Tetrahedral rolling robot mechanism

Abstract

The tetrahedral rolling robot mechanism is composed of a first branch chain (1), a first base (2), a second branch chain (3), a third branch chain (4), a second base (5), a fourth branch chain (6), a fifth branch chain (7), a third base (8), a sixth branch chain (9) and a fourth base (10). The branch chains of the robot are folded and unfolded by controlling rotation of the motors, so that the robot can flexibly switch a collision-free rolling gait and a climbing gait, and the robot is simple and efficient in mechanical structure, high in feasibility and capable of being well applied to the fields of detection, rescue and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanism applications, and particularly relates to a novel tetrahedral rolling robot mechanism. Background Art

[0002] A rolling robot is a new type of robot that realizes walking by adjusting the center of gravity, different from wheeled and legged robots, and has very wide applications in the fields of emergency rescue and planetary exploration. However, the existing rolling robots continuously impact the ground during movement, easily causing damage to hardware such as components, drive motors, and connecting joints. These impacts also cause the mechanism to slip, affecting the accuracy of the movement path and increasing energy consumption, thereby reducing the overall movement ability. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a novel tetrahedral rolling robot mechanism. Driven by a motor, the mechanism can achieve non-collision rolling gait and climbing rolling gait. In the non-collision rolling gait, the impact with the ground is avoided, thereby improving the overall movement performance; in the climbing gait, the mechanism increases the center of mass height through its own deformation and moves forward beyond the support area, enhancing the ability of the tetrahedral mechanism to climb steps.

[0004] The technical solution adopted by the present invention is a novel tetrahedral rolling robot mechanism, which is characterized in that it includes a first chain, a first base, a second chain, a third chain, a second base, a fourth chain, a fifth chain, a third base, a sixth chain, and a fourth base.

[0005] Each of the four bases is provided with three pairs of mounting holes, and the included angle between adjacent pairs of mounting holes is 120 degrees; both ends of the first chain, the second chain, the third chain, the fourth chain, the fifth chain, and the sixth chain are provided with mounting holes. The first base is respectively hingedly connected to one end of the first chain, the second chain, and the third chain. The second base is respectively hingedly connected to one end of the third chain, the fourth chain, and the fifth chain. The third base is respectively hingedly connected to one end of the second chain, the fourth chain, and the sixth chain. The fourth base is respectively hingedly connected to one end of the first chain, the fifth chain, and the sixth chain.

[0006] Further, the first chain includes a first support plate, a second support plate, a third support plate, a fourth support plate, and a motor. One end of the first support plate is provided with a motor base, the other end is provided with a mounting hole for hingedly connecting to the fourth base, and a pair of threaded holes for fixedly connecting to the second support plate are provided in the middle. One end of the second support plate is provided with a bearing seat hole, the other end is provided with a mounting hole for hingedly connecting to the fourth base, and a pair of threaded holes for fixedly connecting to the first support plate are provided in the middle. The first support plate and the second support plate are parallel and fixedly connected by two double-headed hexagon bolts. One end of the third support plate is provided with a bearing seat hole, the other end is provided with a mounting hole for hinged connection with the first base, and a pair of mounting holes for fixed connection with the fourth support plate are provided in the middle; One end of the fourth support plate is a flange mounting surface, the other end is provided with a mounting hole for hinged connection with the first base, and a pair of mounting holes for fixed connection with the fourth support plate are provided in the middle. The third support plate is parallel to the fourth support plate and is fixedly connected by two double-headed hexagon bolts; Further, the motor is installed on the motor base of the first support plate and the motor mounting groove of the second support plate. The motor shaft is connected to the fourth support plate through a flange. The first support plate and the fourth support plate are rotationally connected through the motor, and the second support plate and the third support plate are rotationally connected through a bearing. The axes of the two rotational connections are collinear; Further, the structure and external dimensions of the second branch chain are the same as those of the first branch chain; Further, the structure and external dimensions of the third branch chain are the same as those of the first branch chain; Further, the structure and external dimensions of the fourth branch chain are the same as those of the first branch chain; Further, the structure and external dimensions of the fifth branch chain are the same as those of the first branch chain; Further, the structure and external dimensions of the sixth branch chain are the same as those of the first branch chain; Further, the robot is equipped with six motors in total. By precisely controlling the rotation of each motor, the branch chains of the robot are folded and unfolded to adjust the overall shape and the position of the center of mass of the robot, so that the robot has a collision-free rolling gait and a climbing gait.

