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Foldable Polyhedron Rolling Mechanism

A technology of polyhedron and folding rod, which is applied in the directions of motor vehicles, transportation and packaging, etc., and can solve the problems of unchanged shape, poor adaptability to the ground environment and surrounding space environment, etc.

Active Publication Date: 2016-01-13
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention: rolling robots (such as spherical or wheeled robots) generally do not change in shape during rolling, and have poor adaptability to the ground environment and surrounding space environment

Method used

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  • Foldable Polyhedron Rolling Mechanism
  • Foldable Polyhedron Rolling Mechanism
  • Foldable Polyhedron Rolling Mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach

[0042] Collapsible polyhedron rolling mechanism, such as figure 1 As shown, it includes two telescopic apexes (A), three folding rod groups (B) and six apex connection shafts (9) connecting them, three motors (10) and three counterweights (11);

[0043] Among them, such as Figure 4 The telescopic apex (A) shown is formed by connecting the push rod synchronous link (6) and the push rod base link (7) through the electric push rod (8),

[0044] One end of the electric push rod (8) is fixedly connected with the threaded hole of the push rod synchronous connecting rod (6), and the other end of the electric push rod (8) is connected with the threaded hole of the push rod seat connecting rod (7). Cooperate with each other for fixed connection, the long side direction of the L-shaped connecting end on the push rod synchronous connecting rod (6) is opposite to the long side direction of the L-shaped connecting end on the push rod seat connecting rod (7);

[0045] Such as figure 2 ...

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Abstract

A foldable polyhedral rolling mechanism comprises two extending and retracting top points (A), three foldable rod sets (B), six top point connecting shafts (9), three motors (10) and three counter weights (11). The six top pint connecting shafts (9) are used for connecting the two expanding and retracting top points (A) and the three foldable rod sets (B). Each expanding and retracting top point (A) is formed by a push rod synchronizing connecting rod (6) and a push rod base connecting rod (7) which are connected through an electric push rod (8). Each foldable rod set (B) is composed of two quadrilateral rod sets (B-1) and ball pair hinges (B-2) connecting the quadrilateral rod sets (B-1). The two expanding and retracting top points (A) are arranged at the upper end and the lower end of the mechanism respectively. The three foldable rod sets (B) are evenly distributed and the included angle between every two foldable rod sets (B) is 120 degrees. Folding and unfolding action of the mechanism is achieved through the electric push rods (8) on the two expanding and retracting top points (A). After the mechanism is unfolded, the moving function is achieved through control over deformation of the three foldable rod sets by the three motors (10).

Description

technical field [0001] The invention relates to a rolling mechanism, in particular to a polyhedron rolling mechanism with folding function. Background technique [0002] The rolling mechanism refers to a moving mechanism that produces continuous overturning actions by changing the position of its own center of mass. For example, the spherical robot realizes the control of the rolling function by adjusting the position of the heavy object inside the spherical shell; the modular robot realizes the change of the position of the center of mass by changing the rotation angle of each joint to roll. Chinese patent CN101973319A proposes a rolling hexahedron walking mechanism. The mechanism adopts a closed-chain structure to increase the rigidity of the robot and improve the load capacity. The structure and control are simple, and the mechanism can realize movement and steering in the plane under the action of inertia. Chinese patent CN102145719A proposes a rolling robot, which can ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 姚燕安李晔卓
Owner BEIJING JIAOTONG UNIV
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