mechanism to rotate inwards and outwards, and movement can be achieved through deformation. This invention can be applied to reconnaissance and detection in unknown environments. Background Technology

[0002] The pentahedral mechanism has a tetrahedral shape, with the center vertex connected to the other four vertices. The central vertex can pass through the tetrahedral surface to become an external vertex, thus becoming the central vertex. This traversal motion allows for the interchange of vertex positions. Compared to existing pentahedral moving mechanisms, this invention employs a specially designed truncated tetrahedral vertex and flexible hinges. The vertices and retractable branches are flexibly hinged to form a fixed connection. The traversal motion allows for the interchange of the positions of each vertex, enabling overall inward and outward rotation and movement through deformation.

[0003] Chinese patent CN 105083406A proposes a pentagonal moving mechanism based on magnetic composite ball joints. This mechanism includes five magnetic composite ball joints and ten telescopic rods. Each composite ball joint consists of a hollow iron ball and a magnetic connector, with the magnetic connector adsorbed onto the hollow iron ball. Because this composite ball joint uses magnetic adsorption, it requires sliding to achieve deformation and movement, making it prone to detachment. The connection is not stable or reliable, and since it is not a fixed connection, it is easily dislodged during deformation.

[0004] Chinese patent CN 113135274A discloses a flexible connection device between ultra-large floating body modules. This flexible connection includes a male hinge seat and a female hinge seat. The male hinge seat includes a first seat body and a male hinge joint, while the female hinge seat includes a second seat body and a female hinge joint. This invention is mainly used to reduce sway and pitch loads, for connecting objects, and acts as a buffer. However, the degree of freedom of movement of the connection device is limited. Summary of the Invention

[0005] The technical problem this invention aims to solve is the inability of existing pentagonal mobile robots to achieve complete vertex-face traversal, the lack of fixed connections, and the inability to reliably and stably perform deformable movements. This invention uses a pentagonal structure as its basic framework and designs a special vertex and connection method to form fixed connections, enabling complete vertex traversal and providing significantly improved deformable movement capabilities.

[0006] The technical solution of the present invention: The mobile robot includes a first truncated tetrahedron vertex, a second truncated tetrahedron vertex, a third truncated tetrahedron vertex, a fourth truncated tetrahedron vertex, a fifth truncated tetrahedron vertex, a first telescopic branch, a second telescopic branch, a third telescopic branch, a fourth telescopic branch, a fifth telescopic branch, a sixth telescopic branch, a seventh telescopic branch, an eighth telescopic branch, a ninth telescopic branch, and a tenth telescopic branch.

[0007] The first truncated tetrahedron vertex has a truncated tetrahedron shape, including a through hole in the first vertex section, a through hole in the second vertex section, a through hole in the third vertex section, and a through hole in the fourth vertex section; the structural dimensions of the second, third, fourth, and fifth truncated tetrahedron vertices are exactly the same as those of the first truncated tetrahedron vertex.

[0008] The first telescopic branch includes a first left connector, a first left spring, a first telescopic rod, a first right spring, and a first right connector; the second, third, fourth, fifth, sixth, seventh, eighth, ninth, and tenth telescopic branches have the same structural dimensions as the first telescopic branch.

[0009] The connection relationship between vertices and branches is as follows:

[0010] The first vertex section through hole of the first truncated tetrahedron is fixedly connected to the first left through hole of the first telescopic branch by bolts; the second vertex section through hole is fixedly connected to the second left through hole of the second telescopic branch by bolts; the third vertex section through hole is fixedly connected to the third left through hole of the third telescopic branch by bolts; and the fourth vertex section through hole is fixedly connected to the seventh left through hole of the seventh telescopic branch by bolts.

[0011] The fifth vertex section of the second truncated tetrahedron is fixedly connected to the first right through hole of the first telescopic branch by bolts; the sixth vertex section is fixedly connected to the fourth right through hole of the fourth telescopic branch by bolts; the seventh vertex section is fixedly connected to the fifth left through hole of the fifth telescopic branch by bolts; and the eighth vertex section is fixedly connected to the eighth left through hole of the eighth telescopic branch by bolts.

[0012] The through hole at the ninth vertex of the third truncated tetrahedron is fixedly connected to the second right through hole of the second telescopic branch by bolts; the through hole at the tenth vertex is fixedly connected to the fifth right through hole of the fifth telescopic branch by bolts; the through hole at the eleventh vertex is fixedly connected to the sixth left through hole of the sixth telescopic branch by bolts; and the through hole at the twelfth vertex is fixedly connected to the ninth left through hole of the ninth telescopic branch by bolts.