[0007] Through the above design scheme, the present invention can bring the following beneficial effects: The novel tetrahedral rolling robot mechanism of the present invention folds and unfolds the robot branch chains by controlling the rotation of the motors, enabling it to flexibly switch between a collision-free rolling gait and a climbing gait on different terrains, endowing the robot with the ability to adapt to complex environments, thereby improving the flexibility and efficiency of its task execution. The mechanical structure design of the present invention is simple and efficient, not only reducing the complexity of mechanical components, but also effectively improving the stability and reliability of the robot. This robot will play an important role in fields such as detection and rescue, and can provide stronger operation capabilities and higher operation efficiency in tasks such as environmental monitoring, disaster area search and rescue, and exploration of dangerous areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The following further describes the present invention in conjunction with the drawings and specific embodiments: Figure 1 It is a schematic diagram of the overall structure of a novel tetrahedral rolling robot mechanism of the present invention.

[0009] Figure 2Schematic diagram of the branch chain structure of a novel tetrahedral rolling robot mechanism of the present invention.

[0010] Figure 3 Schematic diagram of the base structure of a novel tetrahedral rolling robot mechanism of the present invention.

[0011] Figure 4 Schematic diagram of the collision-free rolling gait of a novel tetrahedral rolling robot mechanism of the present invention.

[0012] Figure 5 Schematic diagram of the climbing gait of a novel tetrahedral rolling robot mechanism of the present invention. Detailed implementation manners

[0013] The present invention will be further described below in conjunction with the embodiments: A novel tetrahedral rolling robot mechanism, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , includes a first branch chain (1), a first base (2), a second branch chain (3), a third branch chain (4), a second base (5), a fourth branch chain (6), a fifth branch chain (7), a third base (8), a sixth branch chain (9), and a fourth base (10).

[0014] The first base (2) has a regular triangular structure, and three pairs of mounting holes for mounting the first branch chain (1), the second branch chain (3), and the third branch chain (4) are provided on three sides, and the included angle between adjacent pairs of mounting holes is 120°; The second base (5) has a regular triangular structure, and three pairs of mounting holes for mounting the third branch chain (4), the fourth branch chain (6), and the fifth branch chain (7) are provided on three sides, and the included angle between adjacent pairs of mounting holes is 120°; The third base (8) has a regular triangular structure, and three pairs of mounting holes for mounting the second branch chain (2), the fourth branch chain (6), and the sixth branch chain (9) are provided on three sides, and the included angle between adjacent pairs of mounting holes is 120°; The fourth base (10) has a regular triangular structure, and three pairs of mounting holes for mounting the first branch chain (1), the fifth branch chain (7), and the sixth branch chain (9) are provided on three sides, and the included angle between adjacent pairs of mounting holes is 120°; The first branch chain is as shown in Figure 2 , and the first branch chain includes a first support plate (1-1), a second support plate (1-2), a third support plate (1-3), a fourth support plate (1-4), and a motor (1-5).

[0015] One end of the first support plate (1-1) is provided with a motor shaft mounting hole (1-1-1) and a motor base (1-1-2), which are bolted to the motor (1-5). The motor shaft is rotationally connected to the mounting hole (1-4-3) of the fourth support plate (1-4) through a flange. The other end is provided with a mounting hole (1-1-4) that is assembled and positioned with the mounting hole (10-1) of the fourth base (10) through a shoulder screw to form a hinged connection. In the middle, there is a threaded hole (1-1-3) that is fixedly connected to the threaded hole (1-2-2) of the second support plate (1-2) through two double-headed hexagon studs. The first support plate and the second support plate are parallel to each other; One section of the second support plate (1-2) is provided with a mounting hole (1-2-1) that is assembled and positioned with the mounting hole (2-2) of the fourth base (10) through a shoulder screw to form a hinged connection; the other end is provided with a bearing seat hole (1-2-3) that is rotationally connected to the bearing hole (1-3-1) of the third support plate (1-3) through a bearing; One end of the third support plate (1-3) is provided with a mounting hole (1-2-3) that is hingedly connected to the second base (2). In the middle, there is a threaded hole (1-3-2) that is fixedly connected to the threaded hole (1-4-2) of the fourth support plate (1-4) through two double-headed hexagon studs. The third support plate and the fourth support plate are parallel to each other; The fourth support plate (1-4) is also provided with a mounting hole (1-4-1) that is hingedly connected to the second base (2); The motor (1-5) is a serial bus type servo motor; The structure and external dimensions of the second branch chain (3) are the same as those of the first branch chain (1); The structure and external dimensions of the third branch chain (4) are the same as those of the first branch chain (1); The structure and external dimensions of the fourth branch chain (6) are the same as those of the first branch chain (1); The structure and external dimensions of the fifth branch chain (7) are the same as those of the first branch chain (1); The structure and external dimensions of the sixth branch chain (9) are the same as those of the first branch chain (1); The novel tetrahedral rolling robot mechanism can move on the ground with a collision-free rolling gait. First, the novel tetrahedral rolling robot mechanism is in the state as Figure 4In the starting pose shown in (a), the second base contacts the ground with the connected third, fourth, and fifth linkages, providing stable support for the entire robot. When it is about to move, the motors installed on the fourth and fifth linkages are driven to rotate at a certain rate, the motor installed on the third linkage rotates in coordination at a suitable rate, the motor installed on the sixth linkage remains locked, and the motors installed on the first and second linkages are in standby state. The mechanism moves forward with the third linkage as the support surface, and the center of mass is always located within the support area formed by the third linkage, as shown in Figure 4 shown in (b); Subsequently, the motors are further driven in the same way to gradually adjust the robot to the pose shown in Figure 4 shown in (c). At this time, the center of mass of the robot is at the middle position of the third linkage, and the mechanism completes a collision-free rolling gait movement; Then, the motors installed on the third and fourth linkages are driven. After the center of mass of the robot crosses the middle position of the third linkage, the motor installed on the third linkage is driven in the reverse direction, and the motors installed on the first and second linkages move in coordination at a certain rate. The motor installed on the sixth linkage remains locked, and the motors installed on the fourth and fifth linkages are in standby state until the robot mechanism returns to the initial state, realizing a complete moving gait.

