CN102058982B - Single-power rolling polygonal mechanism - Google Patents

Abstract

A single-power rolling polygonal mechanism relates to a single-degree-of-freedom moving mechanism. The first to sixth V-shaped rods (1, 2, 3, 4, 5, 6) are sequentially connected to form a closed loop through the first to sixth connecting shafts (7, 8, 9, 10, 11, 12) The three fork ends of the fixed motor tripod (14) are connected with the second, fourth and sixth V-shaped rods (2, 4, 6) through the seventh to ninth connecting shafts (18, 20, 22). The three fork ends of the motor shaft tripod (16) are connected with the first, third and fifth V-shaped rods (1, 3, 5) through the tenth to the twelfth connecting shafts (19, 21, 23). Motor (15) is connected on the motor seat (13) that is fixed on the fixed motor tripod (14). The motor shaft is connected with the motor shaft tripod (16) by jackscrew (17). The mechanism has a single degree of freedom and is driven and controlled by a motor, and has the appearance feature of "snowflake". The center of gravity of the mechanism can be changed by deformation to realize rolling motion.

Description

A Single Power Rolling Polygonal Mechanism

technical field

The invention relates to a single-degree-of-freedom moving mechanism, in particular to a rolling mechanism. The mechanism realizes rolling movement through deformation, and can be used to make mechanism teaching aids, toys and detection robots.

Background technique

The mobile mechanism has no frame relative to the ground and can move in a certain direction as a whole. Rolling is a special way of movement, that is, the ZMP point of the mechanism needs to deviate from the support area of the support rod during the movement. The closed-chain movable link mechanism is a new field of mechanism design. It relies on the interaction between the links to realize the regular movement of the whole mechanism. It is even more difficult to construct a single-power movable link mechanism with a symmetrical geometric structure. CN 2789106Y discloses a mechanism that utilizes a parallelogram mechanism to realize rolling motion, but the mechanism is asymmetrical, has poor motion performance, and cannot pass through bumps on the ground.

Contents of the invention

The problem to be solved by the present invention is to design a single-degree-of-freedom link mechanism with a snowflake shape. Driven by a motor, by changing the geometric shape and the projection of the center of gravity of the mechanism on the ground, a rolling motion is realized by inertial force, and it has a certain ability to overcome obstacles.

The technical solution of the present invention: a single-power rolling polygonal mechanism, which includes the first to sixth V-shaped rods, the first to twelfth connecting shafts, the motor base, the fixed motor tripod, the motor, and the tripod connected to the motor shaft , top wire.

End C of the first V-shaped rod is connected with end A of the second V-shaped rod through a first connecting shaft.

The C-end of the second V-shaped rod is connected with the A-end of the third V-shaped rod through the second connecting shaft.

The C-end of the third V-shaped rod is connected with the A-end of the fourth V-shaped rod through the third connecting shaft.

End C of the fourth V-shaped rod is connected with end A of the fifth V-shaped rod through a fourth connecting shaft.

End C of the fifth V-shaped bar is connected to end A of the sixth V-shaped bar through a fifth connecting shaft.

End C of the sixth V-shaped bar is connected to end A of the first V-shaped bar through a sixth connecting shaft.

The first to sixth V-shaped rods are sequentially connected through the first to sixth connecting shafts to form a closed ring.

The motor is fixed on the motor base by screws, and the motor base is fixed on the tripod rod of the fixed motor. A threaded hole is provided in the circumferential direction, and the jacking screw is threadedly connected with it to fix the motor shaft to form a transmission part of the mechanism; the motor drives the tripod rod connected to the motor shaft to rotate relative to the tripod rod of the fixed motor.

The seventh to ninth connecting shafts enter from one side of the slots at the corners of the second, fourth and sixth V-shaped rods respectively, and then pass through the through holes at the three ends of the tripod rods of the fixed motor, and pass through the respective The circlips are connected together.

The tenth to twelfth connecting shafts respectively enter from one side of the slots at the corners of the first, third, and fifth V-shaped rods, and then pass through the through holes at the three ends of the tripod rods connected to the motor shaft, and pass through the The respective clip springs are connected together.

The beneficial effect of the present invention is that the structure is simple, the mechanism has a single degree of freedom to be driven and controlled by a motor, and has the appearance feature of "snowflake", and the position of the center of gravity of the mechanism can be changed through deformation to realize rolling motion. The mechanism directly crosses over smaller obstacles, and moves in the opposite direction when encountering large obstacles. Both the mechanical structure and the control system are relatively simple, with low cost and high reliability. The "Snowflake" rolling mechanism has a certain obstacle-crossing ability and ornamental value, and has certain application value in the investigation of mechanism teaching aids, toy design and military fields.

Description of drawings

Figure 1 Schematic diagram of a single-powered rolling polygonal mechanism.

Figure 2 Front view of the V-shaped bar structure.

Figure 3 Schematic diagram of the back of the V-shaped rod structure.

Fig. 4 Schematic diagram of the structure of the fixed motor tripod.

Figure 5 Schematic diagram of the structure of the tripod rod connected to the motor shaft.

