CN102642577A - Cube rolling mechanism - Google Patents
Cube rolling mechanism Download PDFInfo
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- CN102642577A CN102642577A CN2012101526941A CN201210152694A CN102642577A CN 102642577 A CN102642577 A CN 102642577A CN 2012101526941 A CN2012101526941 A CN 2012101526941A CN 201210152694 A CN201210152694 A CN 201210152694A CN 102642577 A CN102642577 A CN 102642577A
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- semisphere
- connector
- revolute pair
- shape
- links together
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Abstract
The invention discloses a cube rolling mechanism which comprises first to eighth hemispherical connectors (A, B, C, D, E, F, G and H), first to twelfth I-shaped rods (1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 and 12), a motor (13) and a counterweight (14), wherein the eight hemispherical rods and twelve I-shaped rods are connected with one another through a revolute pair to form a cube mechanism, the motor drives the first I-shaped rod 1 to change the shape of the cube so as to enable the mechanism not to satisfy a stability principle and then to turn, thus realizing rolling.
Description
Technical field
The present invention relates to a kind of rolling mechanism of single action power, do not satisfy zero moment (ZMP) stability principle through position mechanism of confirming at some, so the probability of occurrence upset, realize the mechanical device that single action power is rolled and advanced, can be used for the field and detect.
Background technology
The mobile robot is an important branch in the robotics, has just begun the research about the mobile robot as far back as the sixties, and the mobile robot can have self planning, self-organizing, adaptive ability under complex operating environment.But the mobile robot will realize planar arbitrary motion, generally needs two power to control it at least and moves and turn to, and corresponding with the engine number, promptly travel mechanism generally has two degrees of freedom.
Summary of the invention
Technical matters to be solved by this invention is that the rotating that only need control an engine gets final product the travel mechanism that moves and turn to of implementation space.
Technical scheme of the present invention
This cube rolling mechanism comprises: first to the 8th semisphere connector, the first to the 12 I shape bar, motor, counterweight, axle drive shaft;
The A1 end of the first semisphere connector and an end of an I shape bar link together through jackscrew, and an end of A2, A3 end and the 4th, eight I shape bars links together through revolute pair;
One end of the B1 of the second semisphere connector, B3 end and second, five I shape bars links together through revolute pair, and the other end of a B2 end and an I shape bar links together through revolute pair;
The C1 end of the 3rd semisphere connector and the other end of the second shape bar link together through revolute pair, and an end of C2, C3 end and the 3rd, six I shape bars links together through revolute pair;
The other end of the D1 of the 4th semisphere connector, D2 end and the 4th, three I shape bars links together through revolute pair, and an end of D3 end and the 7th I shape bar links together through revolute pair;
One end of the E1 of the 5th semisphere connector, E2 end and the 12, nine I shape bars links together through revolute pair, and the other end of E3 end and the 8th I shape bar links together through revolute pair;
The F1 end of the 6th semisphere connector and an end of the tenth I shape bar link together through revolute pair, and the other end of F2, F3 end and the 9th, five I shape bars links together through revolute pair;
The G1 end of the 7th semisphere connector and an end of the 11 I shape bar link together through revolute pair, and the other end of G2, G3 end and the tenth, six I shape bars links together through revolute pair;
The other end of the H1 of the 8th semisphere connector, H2, H3 end and the 12,11, seven I shape bars links together through revolute pair;
Second to the eight semisphere connector (B, C, D, E, F, G, H) structure and measure-alike; The second to the 12 I shape bar (2,3,4,5,6,7,8,9,10,11,12) structure and measure-alike;
Accomplish the assembling of cube rolling mechanism through above-mentioned steps; Mechanism has 20 rod members and 24 revolute pairs; Its degree of freedom is one, and through the motor-driven to a rod member of mechanism, the position that can make some confirm is attend mechanism and do not satisfied stability principle; And then the probability of occurrence upset, realize rolling.
The present invention has the following advantages:
The present invention is 20 linkages that connected and composed by revolute pair fully, is linked together dexterously through revolute pair by eight three secondary bars and 12 second mate's bars, and its degree of freedom is one; Through the motor-driven to a rod member of mechanism, the position that can make some confirm is attend mechanism and is not satisfied stability principle, and then the probability of occurrence upset, realizes rolling; This mechanism only needing can realize the rotating of an engine of control just can accomplish spatial movement and the function that turns to thus.