[0016] The novel tetrahedral rolling robot mechanism can move on the ground in a climbing gait. First, the novel tetrahedral rolling robot mechanism is in the starting pose shown in Figure 4 shown in (a). The second base contacts the ground with the connected third, fourth, and fifth linkages, providing stable support for the entire robot. When it is about to move, the motors installed on the fourth and fifth linkages are driven to rotate at a rate higher than that of the motor installed on the third linkage, the motor installed on the third linkage rotates in coordination at a suitable rate, the motor installed on the sixth linkage remains locked, and the motors installed on the first and second linkages are in standby state. The robot moves forward with the third linkage as the support surface, and the center of mass moves from the support area formed by the third linkage to the critical area, and the robot is in the critical position of rolling, as shown in Figure 5 shown in (a); The center of mass has a certain speed and inertia, and the robot tilts forward and rolls, and the mechanism completes a climbing gait movement, as shown in Figure 5 shown in (b); Then, the motors installed on the first, second, third, and fifth linkages are driven to rotate at a certain rate, and the fourth linkage and the motor installed on the sixth linkage are in standby state to make the robot mechanism return to the initial state, realizing a complete climbing gait movement.

Claims

1. A tetrahedron rolling robot mechanism, characterized in that: It comprises a first branch chain (1), a first base (2), a second branch chain (3), a third branch chain (4), a second base (5), a fourth branch chain (6), a fifth branch chain (7), a third base (8), a sixth branch chain (9), and a fourth base (10); The first base (2) is an equilateral triangle structure, and three pairs of mounting holes for mounting the first branch chain (1), the second branch chain (3) and the third branch chain (4) are provided on three sides, and the angle between two adjacent pairs of mounting holes is 120°; The second base (5) is an equilateral triangle structure, and three pairs of mounting holes for mounting the third branch chain (4), the fourth branch chain (6) and the fifth branch chain (7) are provided on three sides, and the angle between two adjacent pairs of mounting holes is 120°; The third base (8) is an equilateral triangle structure, and three pairs of mounting holes for mounting the second branch chain (2), the fourth branch chain (6) and the sixth branch chain (9) are provided on three sides, and the angle between two adjacent pairs of mounting holes is 120°; The fourth base (10) is an equilateral triangle structure, and three pairs of mounting holes for mounting the first branch chain (1), the fifth branch chain (7) and the sixth branch chain (9) are provided on three sides, and the angle between two adjacent pairs of mounting holes is 120°.

2. A tetrahedron rolling robot mechanism according to claim 1, characterized in that: The first branch chain comprises a first support plate (1-1), a second support plate (1-2), a third support plate (1-3), a fourth support plate (1-4), and a motor (1-5); One end of the first support plate (1-1) is provided with a motor shaft mounting hole (1-1-1) and a motor base (1-1-2) connected to the motor (1-5) by bolts, the motor shaft is rotatably connected to the mounting hole (1-4-3) of the fourth support plate (1-4) through a flange, the other end is provided with a mounting hole (1-1-4) which is assembled and positioned with the mounting hole (10-1) of the fourth base (10) by a shoulder screw to form a hinged connection, a threaded hole (1-1-3) is provided in the middle and is fixedly connected to the threaded hole (1-2-2) of the second support plate (1-2) by two double-headed hexagonal studs, and the first support plate and the second support plate are parallel to each other; A mounting hole (1-2-1) is provided on one end of the second support plate (1-2) and is assembled and positioned with a mounting hole (2-2) of the fourth base (10) by means of a shoulder screw to form a hinged connection; a bearing seat hole (1-2-3) is provided on the other end and is rotatably connected with a bearing hole (1-3-1) of the third support plate (1-3) by means of a bearing; The third support plate (1-3) is provided with a mounting hole (1-2-3) hingedly connected to the second base (2) at one end, and a threaded hole (1-3-2) is provided in the middle, which is fixedly connected to the threaded hole (1-4-2) of the fourth support plate (1-4) via two double-headed hexagonal studs, and the third support plate and the fourth support plate are parallel to each other.