Figure 6 Schematic diagram of the rotating shaft.

Fig. 7 Schematic diagram of connection of the first and second V-shaped rods.

Figure 8 Partial cross-sectional view of Figure 7.

Figure 9 Schematic diagram of the closed loop.

Figure 10 Trident rod assembly diagram.

Figure 11 Schematic diagram of motor connection.

Figure 12a The first motion state diagram.

Figure 12b The second motion state diagram.

Figure 12c The third motion state diagram.

Figure 12d The fourth motion state diagram.

Detailed ways

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

A single power rolling polygonal mechanism, as shown in Figure 1, the mechanism includes first to sixth V-shaped rods 1, 2, 3, 4, 5, 6, first to twelfth connecting shafts 7, 8, 9 , 10, 11, 12, 18, 19, 20, 21, 22, 23, motor base 13, fixed motor tripod 14, motor 15, connected motor shaft tripod 16, jackscrew 17.

The C end of the first V-shaped rod 1 is connected with the A end of the second V-shaped rod 2 through the first connecting shaft 7, as shown in Figs. 7 and 8 .

End C of the second V-shaped rod 2 is connected to end A of the third V-shaped rod 3 through a second connecting shaft 8 .

End C of the third V-shaped rod 3 is connected to end A of the fourth V-shaped rod 4 through a third connecting shaft 9 .

End C of the fourth V-shaped rod 4 is connected to end A of the fifth V-shaped rod 5 through a fourth connecting shaft 10 .

End C of the fifth V-shaped rod 5 is connected to end A of the sixth V-shaped rod 6 through a fifth connecting shaft 11 .

End C of the sixth V-shaped rod 6 is connected to end A of the first V-shaped rod 1 through a sixth connecting shaft 12 .

The first to sixth V-shaped rods 1, 2, 3, 4, 5, and 6 are sequentially connected to form a closed loop through the first to sixth connecting shafts 7, 8, 9, 10, 11, and 12, as shown in Figure 9 .

The motor 15 is fixed on the motor base 13 by screws, the motor base 13 is fixed on the fixed motor tripod 14, the motor shaft passes through the center hole of the fixed motor tripod 14 and is dynamically matched with the center hole on the motor shaft tripod 16, and is connected The circumference of the motor shaft tripod 16 middle part is provided with a threaded hole, the top wire 17 is threadedly connected with it, the motor shaft is fixed, and the transmission part of the mechanism is formed, as shown in Figures 10 and 11, so that the motor 15 drives and connects the motor shaft tripod 16 to relatively fix the motor tripod 14 spins.

The seventh to ninth connecting shafts (18, 20, 22) respectively enter from the side of the B card slot at the corners of the second, fourth, and sixth V-shaped rods 2, 4, and 6, and then pass through the fixed motor tripod The through holes at the three ends of 14 are connected together by respective jump rings. The tenth to twelfth connecting shafts 19, 21, 23 respectively enter from the side of the B card slot at the corners of the first, third, and fifth V-shaped rods 1, 3, and 5, and then pass through the tripod rod connecting the motor shaft The through holes at the three ends of 16 are connected together by respective jump rings. The assembly of the mechanism is completed through the above steps, and the whole has a hexagonal "snowflake" shape feature with one degree of freedom.

The structural dimensions of the first to sixth V-shaped bars 1, 2, 3, 4, 5, 6 are the same, as shown in Figures 2 and 3. Its V-shaped included angle is 120 °, and the A end of V-shaped bar and the C end of V-shaped bar are respectively provided with a through hole, and the corner B of V-shaped bar is provided with a through-hole. The front side of the through hole established at the corner B of the V-shaped bar is a counterbore, and the back side of the through hole established at the corner B of the V-shaped bar has a draw-in groove. A card slot is opened on the front side of the C end of the V-shaped rod. The distance from the central line of the through hole set at the A end of the V-shaped bar and the C end of the V-shaped bar to the center line of the through hole set at the corner B of the V-shaped bar is equal.

The first to twelfth connecting shafts 7, 8, 9, 10, 11, 12, 18, 19, 20, 21, 22, and 23 have the same structure and size, and the twelve connecting shafts are all stepped shafts. The step is processed into a flat shape, and an annular groove is opened on the third step, as shown in Figure 6.

Fix the motor tripod 14 and connect the motor shaft tripod 16, as shown in Figures 4 and 5, the two rods are symmetrical about the center; the ends of the three forks are all provided with a through hole, and the three forks form an angle of 120° with each other, and the three forks The distance from the center line to the center of the through hole on the end is equal, and the distance from the center line of the through hole at the A end of the first to the sixth V-shaped bar to the center line of the through hole at the corner B of the V-shaped bar is equal . Three small holes are evenly distributed in the middle part of the fixed motor tripod 14 for fixing the motor base 13 . The central hole connecting the motor shaft tripod 16 is used for cooperating with the motor shaft 15, and there are two threaded holes connecting the middle part of the motor shaft tripod 16 in the circumferential direction.