Description of drawings
Fig. 1 cube rolling mechanism overall schematic
Fig. 2 first semisphere connector
Fig. 3 second semisphere connector
Fig. 4 the one I shape bar constructional drawing
Fig. 5 the second to the 12 I shape bar constructional drawing
The motion initial condition figure of Fig. 6 (a) cube rolling mechanism
The motion of Fig. 6 (b) cube rolling mechanism critical state diagram that rolls
The probability of Fig. 6 (c) cube rolling mechanism constitution diagram that rolls
The probability of Fig. 6 (d) cube rolling mechanism intermediateness figure that rolls
Constitution diagram after the probability of Fig. 6 (e) cube rolling mechanism rolls
The specific embodiment
In conjunction with accompanying drawing the present invention is described further.
The cube rolling mechanism; Comprise like Fig. 1: first to the 8th semisphere connector (A, B, C, D, E, F, G, H), the first to the 12 I shape bar (1,2,3,4,5,6,7,8,9,10,11,12), motor (13); Counterweight (14); Axle drive shaft (15), finishing bevel gear cuter (16), finishing bevel gear cuter (17); The structure and the connection mode of part are following:
The A1 end of the first semisphere connector (A) and an end of an I shape bar (1) link together through jackscrew, and an end of A2, A3 end and the 4th, eight I shape bars (4,8) links together through revolute pair;
One end of the B1 of the second semisphere connector (B), B3 end and second, five I shape bars (2,5) links together through revolute pair, and the other end of a B2 end and an I shape bar (1) links together through revolute pair;
The C1 end of the 3rd semisphere connector (C) and the other end of the second shape bar (2) link together through revolute pair, and an end of C2, C3 end and the 3rd, six I shape bars (3,6) links together through revolute pair;
The other end of the D1 of the 4th semisphere connector (D), D2 end and the 4th, three I shape bars (4,3) links together through revolute pair, and an end of D3 end and the 7th I shape bar (7) links together through revolute pair;
One end of the E1 of the 5th semisphere connector (E), E2 end and the 12, nine I shape bars (12,9) links together through revolute pair, and the other end of E3 end and the 8th I shape bar (8) links together through revolute pair;
The F1 end of the 6th semisphere connector (F) and an end of the tenth I shape bar (10) link together through revolute pair, and the other end of F2, F3 end and the 9th, five I shape bars (9,5) links together through revolute pair;
The G1 end of the 7th semisphere connector (G) and an end of the 11 I shape bar (11) link together through revolute pair, and the end that makes of G2, G3 end and the tenth, six I shape bars (10,6) links together through revolute pair;
The other end of the H1 of the 8th semisphere connector (H), H2, H3 end and the 12,11, seven I shape bars (12,11,7) links together through revolute pair;
The recessed poor stationkeeping motor (13) of the first semisphere connector (A) is transferred to axle drive shaft (15) through one group of finishing bevel gear cuter (16,17), like Fig. 2;
The recessed poor stationkeeping counterweight (14) of the second semisphere connector (B)
Second to the eight semisphere connector (B, C, D, E, F, G, H) structure and measure-alike; The second to the 12 I shape bar (2,3,4,5,6,7,8,9,10,11,12) structure and measure-alike;
Accomplish the assembling of cube rolling mechanism through above-mentioned steps.
The described first semisphere connector (A) is by semisphere bar A ', motor (13), and axle drive shaft (15), finishing bevel gear cuter is formed (16,17);
There is a groove centre of semisphere bar A ', fixed electrical machinery (13); The outer end is uniformly distributed with three projections, and its A1 is provided with a sipes, and a through hole is established at two ends respectively; Two through holes are coaxial, and in order to installing drive axle (15), A2, A3 end are opened a width and the identical groove of width that equals I shape bar are set respectively; Groove establish two through holes respectively, two through holes are coaxial; Motor shaft connects finishing bevel gear cuter (16), and finishing bevel gear cuter (16) and finishing bevel gear cuter (17) engagement that is installed on the axle drive shaft (15) are formed running part; Like Fig. 2;
The described second semisphere connector (B) is by semisphere bar B ', and counterweight (14) is formed;
There is a groove centre of semisphere bar B ', is used for installing counterweight (14), and its outer end is uniformly distributed with three projections, and each bossing is provided with a width and the identical groove of width that equals I shape bar, groove establish two through holes respectively, two through holes are coaxial; Like Fig. 3;
The two ends of described the first to the 12 I shape bar are respectively equipped with two through holes, and wherein an end of an I shape bar has a little top wire hole, like Fig. 4 and Fig. 5;
Fig. 6 is a cube rolling mechanism motion state diagram;
Fig. 6 (a) is the motion initial condition of cube rolling mechanism; It is a regular cube state; 4 of A, B, C, D contact with ground, and motor is installed in A place, summit, and motor is just changeing driver train; Make B, the motion that 2 built on stilts of D reach the cube rolling mechanism of Fig. 8 (b) critical conditions of rolling;
The probability of Fig. 6 (c) cube rolling mechanism state that rolls, mechanism leans on inertia to roll, and 3 of A, D, H contact with ground;
The probability of Fig. 6 (d) cube rolling mechanism intermediateness of rolling, motor inversion driving mechanism, the probability that reaches the cube rolling mechanism of Fig. 6 (e) the back state that rolls;
Accomplish an orbit period through above-mentioned three steps, mechanism accomplishes the once inside out motion, so goes on and has just accomplished the continuous rolling of cube rolling structure.