[0013] The thirteenth vertex section through hole of the fourth truncated tetrahedron is fixedly connected to the third right through hole of the third telescopic branch by bolts; the fourteenth vertex section through hole is fixedly connected to the sixth right through hole of the sixth telescopic branch by bolts; the fifteenth vertex section through hole is fixedly connected to the fourth left through hole of the fourth telescopic branch by bolts; and the sixteenth vertex section through hole is fixedly connected to the tenth left through hole of the tenth telescopic branch by bolts.

[0014] The through hole at the seventeenth vertex of the fifth truncated tetrahedron is fixedly connected to the eighth right through hole of the eighth telescopic branch by bolts; the through hole at the eighteenth vertex is fixedly connected to the ninth right through hole of the ninth telescopic branch by bolts; the through hole at the nineteenth vertex is fixedly connected to the tenth right through hole of the tenth telescopic branch by bolts; and the through hole at the twentieth vertex is fixedly connected to the seventh right through hole of the seventh telescopic branch by bolts.

[0015] The first telescopic branch includes a first left connector, a first left spring, a first telescopic rod, a first right spring, and a first right connector.

[0016] The first left connector has a first left through hole at one end and a first left spring limiting groove at the other end; the first right connector has the same structural dimensions as the first left connector; the left end of the first left spring is fixed to the first left spring limiting groove of the first left connector, the right end of the first left spring is fixed to the first telescopic rod left spring limiting groove of the first telescopic rod, and the first telescopic rod right spring limiting groove of the first telescopic rod is fixed to the right end of the first right spring; the first right spring has the same structural dimensions as the first left spring.

[0017] The beneficial effects of this invention are:

[0018] The pentocytic mobile robot based on flexible hinges described in this invention features a special design with truncated tetrahedron vertices and flexible hinges. The vertices are also connected to branches via flexible hinges, enabling complete traversal motion of the vertices. This traversal motion allows for the interchange of the positions of each vertex, enabling overall inward and outward rotation, and movement through deformation. The flexible hinges provide a fixed and rigid connection, making the robot's movement more stable and reliable, and giving it superior deformable movement capabilities. Attached Figure Description

[0019] Figure 1 Overall 3D model of a pentocyte mobile robot based on flexible hinges

[0020] Figure 2 3D diagram of the vertex of the first truncated tetrahedron

[0021] Figure 3 Three-dimensional diagram of the first telescopic branch

[0022] Figure 4 3D diagram of the first left connector

[0023] Figure 5 First left spring 3D diagram

[0024] Figure 6 3D diagram of the first telescopic rod Detailed Implementation

[0025] The present invention will now be described in further detail with reference to the accompanying drawings.

[0026] A pentocytic mobile robot based on flexible articulation, such as Figure 1 As shown, it includes the first truncated tetrahedron vertex (A), the second truncated tetrahedron vertex (B), the third truncated tetrahedron vertex (C), the fourth truncated tetrahedron vertex (D), the fifth truncated tetrahedron vertex (E), the first stretching branch (1), the second stretching branch (2), the third stretching branch (3), the fourth stretching branch (4), the fifth stretching branch (5), the sixth stretching branch (6), the seventh stretching branch (7), the eighth stretching branch (8), the ninth stretching branch (9), and the tenth stretching branch (10).

[0027] The first truncated tetrahedron vertex (A) is as follows: Figure 2 As shown, the shape is a truncated tetrahedron, including a through hole at the first vertex (A-1), a through hole at the second vertex (A-2), a through hole at the third vertex (A-3), and a through hole at the fourth vertex (A-4); the structural dimensions of the truncated tetrahedron vertices (B), (C), (D), and (E) are exactly the same as those of the first truncated tetrahedron vertex (A).

[0028] The first telescopic branch (1) is as follows Figure 3 As shown, it includes a first left connecting piece (1-1), a first left spring (1-2), a first telescopic rod (1-3), a first right spring (1-4), and a first right connecting piece (1-5); the second telescopic branch (2), the third telescopic branch (3), the fourth telescopic branch (4), the fifth telescopic branch (5), the sixth telescopic branch (6), the seventh telescopic branch (7), the eighth telescopic branch (8), the ninth telescopic branch (9), and the tenth telescopic branch (10) have the same structural dimensions as the first telescopic branch (1).

[0029] The connection relationship between vertices and branches is as follows:

[0030] The first vertex section through hole (A-1) of the first truncated tetrahedron vertex (A) is fixedly connected to the first left through hole (1-1-1) of the first telescopic branch (1) by bolts; the second vertex section through hole (A-2) is fixedly connected to the second left through hole (2-1-1) of the second telescopic branch (2) by bolts; the third vertex section through hole (A-3) is fixedly connected to the third left through hole (3-1-1) of the third telescopic branch (3) by bolts; and the fourth vertex section through hole (A-4) is fixedly connected to the seventh left through hole (7-1-1) of the seventh telescopic branch (7) by bolts.