Mechanism motion description: Figure 12a shows the initial state of the mechanism. At this time, the shape is a regular hexagon. By controlling the angle at which the motor turns, the mechanism is deformed.

The motor rotates in the forward direction at the initial position, so that the angle between the tripods 14 and 16 decreases, the shape of the mechanism changes, and the center of gravity of the mechanism tilts to the right due to the shape change. The critical state of mechanism rolling is reached, as shown in Fig. 12b. The motor stops rotating, and the tumbling motion will occur under the action of the inertial force of the mechanism.

As shown in Figure 12c, it is the state after the mechanism rolls over, realizing the forward movement.

After the motor reverses a certain angle, as shown in Figure 12d, the mechanism returns to the regular hexagonal state.

The above four processes are a cycle of the institution. The mechanism moves forward in one cycle. If at the initial position, the rotation direction of the motor is opposite to the above process, the mechanism will move backward in one cycle.

Claims (4)

1. A single power rolling polygonal mechanism, characterized in that: the mechanism includes first to sixth V-shaped rods (1, 2, 3, 4, 5, 6), first to twelfth connecting shafts (7, 8, 9, 10, 11, 12, 18, 19, 20, 21, 22, 23), motor base (13), fixed motor tripod (14), motor (15), connecting motor shaft tripod (16) , top wire (17); The C-end of the first V-shaped rod (1) and the A-end of the second V-shaped rod (2) are connected through the first connecting shaft (7); The C-end of the second V-shaped rod (2) is connected with the A-end of the third V-shaped rod (3) through the second connecting shaft (8); The C end of the third V-shaped rod (3) is connected with the A end of the fourth V-shaped rod (4) through the third connecting shaft (9); The C-end of the fourth V-shaped rod (4) and the A-end of the fifth V-shaped rod (5) are connected through the fourth connecting shaft (10); The C-end of the fifth V-shaped rod (5) and the A-end of the sixth V-shaped rod (6) are connected through the fifth connecting shaft (11); The C-end of the sixth V-shaped rod (6) is connected with the A-end of the first V-shaped rod (1) through the sixth connecting shaft (12); The first to sixth V-shaped rods (1, 2, 3, 4, 5, 6) are sequentially connected to form a closed loop through the first to sixth connecting shafts (7, 8, 9, 10, 11, 12) ; The motor (15) is fixed on the motor base (13) by screws, the motor base (13) is fixed on the fixed motor tripod rod (14), and the motor shaft passes through the central hole of the fixed motor tripod rod (14) and connects the motor shaft tripod The central hole on the rod (16) is dynamically fitted, and the middle part of the trident rod (16) connected to the motor shaft is provided with a threaded hole, and the top screw (17) is threaded to connect the motor shaft to form the transmission part of the mechanism; so that the motor (15) Drive the tripod (16) connected to the motor shaft to rotate relative to the fixed motor tripod (14); The seventh to ninth connecting shafts (18, 20, 22) respectively enter from one side of the card slot at the corner (B) of the second, fourth, and sixth V-shaped rods (2, 4, 6), and then pass through The through holes at the three ends of the fixed motor tripod (14) are connected together by respective circlips; The tenth to twelfth connecting shafts (19, 21, 23) respectively enter from one side of the card slot at the corner (B) on the first, third, and fifth V-shaped rods (1, 3, 5), and then Pass through the through holes at the three ends of the tripod (16) connected to the motor shaft, and be connected together by respective circlips. 2. A single power rolling polygonal mechanism according to claim 1, characterized in that: The structural dimensions of the first to sixth V-shaped bars (1, 2, 3, 4, 5, 6) are the same; The included angle of the V shape is 120°, the A end of the V-shaped rod and the C end of the V-shaped rod are respectively provided with a through hole, and a through hole is provided at the corner (B) of the V-shaped rod; The front side of the through hole set at the corner of the V-shaped bar (B) is a counterbore, and the back side of the through hole set at the corner of the V-shaped bar (B) has a card slot; A card slot is opened on the front side of the C end of the V-shaped rod; The distance from the center line of the through hole set at the A end of the V-shaped bar and the C end of the V-shaped bar to the center line of the through hole set at the corner (B) of the V-shaped bar is equal. 3. A single power rolling polygonal mechanism according to claim 1, characterized in that: the first to twelfth connecting shafts (7, 8, 9, 10, 11, 12, 18, 19, 20, 21, 22, 23) have the same structure and size, the twelve connecting shafts are all stepped shafts, the first step is processed into a flat shape, and an annular groove is opened on the third step. 4. A single power rolling polygonal mechanism according to claim 1, characterized in that: the tripod rod (14) for fixing the motor and the tripod rod (16) for connecting the motor shaft, the two rods are symmetrical about the center; the ends of the three forks Each head is provided with a through hole, and the three forks form an angle of 120° with each other. The distance from the center line to the center of the through holes on the ends of the three forks is equal, and the through holes at the A end of the first to sixth V-shaped rods The spacing from the centerline to the centerline of the through hole at the corner (B) of the V-shaped bar is equal.

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