Variable-structure tetrahedron truss robot

Abstract

The invention discloses a variable-structure tetrahedron truss robot, and relates to the technical field of variable-structure robots. Comprising a central torsion module which is averagely divided into two parts capable of relatively rotating; the multiple upper foot end movement modules are arranged, and the multiple upper foot end movement modules are evenly distributed on the upper half portion of the center twisting module in the radial direction; and the number of the lower foot end movement modules is one or more, and the multiple lower foot end movement modules are evenly distributed on the lower half portion of the center twisting module in the radial direction. The four foot end movement modules and the center torsion module are all flexible mechanisms, movement in the X-axis direction, the Y-axis direction and the Z-axis direction and rotation around the theta x axis, the theta y axis and the theta z axis can be achieved at the same time, the movement track is continuous, controllability is good, the rotation angle of each joint in the movement process can be provided, robot movement control is better achieved, and the robot movement control efficiency is improved. And the robot can well move on a complex terrain.

Description

Technical Field

[0001] The invention relates to the technical field of variable structure robots, in particular to a variable structure tetrahedron truss robot. Background Art

[0002] Robots have become indispensable helpers in the fields of material handling, terrain reconnaissance, etc., especially on rugged terrain, where robots can assist in completing difficult tasks. In complex terrain, the stability and maneuverability of robots are crucial. However, traditional four-wheeled robots often have certain limitations on uneven terrain. Although legged robots can walk on rugged terrain, they are slow, unreliable, and unable to climb steep slopes.

[0003] Therefore, there is an urgent need for a robot with strong mobility that can move on complex terrain. Summary of the invention

[0004] The main purpose of the present invention is to provide a variable structure tetrahedron truss robot to solve the above problems.

[0005] To achieve the above object, the present invention provides a variable structure tetrahedron truss robot, comprising: A central torsion module, wherein the central torsion module is evenly divided into two parts that can rotate relative to each other; An upper foot end motion module, wherein a plurality of the upper foot end motion modules are arranged on the surface of the upper half of the central torsion module (1), and the plurality of the upper foot end motion modules are evenly distributed radially; A lower foot end motion module, wherein at least one lower foot end motion module is arranged on the surface of the lower half of the central torsion module, and a plurality of lower foot end motion modules are evenly distributed radially.

[0006] Further, the central torsion module comprises an upper rotatable module, a lower rotatable module and a central torsion steering gear, the upper rotatable module is rotatably connected to the lower rotatable module, and the central torsion steering gear is arranged between the upper rotatable module and the lower rotatable module and is drivingly connected to the upper rotatable module and the lower rotatable module respectively; The upper foot end motion module is arranged on the upper end rotatable module, and the lower foot end motion module is arranged on the lower end rotatable module.

[0007] Furthermore, the upper rotatable module includes a disc connector and a servo base, one end of the disc connector is rotatably connected to the lower rotatable module, multiple servo bases are provided and evenly distributed on the disc connector, and the servo base is rotatably connected to the upper foot-end motion module; the lower rotatable module has the same structure as the upper rotatable module.

[0008] Furthermore, a foot-end motion servo is provided at one end of the upper foot-end motion module, one end of the foot-end motion servo is drivingly connected to the upper foot-end motion module, and the other end is connected to the servo base; the lower foot-end motion module has the same structure as the upper foot-end motion module.

[0009] Furthermore, the upper foot-end motion module includes a mechanical leg and a U-shaped bracket, the foot-end motion servo extends into the open end of the U-shaped bracket and is drivingly connected to the U-shaped bracket, and the other end of the U-shaped bracket is connected to the mechanical leg.

[0010] Furthermore, the mechanical leg includes a connecting frame and a spheroid, one end of the connecting frame is fixedly connected to the U-shaped bracket, and the other end is fixedly connected to the spheroid.