3. A tetrahedron rolling robot mechanism according to claim 2, characterized in that: The fourth support plate (1-4) is also provided with a mounting hole (1-4-1) hingedly connected to the second base (2).

4. A tetrahedron rolling robot mechanism according to claim 2, characterized in that: The motor (1-5) is a serial bus type servo motor.

5. The tetrahedron rolling robot mechanism according to claim 1, characterized in that: The second branch chain (3) has the same structure and external dimensions as the first branch chain (1).

6. The tetrahedron rolling robot mechanism according to claim 1, characterized in that: The third branch chain (4) has the same structure and external dimensions as the first branch chain (1).

7. The tetrahedron rolling robot mechanism according to claim 1, characterized in that: The fourth branch chain (6) has the same structure and external dimensions as the first branch chain (1).

8. The tetrahedron rolling robot mechanism according to claim 1, characterized in that: The fifth branch chain (7) has the same structure and external dimensions as the first branch chain (1).

9. The tetrahedron rolling robot mechanism according to claim 1, characterized in that: The sixth branch chain (9) has the same structure and external dimensions as the first branch chain (1).

10. The tetrahedron rolling robot mechanism according to claim 1, characterized in that: The tetrahedron rolling robot mechanism moves on the ground with a collision-free rolling gait; first, the tetrahedron rolling robot mechanism is in a starting position, and the second base is in contact with the ground with the connected third branch chain, fourth branch chain and fifth branch chain, providing stable support for the tetrahedron rolling robot as a whole; when it is to move, the motor installed on the fourth branch chain and the motor installed on the fifth branch chain are driven to rotate at a certain speed, the motor installed on the third branch chain rotates at a corresponding speed, the motor installed on the sixth branch chain remains locked, the motor installed on the first branch chain and the motor installed on the second branch chain are in a standby state, the mechanism uses the third branch chain as a support surface, and moves forward as a whole, and the center of mass is always located in the support area formed by the third branch chain; as the movement After that, the motor is further driven in the same way to make the tetrahedron rolling robot gradually adjust its posture. At this time, the center of mass of the tetrahedron rolling robot is in the middle position of the third branch chain, and the mechanism completes the collision-free rolling gait movement; then the motor installed on the third branch chain and the motor installed on the fourth branch chain are driven to make the center of mass of the tetrahedron rolling robot pass the middle position of the third branch chain, and then the motor installed on the third branch chain is driven in the opposite direction, and the motor installed on the first branch chain and the second motor move in coordination at a certain speed, the motor installed on the sixth branch chain remains in a locked state, and the motor installed on the fourth branch chain and the motor installed on the fifth branch chain are in a standby state until the tetrahedron rolling robot mechanism returns to the initial state and realizes a complete moving gait; The tetrahedron rolling robot mechanism moves on the ground with a climbing gait; first, the tetrahedron rolling robot mechanism is in a starting position, and the second base is in contact with the connected third branch chain, fourth branch chain and fifth branch chain and the ground, providing stable support for the tetrahedron rolling robot mechanism as a whole; when it is necessary to move, the motor installed on the fourth branch chain and the motor installed on the fifth branch chain are driven to rotate at a higher speed than the motor installed on the third branch chain, the motor installed on the third branch chain rotates at a corresponding speed, the motor installed on the sixth branch chain remains locked, the motor installed on the first branch chain and the motor installed on the second branch chain are in a standby state, and the robot With the third branch chain as the support surface, the robot moves forward as a whole, and the center of mass moves from the support area formed by the third branch chain to the critical area, and the robot is in the critical position of rolling; the center of mass has a certain speed and inertia, the tetrahedron rolling robot tilts and rolls forward, and the tetrahedron rolling robot mechanism completes the climbing gait movement; then the motor installed on the first branch chain, the motor installed on the second branch chain, the motor installed on the third branch chain and the motor installed on the fifth branch chain are driven to rotate at a certain speed, and the fourth branch chain and the motor installed on the sixth branch chain remain in standby state, so that the tetrahedron rolling robot mechanism returns to the initial state and realizes a complete climbing gait movement.

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