[0031] The fifth vertex section through hole (B-1) of the second truncated tetrahedron vertex (B) is fixedly connected to the first right through hole (1-5-1) of the first telescopic branch (1) by bolts; the sixth vertex section through hole (B-2) is fixedly connected to the fourth right through hole (4-5-1) of the fourth telescopic branch (4) by bolts; the seventh vertex section through hole (B-3) is fixedly connected to the fifth left through hole (5-1-1) of the fifth telescopic branch (5) by bolts; and the eighth vertex section through hole (B-4) is fixedly connected to the eighth left through hole (8-1-1) of the eighth telescopic branch (8) by bolts.

[0032] The through hole (C-1) of the ninth vertex section of the third truncated tetrahedron vertex (C) is fixedly connected to the second right through hole (2-5-1) of the second telescopic branch (2) by bolts; the through hole (C-2) of the tenth vertex section is fixedly connected to the fifth right through hole (5-5-1) of the fifth telescopic branch (5) by bolts; the through hole (C-3) of the eleventh vertex section is fixedly connected to the sixth left through hole (6-1-1) of the sixth telescopic branch (6) by bolts; and the through hole (C-4) of the twelfth vertex section is fixedly connected to the ninth left through hole (9-1-1) of the ninth telescopic branch (9) by bolts.

[0033] The thirteenth vertex section through hole (D-1) of the fourth truncated tetrahedron vertex (D) is fixedly connected to the third right through hole (3-5-1) of the third telescopic branch (3) by bolts; the fourteenth vertex section through hole (D-2) is fixedly connected to the sixth right through hole (6-4-1) of the sixth telescopic branch (6) by bolts; the fifteenth vertex section through hole (D-3) is fixedly connected to the fourth left through hole (4-1-1) of the fourth telescopic branch (4) by bolts; and the sixteenth vertex section through hole (D-4) is fixedly connected to the tenth left through hole (7-1-1) of the tenth telescopic branch (10) by bolts.

[0034] The seventeenth vertex section through hole (E-1) of the fifth truncated tetrahedron vertex (E) is fixedly connected to the eighth right through hole (8-5-1) of the eighth telescopic branch (8) by bolts. The eighteenth vertex section through hole (E-2) is fixedly connected to the ninth right through hole (9-5-1) of the ninth telescopic branch (9) by bolts. The nineteenth vertex section through hole (E-3) is fixedly connected to the tenth right through hole (10-5-1) of the tenth telescopic branch (10) by bolts. The twentieth vertex section through hole (E-4) is fixedly connected to the seventh right through hole (7-5-1) of the seventh telescopic branch (7) by bolts.

[0035] The first telescopic branch (1) includes a first left connector (1-1), a first left spring (1-2), a first telescopic rod (1-3), a first right spring (1-4), and a first right connector (1-5); the first left connector (1-1) is as follows: Figure 4 As shown, one end is provided with a first left through hole (1-1-1), and the other end is provided with a first left spring limiting groove (1-1-2); the first right connector (1-5) and the first left connector (1-1) have the same structural dimensions.

[0036] The first left spring (1-2) is as follows Figure 5 As shown, the left end (1-2-1) of the first left spring is fixed to the first left spring limiting groove (1-1-2) of the first left connector (1-1), and the right end (1-2-2) of the first left spring is fixed to the first telescopic rod left spring limiting groove (1-3-1) of the first telescopic rod (1-3). Figure 6 As shown, the first telescopic rod (1-3) has its first telescopic rod right spring limiting groove (1-3-2) fixed to the right end (1-4-2) of the first right spring (1-4); the first right spring (1-4) and the first left spring (1-2) have the same structural dimensions.

