Tetrahedral rolling robot mechanism

Abstract

The application discloses a tetrahedron rolling robot mechanism which is composed of a first supporting chain (1), a first base (2), a second supporting chain (3), a third supporting chain (4), a second base (5), a fourth supporting chain (6), a fifth supporting chain (7), a third base (8), a sixth supporting chain (9) and a fourth base (10). By controlling the rotation of the motor, the supporting chain of the robot is folded and unfolded, so that the robot can flexibly switch between a collision-free rolling gait and a climbing gait. The mechanical structure of the robot is simple, efficient and highly feasible, and the robot will be well applied in the fields of detection and rescue.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mechanism, and particularly relates to a novel tetrahedral rolling robot mechanism. BACKGROUND

[0002] The rolling robot is a novel robot for walking through gravity center adjustment, and is widely applied in the fields of emergency rescue and planet exploration. However, the existing rolling robot is continuously impacted with the ground during movement, and is easy to cause damage of hardware such as parts, driving motors and connecting joints. The impact also causes mechanism sliding, affects the accuracy of the moving path, and increases energy loss, thereby reducing the overall moving ability. SUMMARY

[0003] The technical problem to be solved by the application is to provide a novel tetrahedral rolling robot mechanism, which can realize non-collision rolling gait and climbing rolling gait through motor driving. In the non-collision rolling gait, the impact with the ground is avoided, thereby improving the overall moving performance. In the climbing gait, the mechanism improves the height of the center of mass through self-deformation, and moves forward to exceed the support area, thereby enhancing the ability of the tetrahedral mechanism to climb steps.

[0004] The technical scheme adopted by the application is a novel tetrahedral rolling robot mechanism, characterized by comprising a first branch chain, a first base, a second branch chain, a third branch chain, a second base, a fourth branch chain, a fifth branch chain, a third base, a sixth branch chain and a fourth base.

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

[0006] Further, the first branch chain comprises a first support plate, a second support plate, a third support plate, a fourth support plate and a motor. The first support plate is provided with a motor base at one end, and is provided with a mounting hole for hingedly connecting with the fourth base at the other end. A pair of threaded holes for fixedly connecting with the second support plate are arranged in the middle.

[0007] The second support plate is provided with a bearing seat hole at one end, a mounting hole for hinged connection with the fourth base at the other end, and a pair of threaded holes for fixed connection with the first support plate in the middle.

[0008] The third support plate is provided with a bearing seat hole at one end, a mounting hole for hinged connection with the first base at the other end, and a pair of mounting holes for fixed connection with the fourth support plate in the middle.

[0009] The fourth support plate is provided with a flange mounting surface at one end, a mounting hole for hinged connection with the first base at the other end, and a pair of mounting holes for fixed connection with the fourth support plate in the middle. The third support plate and the fourth support plate are parallel and fixedly connected by two double-end hexagonal bolts.

[0010] Further, the motor is mounted on the motor base of the first support plate and the motor mounting groove of the second support plate. The motor shaft is connected with the fourth support plate through a flange plate. The first support plate and the fourth support plate are rotationally connected through the motor. The second support plate and the third support plate are rotationally connected through a bearing. The axes of the two sets of rotational connections are collinear.

[0011] Further, the second branch chain has the same structure and outer dimensions as the first branch chain.

[0012] Further, the third branch chain has the same structure and outer dimensions as the first branch chain.

[0013] Further, the fourth branch chain has the same structure and outer dimensions as the first branch chain.

[0014] Further, the fifth branch chain has the same structure and outer dimensions as the first branch chain.

[0015] Further, the sixth branch chain has the same structure and outer dimensions as the first branch chain.

[0016] Further, the robot is equipped with six motors. By precisely controlling the rotation of each motor, the branch chains of the robot are folded and unfolded, the overall shape and center of mass of the robot are adjusted, and the robot has a collision-free rolling gait and a climbing gait.

[0017] By the above design scheme, the novel tetrahedral rolling robot mechanism can bring the following beneficial effects: the novel tetrahedral rolling robot mechanism can switch flexibly between a collision-free rolling gait and a climbing gait under different terrains by controlling the rotation of the motor to fold and unfold the robot branch chain, so that the robot has the ability to adapt to complex environments, thereby improving the flexibility and efficiency of task execution. The mechanical structure of the present application is simple and efficient, which not only reduces the complexity of mechanical parts, but also effectively improves the stability and reliability of the robot. The robot will play an important role in detection, rescue and other fields, and can provide stronger work capacity and higher operation efficiency in environmental monitoring, disaster rescue, dangerous area exploration and other tasks. BRIEF DESCRIPTION OF DRAWINGS

[0018] The application will be further described below in combination with the drawings and specific embodiments:

[0019] Figure 1 It is a whole structure schematic diagram of a novel tetrahedral rolling robot mechanism of the present application.

[0020] Figure 2 It is a branch chain structure schematic diagram of a novel tetrahedral rolling robot mechanism of the present application.

[0021] Figure 3 It is a base structure schematic diagram of a novel tetrahedral rolling robot mechanism of the present application.