[0011] The four foot-end motion modules and one central torsion module of the present invention are all flexible mechanisms, which can simultaneously realize movement along the three axes of X, Y, and Z and rotation around the three axes of θx, θy, and θz. The configuration design is more reasonable and the assembly is simple. By using the flexible mechanism, the motion trajectory is continuous and the controllability is good. It can provide the rotation angle of each joint during the movement, better realize the execution of robot motion control, and enable the robot to move well on complex terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 The figure is an overall schematic diagram of a variable structure tetrahedron truss robot according to the present invention.

[0013] Figure 2 This is a schematic diagram of a central torsion module of a variable structure tetrahedron truss robot of the present invention.

[0014] Figure 3 This is a schematic diagram of a rotatable module at the end of a variable structure tetrahedron truss robot according to the present invention.

[0015] Figure 4 This is a schematic diagram of a foot end motion module of a variable structure tetrahedron truss robot of the present invention.

[0016] Among them, 1-center torsion module; 11-center torsion servo; 12-upper end rotatable module; 121-upper end servo base; 123-upper end disc connector; 13-lower end rotatable module; 131-lower end servo base; 133-lower end disc connector; 2-upper foot end motion module; 21-foot end motion servo; 22-U-shaped bracket; 23-mechanical leg; 3-lower foot end motion module. DETAILED DESCRIPTION

[0017] In order to achieve the above-mentioned purpose and effect, the technical means and structures adopted by the present invention are described in detail with reference to the accompanying drawings for the features and functions of the preferred embodiments of the present invention.

[0018] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but are not to be construed as limiting the present invention. All other embodiments obtained by ordinary technicians in the field without creative work based on the embodiments of the present invention are within the scope of protection of the present invention.

[0019] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “circumferential”, “radial”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0020] like Figure 1-4 As shown, the present invention provides a variable structure tetrahedron truss robot, comprising: The central torsion module 1 is divided into two parts, the upper and lower parts of the central torsion module 1 can rotate relative to each other; An upper foot end motion module 2, wherein a plurality of upper foot end motion modules 2 are arranged on the surface of the upper part of the central torsion module 1, and the plurality of upper foot end motion modules 2 are evenly distributed radially; The lower foot end motion module 3 is provided with at least one lower foot end motion module 3 on the surface of the lower part of the central torsion module 1, and the plurality of lower foot end motion modules 3 are evenly distributed radially.

[0021] Thus, by rotating the upper foot-end motion modules 2 and the lower foot-end motion modules 3 forward and backward and coordinating with the central torsion module 1 to adjust the positions of the two foot-end motion modules and the angle between the upper and lower foot-end motion modules, the overall movement of the robot can be achieved, and the robot can adapt to a variety of complex terrains and improve its passing ability.

[0022] In another embodiment, the central torsion module 1 includes an upper rotatable module 12, a lower rotatable module 13 and a central torsion servo 11, the upper rotatable module 12 is rotatably connected to the lower rotatable module 13, and the central torsion servo 11 is arranged between the upper rotatable module 12 and the lower rotatable module 13 and is driven and connected to the upper rotatable module 12 and the lower rotatable module 13 respectively.

[0023] Specifically, the upper rotatable module 12 includes an upper disc connector 123 and an upper servo base 121, and the upper servo base 121 is provided with multiple and evenly distributed on the upper disc connector 123, and the upper servo base 121 is rotatably connected to the upper foot-end motion module 2; the lower rotatable module 13 has the same structure as the upper rotatable module 12, and correspondingly includes a lower disc connector 133 and a lower servo base 131; the upper disc connector 123 is rotatably connected to the lower disc connector 133, and the main bodies of the upper disc connector 123 and the lower disc connector 133 are circular ring structures, and the central torsion servo 11 is arranged at the center of the circular ring and is drivingly connected to the two.