Claims

1. A pentocytic mobile robot based on flexible hinges, characterized in that: The mobile robot includes the first truncated tetrahedron vertex (A), the second truncated tetrahedron vertex (B), the third truncated tetrahedron vertex (C), the fourth truncated tetrahedron vertex (D), the fifth truncated tetrahedron vertex (E), the first telescopic branch (1), the second telescopic branch (2), the third telescopic branch (3), the fourth telescopic branch (4), the fifth telescopic branch (5), the sixth telescopic branch (6), the seventh telescopic branch (7), the eighth telescopic branch (8), the ninth telescopic branch (9), and the tenth telescopic branch (10). The first truncated tetrahedron vertex (A) has a truncated tetrahedron shape and includes a first vertex cross-section through hole (A-1), a second vertex cross-section through hole (A-2), a third vertex cross-section through hole (A-3), and a fourth vertex cross-section through hole (A-4). The second truncated tetrahedron vertex (B), the third truncated tetrahedron vertex (C), the fourth truncated tetrahedron vertex (D), and the fifth truncated tetrahedron vertex (E) have the same structural dimensions as the first truncated tetrahedron vertex (A). The first telescopic branch (1) includes a first left connector (1-1), a first left spring (1-2), a first telescopic rod (1-3), a first right spring (1-4), and a first right connector (1-5). The second telescopic branch (2), the third telescopic branch (3), the fourth telescopic branch (4), the fifth telescopic branch (5), the sixth telescopic branch (6), the seventh telescopic branch (7), the eighth telescopic branch (8), the ninth telescopic branch (9), and the tenth telescopic branch (10) have the same structural dimensions as the first telescopic branch (1). The connection relationship between vertices and branches is as follows: The first vertex section through hole (A-1) of the first truncated tetrahedron vertex (A) is fixedly connected to the first left through hole (1-1-1) of the first telescopic branch (1) by bolts; the second vertex section through hole (A-2) is fixedly connected to the second left through hole (2-1-1) of the second telescopic branch (2) by bolts; the third vertex section through hole (A-3) is fixedly connected to the third left through hole (3-1-1) of the third telescopic branch (3) by bolts; and the fourth vertex section through hole (A-4) is fixedly connected to the seventh left through hole (7-1-1) of the seventh telescopic branch (7) by bolts. The fifth vertex section through hole (B-1) of the second truncated tetrahedron vertex (B) is fixedly connected to the first right through hole (1-5-1) of the first telescopic branch (1) by bolts; the sixth vertex section through hole (B-2) is fixedly connected to the fourth right through hole (4-5-1) of the fourth telescopic branch (4) by bolts; the seventh vertex section through hole (B-3) is fixedly connected to the fifth left through hole (5-1-1) of the fifth telescopic branch (5) by bolts; and the eighth vertex section through hole (B-4) is fixedly connected to the eighth left through hole (8-1-1) of the eighth telescopic branch (8) by bolts. The through hole (C-1) of the ninth vertex section of the third truncated tetrahedron vertex (C) is fixedly connected to the second right through hole (2-5-1) of the second telescopic branch (2) by bolts; the through hole (C-2) of the tenth vertex section is fixedly connected to the fifth right through hole (5-5-1) of the fifth telescopic branch (5) by bolts; the through hole (C-3) of the eleventh vertex section is fixedly connected to the sixth left through hole (6-1-1) of the sixth telescopic branch (6) by bolts; and the through hole (C-4) of the twelfth vertex section is fixedly connected to the ninth left through hole (9-1-1) of the ninth telescopic branch (9) by bolts. The thirteenth vertex section through hole (D-1) of the fourth truncated tetrahedron vertex (D) is fixedly connected to the third right through hole (3-5-1) of the third telescopic branch (3) by bolts; the fourteenth vertex section through hole (D-2) is fixedly connected to the sixth right through hole (6-4-1) of the sixth telescopic branch (6) by bolts; the fifteenth vertex section through hole (D-3) is fixedly connected to the fourth left through hole (4-1-1) of the fourth telescopic branch (4) by bolts; and the sixteenth vertex section through hole (D-4) is fixedly connected to the tenth left through hole of the tenth telescopic branch (10) by bolts. The seventeenth vertex section through hole (E-1) of the fifth truncated tetrahedron vertex (E) is fixedly connected to the eighth right through hole (8-5-1) of the eighth telescopic branch (8) by bolts; the eighteenth vertex section through hole (E-2) is fixedly connected to the ninth right through hole (9-5-1) of the ninth telescopic branch (9) by bolts; the nineteenth vertex section through hole (E-3) is fixedly connected to the tenth right through hole (10-5-1) of the tenth telescopic branch (10) by bolts; and the twentieth vertex section through hole (E-4) is fixedly connected to the seventh right through hole (7-5-1) of the seventh telescopic branch (7) by bolts. The first telescopic branch (1) includes a first left connector (1-1), a first left spring (1-2), a first telescopic rod (1-3), a first right spring (1-4), and a first right connector (1-5); one end of the first left connector (1-1) is provided with a first left through hole (1-1-1), and the other end is provided with a first left spring limiting groove (1-1-2); the first right connector (1-5) has the same structural dimensions as the first left connector (1-1); The left end (1-2-1) of the first left spring (1-2) is fixed to the first left spring limiting groove (1-1-2) of the first left connector (1-1), the right end (1-2-2) of the first left spring is fixed to the first telescopic rod left spring limiting groove (1-3-1) of the first telescopic rod (1-3), and the first telescopic rod right spring limiting groove (1-3-2) of the first telescopic rod (1-3) is fixed to the right end (1-4-2) of the first right spring (1-4); the first right spring (1-4) and the first left spring (1-2) have the same structural dimensions.

Images