[0022] Figure 4 It is a collision-free rolling gait schematic diagram of a novel tetrahedral rolling robot mechanism of the present application.

[0023] Figure 5 It is a climbing gait schematic diagram of a novel tetrahedral rolling robot mechanism of the present application. DETAILED DESCRIPTION

[0024] The application will be further described below in combination with the drawings and specific embodiments:

[0025] A novel tetrahedral rolling robot mechanism, like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , 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).

[0026] The first base (2) is a regular 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 arranged on the three sides, and the included angle between the adjacent two pairs of mounting holes is 120°.

[0027] The second base (5) is a regular 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 arranged on the three sides, and the included angle between the adjacent two pairs of mounting holes is 120°;

[0028] The third base (8) is a regular 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 arranged on the three sides, and the included angle between the adjacent two pairs of mounting holes is 120°;

[0029] The fourth base (10) is a regular 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 arranged on the three sides, and the included angle between the adjacent two pairs of mounting holes is 120°;

[0030] 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). Figure 2 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).

[0031] 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), and the motor (1-5) is connected through bolts; the motor shaft is rotatably connected with the mounting hole (1-4-3) of the fourth support plate (1-4) through a flange plate; the other end is provided with a mounting hole (1-1-4) which is hingedly connected with the mounting hole (10-1) of the fourth base (10) through a shoulder screw; a threaded hole (1-1-3) is arranged in the middle and fixedly connected with the threaded hole (1-2-2) of the second support plate (1-2) through two double-end hexagonal studs; the first support plate and the second support plate are parallel to each other.

[0032] One end of the second support plate (1-2) is provided with a mounting hole (1-2-1) which is hingedly connected with the mounting hole (2-2) of the fourth base (10) through a shoulder screw; the other end is provided with a bearing seat hole (1-2-3) which is rotatably connected with the bearing hole (1-3-1) of the third support plate (1-3) through a bearing;

[0033] One end of the third support plate (1-3) is provided with a mounting hole (1-2-3) which is hingedly connected with the second base (2); a threaded hole (1-3-2) is arranged in the middle and fixedly connected with the threaded hole (1-4-2) of the fourth support plate (1-4) through two double-end hexagonal studs; the third support plate and the fourth support plate are parallel to each other.

[0034] The fourth support plate (1-4) is further provided with a mounting hole (1-4-1) which is hingedly connected with the second base (2);

[0035] The motor (1-5) is a serial bus type servo motor;

[0036] The second branch chain (3) has the same structure and size as the first branch chain (1);

[0037] The third branch chain (4) has the same structure and size as the first branch chain (1);

[0038] The fourth branch chain (6) has the same structure and size as the first branch chain (1);

[0039] The fifth branch chain (7) has the same structure and size as the first branch chain (1);

[0040] The sixth branch chain (9) has the same structure and size as the first branch chain (1);

[0041] The novel tetrahedral rolling robot mechanism can move on the ground in a collision-free rolling gait. First, the novel tetrahedral rolling robot mechanism is in the initial pose as shown in Figure 4 (a), 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 whole robot; when moving, the motor installed on the fourth branch chain and the motor installed on the fifth branch chain are driven to rotate at a certain rate, the motor installed on the third branch chain is matched to rotate at a corresponding rate, the motor installed on the sixth branch chain is kept in a locked state, and the motor installed on the first branch chain and the motor installed on the second branch chain are in standby state, the mechanism takes the third branch chain as the support surface, and the whole body moves forward, and the center of mass is always located in the support area formed by the third branch chain, as shown in Figure 4 (b); then, the motors are further driven in the same way, so that the robot is gradually adjusted to the pose shown in Figure 4 (c), at this time, the center of mass of the robot is at 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, so that the center of mass of the robot is beyond the middle position of the third branch chain, the motor installed on the third branch chain is driven in the opposite direction, the motor installed on the first branch chain and the second motor are matched to move at a certain rate, the motor installed on the sixth branch chain is kept in a locked state, and the motor installed on the fourth branch chain and the motor installed on the fifth branch chain are in standby state, until the robot mechanism returns to the initial state, and a complete moving gait is realized.

[0042] 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 initial pose as shown in Figure 4the initial pose shown in (a), the second base is in contact with the third, fourth and fifth branches and the ground, providing stable support for the whole robot; when moving, the motor installed on the fourth branch and the motor installed on the fifth branch are driven to rotate at a higher speed than the motor installed on the third branch, the motor installed on the third branch rotates at a corresponding speed, the motor installed on the sixth branch remains locked, and the motor installed on the first branch and the motor installed on the second branch are in standby state; the robot moves forward with the third branch as the support surface, the center of mass moves from the support area formed by the third branch to the critical area, and the robot is in the rolling critical position, as shown in Figure 5 (a); the center of mass has a certain speed and inertia, and the robot rolls forward; the mechanism completes the climbing gait movement, as shown in Figure 5 (b); then the motor installed on the first branch, the motor installed on the second branch, the motor installed on the third branch and the motor installed on the fifth branch are driven to rotate at a certain speed, the fourth branch and the motor installed on the sixth branch remain in standby state, so that the robot mechanism returns to the initial state, realizing a complete climbing gait movement.