Claims (4)
1. cube rolling mechanism; It is characterized in that: this cube rolling mechanism comprises: first to the 8th semisphere connector (A, B, C, D, E, F, G, H), the first to the 12 I shape bar (1,2,3,4,5,6,7,8,9,10,11,12), motor (13); Counterweight (14); Axle drive shaft (15), finishing bevel gear cuter (16), finishing bevel gear cuter (17);
Second to the eight semisphere connector (B, C, D, E, F, G, H) structure and measure-alike; The second to the 12 I shape bar (2,3,4,5,6,7,8,9,10,11,12) structure and measure-alike;
Be uniformly distributed with three coupling ends on described first to the 8th semisphere connector (A, B, C, D, E, F, G, H);
The A1 end of the first semisphere connector (A) and an end of an I shape bar (1) link together through jackscrew, and an end of A2, A3 end and the 4th, eight I shape bars (4,8) links together through revolute pair;
One end of the B1 of the second semisphere connector (B), B3 end and second, five I shape bars (2,5) links together through revolute pair, and the other end of a B2 end and an I shape bar (1) links together through revolute pair;
The C1 end of the 3rd semisphere connector (C) and the other end of the 2nd I shape bar (2) link together through revolute pair, and an end of C2, C3 end and the 3rd, six I shape bars (3,6) links together through revolute pair;
The other end of the D1 of the 4th semisphere connector (D), D2 end and the 4th, three I shape bars (4,3) links together through revolute pair, and an end of D3 end and the 7th I shape bar (7) links together through revolute pair;
One end of the E1 of the 5th semisphere connector (E), E2 end and the 12, nine I shape bars (12,9) links together through revolute pair, and the other end of E3 end and the 8th I shape bar (8) links together through revolute pair;
The F1 end of the 6th semisphere connector (F) and an end of the tenth I shape bar (10) link together through revolute pair, and the other end of F2, F3 end and the 9th, five I shape bars (9,5) links together through revolute pair;
The G1 end of the 7th semisphere connector (G) and an end of the 11 I shape bar (11) link together through revolute pair, and the other end of G2, G3 end and the tenth, six I shape bars (10,6) links together through revolute pair;
The other end of the H1 of the 8th semisphere connector (H), H2, H3 end and the 12,11, seven I shape bars (12,11,7) links together through revolute pair;
Accomplish the assembling of cube rolling mechanism through above-mentioned steps.
2. the first semisphere connector A according to claim 1 is characterized in that:
The described first semisphere connector (A) is by semisphere bar A ', motor (13), and axle drive shaft (15), one group of finishing bevel gear cuter (16,17) is formed;
There is a groove centre of semisphere bar A ', fixed electrical machinery (13); The outer end is uniformly distributed with three projections, and its A1 is provided with a sipes, and a through hole is established at two ends respectively; Two through holes are coaxial, and in order to installing drive axle (15), A2, A3 end are opened a width and the identical groove of width that equals I shape bar are set respectively; Groove establish two through holes respectively, two through holes are coaxial; Motor shaft connects finishing bevel gear cuter (16), and finishing bevel gear cuter (16) and finishing bevel gear cuter (17) engagement that is installed on the axle drive shaft (15) are formed running part.
3. according to described second to the eight semisphere connector of power claim 1, be example, it is characterized in that with the second semisphere connector:
The described second semisphere connector (B) is by semisphere bar B ', and counterweight (14) is formed;
There is a groove centre of semisphere bar B ', is used for installing counterweight (14), and its outer end is uniformly distributed with three projections, and each bossing is provided with a width and the identical groove of width that equals I shape bar, groove establish two through holes respectively, two through holes are coaxial.
