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Polyhedral rolling mechanism

A technology of polyhedron and motor base, which is applied in the direction of motor vehicles, transportation and packaging, etc., to achieve the effect of simple control, increased rigidity and uniform distribution of force

Active Publication Date: 2012-09-19
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to develop a polyhedral moving mechanism on the basis of the principle of the existing planar rolling four-bar mechanism, to enhance the deformation ability, to realize rolling and steering functions more easily, and to improve the moving performance of the mechanism

Method used

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Embodiment Construction

[0025] The present invention will be further described in conjunction with accompanying drawings.

[0026] A polyhedron rolling mechanism, the mechanism includes an upper platform A, a lower platform B and a first branch chain L1, a second branch chain L2, a third branch chain L3 and a fourth branch chain L4, the lower platform A and the upper platform The structure size of B is the same, and the structure and size of the first branch L1, the second branch L2, the third branch L3 and the fourth branch L4 are the same, as figure 1 shown.

[0027] Such as figure 2 , image 3 As shown, the upper platform A includes a square piece 11 and four motor seats 8 evenly arranged on the four sides (A1, A2, A3, A4) of the square piece 11, four motors 9 and four Adapter 10;

[0028] On the side A1 of the square piece 11, an adapter 10 and a motor base 8 are fixed by screws, and a motor 9 is fixed on the motor base 8, and the fixing method on the other three sides is the same as that on...

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Abstract

A polyhedral rolling mechanism is characterized by comprising an upper platform, a lower platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain. Structures and sizes of the upper platform and the lower platform are identical, and structures and sizes of the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are identical; the upper end of the first branched chain and an A1 side of the upper platform are fixed, the lower end of the first branched chain and a B1 side of the lower platform are fixed; the upper end of the second branched chain and an A2 side of the upper platform are fixed, and the lower end of the second branched chain and a B2 side of the lower platform are fixed; the upper end of the third branched chain and an A3 side of the upper platform are fixed, and the lower end of the third branched chain and a B3 side of the lower platform are fixed; the upper end of the fourth branched chain and an A4 side of the upper platform are fixed, and the lower end of the fourth branched chain and a B4 side of the lower platform are fixed; and the polyhedral rolling mechanism is formed through the connection. According to the polyhedral rolling mechanism, a closed chain structure is utilized, the robot rigidity is enhanced, loading capacity is improved, structure and control are simple and moving and veering in a plane can be achieved.

Description

technical field [0001] The invention relates to a rolling walking mechanism, in particular to a polyhedron rolling mechanism. The device can be used in the military field for reconnaissance, surveillance of terrorist incidents and demining. Background technique [0002] Among the planar linkages, the simplest structure and the most widely used is the planar four-bar mechanism composed of four components. The traditional four-bar mechanism has two connecting rods, a connecting rod and a frame, where the frame is fixed to the ground. In this way, under the rotation of the motor, the output of rotation or partial rotation is realized. Chinese patent application CN2789106Y discloses a single power rolling four-bar mechanism. The mechanism consists of 4 rods and is driven by a motor. The frame is separated from the ground, the frame is relatively static in one movement cycle, and in the transition process to the next cycle, the frame is separated from the ground. In this way...

Claims

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Application Information

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IPC IPC(8): B62D57/02
Inventor 姚燕安田耀斌李虹江王永亮
Owner BEIJING JIAOTONG UNIV
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