[0024] In another embodiment, a foot-end motion servo 21 is provided at one end of the upper foot-end motion module 2, one end of the foot-end motion servo 21 is drivingly connected to the upper foot-end motion module 2, and the other end is connected to the upper servo base 121, so that the upper foot-end motion module 2 is driven to rotate by the foot-end motion servo 21; the structure and connection method of the lower foot-end motion module 3 are the same as those of the upper foot-end motion module 2.

[0025] Specifically, the upper foot end motion module 2 includes a mechanical leg 23 and a U-shaped bracket 22, and the foot end motion servo 21 extends into the open end of the U-shaped bracket 22, so that the steering wheel of the foot end motion servo 21 is detachably connected to the U-shaped bracket 22; the mechanical leg 23 includes a connecting frame and a spheroid, one end of the connecting frame is fixedly connected to the U-shaped bracket 22, and the other end is fixedly connected to the spheroid. The spheroid as a contact point with the ground can adapt to a variety of terrains, and the shape of the spheroid is more solid. The foot end motion servo 21 is preferably a bus servo, so that the robot's motion is more extensible.

[0026] The above descriptions are only preferred embodiments of the present invention, not all embodiments. Anyone should be aware that any structural changes made under the inspiration of the present invention, and any technical solutions that are the same or similar to the present invention, belong to the protection scope of the present invention.

Claims

1. A variable structure tetrahedron truss robot, characterized in that: include: A central twisting module (1), wherein the central twisting module (1) is evenly divided into two parts that can rotate relative to each other; An upper foot end motion module (2), wherein a plurality of the upper foot end motion modules (2) are arranged on the surface of the upper half of the central torsion module (1), and the plurality of the upper foot end motion modules (2) are evenly distributed radially; A lower foot end motion module (3), wherein at least one lower foot end motion module (3) is arranged on the surface of the lower half of the central torsion module (1), and a plurality of lower foot end motion modules (3) are evenly distributed radially.

2. A variable structure tetrahedron truss robot as claimed in claim 1, characterized in that: The central torsion module (1) comprises an upper rotatable module (12), a lower rotatable module (13) and a central torsion steering gear (11); the upper rotatable module (12) is rotatably connected to the lower rotatable module (13); the central torsion steering gear (11) is arranged between the upper rotatable module (12) and the lower rotatable module (13) and is drivingly connected to the upper rotatable module (12) and the lower rotatable module (13) respectively; The upper foot end motion module (2) is arranged on the upper end rotatable module (12), and the lower foot end motion module (3) is arranged on the lower end rotatable module (13).

3. A variable structure tetrahedron truss robot as claimed in claim 2, characterized in that: The upper rotatable module (12) comprises a disc connector and a steering gear base, one end of the disc connector is rotatably connected to the lower rotatable module (13), a plurality of steering gear bases are provided and evenly distributed on the disc connector, and the steering gear base is rotatably connected to the upper foot end motion module (2); the lower rotatable module (13) has the same structure as the upper rotatable module (12).

4. A variable structure tetrahedron truss robot as claimed in claim 3, characterized in that: A foot-end motion servo (21) is provided at one end of the upper foot-end motion module (2); one end of the foot-end motion servo (21) is drivingly connected to the upper foot-end motion module (2), and the other end is connected to the servo base; the lower foot-end motion module (3) has the same structure as the upper foot-end motion module (2).

5. A variable structure tetrahedron truss robot as claimed in claim 4, characterized in that: The upper foot end motion module (2) comprises a mechanical leg (23) and a U-shaped bracket (22); the foot end motion servo (21) extends into an open end of the U-shaped bracket (22) and is drivingly connected to the U-shaped bracket (22); and the other end of the U-shaped bracket (22) is connected to the mechanical leg (23).

6. A variable structure tetrahedron truss robot as claimed in claim 5, characterized in that: The mechanical leg (23) comprises a connecting frame and a spheroidal body, one end of the connecting frame is fixedly connected to the U-shaped bracket (22), and the other end is fixedly connected to the spheroidal body.

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