4. an I shape bar according to claim 1 is characterized in that:
The width two ends of the one I shape bar (1) are respectively equipped with through hole, and wherein an end has a top wire hole, are used for being connected with axle drive shaft (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210152694 CN102642577B (en) | 2012-05-16 | 2012-05-16 | Cube rolling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210152694 CN102642577B (en) | 2012-05-16 | 2012-05-16 | Cube rolling mechanism |
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| Publication Number | Publication Date |
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| CN102642577A true CN102642577A (en) | 2012-08-22 |
| CN102642577B CN102642577B (en) | 2013-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201210152694 Expired - Fee Related CN102642577B (en) | 2012-05-16 | 2012-05-16 | Cube rolling mechanism |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103112512A (en) * | 2013-02-27 | 2013-05-22 | 北京交通大学 | Rolling deformation mechanism |
| CN103144691A (en) * | 2013-03-19 | 2013-06-12 | 北京交通大学 | Six-degree-of-freedom rolling mechanism |
| CN103303386A (en) * | 2013-07-03 | 2013-09-18 | 北京交通大学 | Single-degree-of-freedom double-mode rolling six-rod mechanism |
| CN103434580A (en) * | 2013-07-24 | 2013-12-11 | 北京交通大学 | Deformable hexahedron travel mechanism |
| CN103469893A (en) * | 2013-09-24 | 2013-12-25 | 北京交通大学 | Folding cube |
| CN103738426A (en) * | 2013-10-21 | 2014-04-23 | 北京交通大学 | Dual-mode sixteen-rod rolling mechanism |
| CN105835972A (en) * | 2016-05-07 | 2016-08-10 | 上海大学 | Ditetrahedron telescopic movable robot |
| CN106515890A (en) * | 2016-11-16 | 2017-03-22 | 北京交通大学 | Hexahedron moving robot |
| CN107697177A (en) * | 2017-09-08 | 2018-02-16 | 北京交通大学 | A kind of deformable hexahedron rolling mechanism |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030150654A1 (en) * | 2000-07-19 | 2003-08-14 | Gregory Kaplun | Vehicle propulsion system |
| CN101130375A (en) * | 2006-08-25 | 2008-02-27 | 中国北方车辆研究所 | Walking system of planet wheel type planet vehicle |
-
2012
- 2012-05-16 CN CN 201210152694 patent/CN102642577B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030150654A1 (en) * | 2000-07-19 | 2003-08-14 | Gregory Kaplun | Vehicle propulsion system |
| CN101130375A (en) * | 2006-08-25 | 2008-02-27 | 中国北方车辆研究所 | Walking system of planet wheel type planet vehicle |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103112512A (en) * | 2013-02-27 | 2013-05-22 | 北京交通大学 | Rolling deformation mechanism |
| CN103112512B (en) * | 2013-02-27 | 2016-08-03 | 北京交通大学 | Roll deformation mechanism |
| CN103144691A (en) * | 2013-03-19 | 2013-06-12 | 北京交通大学 | Six-degree-of-freedom rolling mechanism |
| CN103303386B (en) * | 2013-07-03 | 2016-01-13 | 北京交通大学 | A kind of Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism |
| CN103303386A (en) * | 2013-07-03 | 2013-09-18 | 北京交通大学 | Single-degree-of-freedom double-mode rolling six-rod mechanism |
| CN103434580A (en) * | 2013-07-24 | 2013-12-11 | 北京交通大学 | Deformable hexahedron travel mechanism |
| CN103434580B (en) * | 2013-07-24 | 2016-05-11 | 北京交通大学 | Deformable hexahedron travel mechanism |
| CN103469893A (en) * | 2013-09-24 | 2013-12-25 | 北京交通大学 | Folding cube |
| CN103469893B (en) * | 2013-09-24 | 2016-08-10 | 北京交通大学 | A kind of folding cube |
| CN103738426A (en) * | 2013-10-21 | 2014-04-23 | 北京交通大学 | Dual-mode sixteen-rod rolling mechanism |
| CN105835972A (en) * | 2016-05-07 | 2016-08-10 | 上海大学 | Ditetrahedron telescopic movable robot |
| CN106515890A (en) * | 2016-11-16 | 2017-03-22 | 北京交通大学 | Hexahedron moving robot |
| CN106515890B (en) * | 2016-11-16 | 2018-10-19 | 北京交通大学 | A kind of hexahedron mobile robot |
| CN107697177A (en) * | 2017-09-08 | 2018-02-16 | 北京交通大学 | A kind of deformable hexahedron rolling mechanism |
| CN107697177B (en) * | 2017-09-08 | 2020-03-24 | 北京交通大学 | Deformable hexahedron rolling mechanism |
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| CN102642577B (en) | 2013-10-16 |
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Granted publication date: 20131016 |