Claims

1. A tetrahedral rolling robot mechanism, characterized in that, Including the first branch (1), the first base (2), the second branch (3), the third branch (4), the second base (5), the fourth branch (6), the fifth branch (7), the third base (8), the sixth branch (9), and the fourth base (10); The first base (2) is an equilateral triangle structure, with three pairs of mounting holes on the three sides for mounting the first branch (1), the second branch (3) and the third branch (4), and the included angle between two adjacent pairs of mounting holes is 120°. The second base (5) is an equilateral triangle structure with three pairs of mounting holes on its three sides for mounting the third branch (4), the fourth branch (6) and the fifth branch (7). The included angle between two adjacent pairs of mounting holes is 120°. The third base (8) is an equilateral triangle structure with three pairs of mounting holes on its three sides for mounting the second branch (3), the fourth branch (6) and the sixth branch (9). The included angle between two adjacent pairs of mounting holes is 120°. The fourth base (10) is an equilateral triangle structure with three pairs of mounting holes on its three sides for mounting the first branch (1), the fifth branch (7) and the sixth branch (9). The included angle between two adjacent pairs of mounting holes is 120°. The tetrahedral rolling robot mechanism moves on the ground with a collision-free rolling gait. Initially, the tetrahedral rolling robot mechanism is in its starting position. The second base, connected to the third, fourth, and fifth branches, contacts the ground, providing stable support for the entire tetrahedral rolling robot. When movement is required, the motors mounted on the fourth and fifth branches rotate at a certain speed, the motor on the third branch rotates at a corresponding speed, the motor on the sixth branch remains locked, and the motors on the first and second branches are in standby mode. The mechanism uses the third branch as its support surface and moves forward as a whole, with its center of mass always located within the support area formed by the third branch. As... Then, the motors are driven in the same way to gradually adjust the posture of the tetrahedral rolling robot. At this time, the center of mass of the tetrahedral rolling robot is in the middle of the third branch, and the mechanism completes the collision-free rolling gait movement. Next, the motors installed on the third branch and the motors installed on the fourth branch are driven so that the center of mass of the tetrahedral rolling robot passes the middle of the third branch. Then, the motors installed on the third branch are driven in the opposite direction. The motors installed on the first branch and the second branch move in coordination at a certain speed. The motors installed on the sixth branch remain locked. The motors installed on the fourth branch and the motors installed on the fifth branch are in standby state until the tetrahedral rolling robot mechanism returns to the initial state and realizes a complete movement gait. The tetrahedral rolling robot mechanism moves on the ground using a climbing gait. Initially, the tetrahedral rolling robot mechanism is in its starting position. The second base, connected to the third, fourth, and fifth branches, contacts the ground, providing stable support for the entire tetrahedral rolling robot mechanism. When movement is required, the motors mounted on the fourth and fifth branches rotate at a higher speed than the motors mounted on the third branch. The motors on the third branch rotate at a corresponding speed. The motor on the sixth branch remains locked, while the motors on the first and second branches are in standby mode. Using the third branch as a support surface, the robot moves forward as a whole, and its center of mass moves from the support area formed by the third branch to the critical area, where the robot is at the critical position of tumbling. The center of mass has a certain speed and inertia, and the tetrahedral rolling robot tilts and rolls forward, completing the climbing gait movement. Then, the motors installed on the first, second, third, and fifth branches are driven to rotate at a certain speed, while the motors on the fourth and sixth branches remain in standby mode, allowing the tetrahedral rolling robot mechanism to return to its initial state and achieve a complete climbing gait movement.

2. The tetrahedral rolling robot mechanism according to claim 1, characterized in that, The first branch 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). The first support plate (1-1) has a motor shaft mounting hole (1-1-1) and a motor base (1-1-2) at one end, which is bolted to the motor (1-5). 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 has a mounting hole (1-1-4) that is hinged to the mounting hole (10-1) of the fourth base (10) by a shoulder screw. A threaded hole (1-1-3) is provided in the middle, which is fixedly connected to the threaded hole (1-2-2) of the second support plate (1-2) by two double-headed hexagonal studs. The first support plate and the second support plate are parallel to each other. The second support plate (1-2) has a mounting hole (1-2-1) at one end, which is connected to the mounting hole (2-2) of the fourth base (10) by a shoulder screw to form a hinge connection; the other end has a bearing seat hole, which is connected to the bearing hole (1-3-1) of the third support plate (1-3) by a bearing to form a rotatable connection. The third support plate (1-3) has an installation hole at one end that is hinged to the first base (2), and a threaded hole (1-3-2) in the middle. It is fixedly connected to the threaded hole (1-4-2) of the fourth support plate (1-4) by two double-headed hexagonal studs. The third support plate and the fourth support plate are parallel to each other.

3. The tetrahedral rolling robot mechanism according to claim 2, characterized in that, The fourth support plate (1-4) is also provided with mounting holes (1-4-1) that are hinged to the first base (2).

4. The tetrahedral rolling robot mechanism according to claim 2, characterized in that, The motors (1-5) are serial bus type servo motors.

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

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

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

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

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

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