CN114161404B - A 6-bar curved bar tensioning monolithic robot with solar-powered sliders - Google Patents

Abstract

The invention discloses a 6-rod bent rod stretching whole robot of a solar power supply sliding block, which comprises 6 bent rods, wherein two ends of any one bent rod are hinged with 24n inhaul cables as hinging points, the 6 bent rods are connected through the inhaul cables to form a hollow outer frame in a bent rod stretching whole form, each bent rod is provided with a movable weight which moves independently along the bending direction of the bent rod, each bent rod is also provided with a driving piece for controlling the movable weights, the stretching whole advancing of the bent rod is realized by controlling the movement of a plurality of movable weights simultaneously, and a detachable solar power generation film is arranged in a formed outer frame space. The six-rod bent rod stretching whole movable structure formed by the invention has certain compression resistance and impact resistance, realizes quick movement by controlling the gravity center offset of a plurality of bent rods, is superior to the traditional stretching whole structure in the aspects of movement performance and environmental adaptability, can flexibly move even on the hollow ground, and can bring continuous energy sources for the movement of the six-rod bent rod stretching whole movable structure by internally arranging the solar power generation film.

Description

A 6-bar curved bar tensioning monolithic robot with solar-powered sliders

technical field

The invention relates to the technical field of prestressed cable-rod structures, in particular to a 6-bar curved-rod tensioning integral robot of a solar-powered slider.

Background technique

Tensile structure is a new type of spatial structure system composed of discrete compression rods and continuous cables. It is widely used in many disciplines because of its light weight, high strength, simple structure, high environmental robustness and deformability.

The 4-rod, 6-rod, 12-rod and 30-rod tensegrity robots that have been seen so far are all straight-rod tensegrity structures. The traditional straight-rod tensegrity structure has sharp edges and corners, and the movement efficiency is not high and unstable.

In addition, if a tensegrity structure in the form of two or three curved rods is used, there will be large gaps in the entire structural system and the structure will be unstable, especially when some protruding objects are easily embedded in the gaps when moving on potholes, resulting in inability to move, and a tensegrity robot with a small number of curved rods cannot stably move along a straight line like a wheel, which has great defects. Secondly, if it is a multi-rod spherical tensegrity structure (such as 12 or 30 rods), the manufacturing and molding will be relatively complicated, and the required driving will also increase accordingly, making it difficult to achieve effective control. Finally, driving the entire tensegrity structure requires a huge amount of electricity. Once the electricity is exhausted, the entire structure will be completely paralyzed, which is a huge loss.

In order to solve the above problems, this case was born.

Contents of the invention

(1) Solved technical problems

Aiming at the deficiencies of the prior art, the present invention provides a 6-bar curved bar tensioning integral robot with a solar-powered slider, which solves the problems raised in the above-mentioned background technology.

(2) Technical solution

In order to achieve the above object, the present invention is achieved through the following technical solutions: a 6-bar curved rod tensioning integral robot of a solar powered slider, including 6 curved rods, 24n cables are hinged at the two ends of any one of the curved rods as a hinge point, and the 6 curved rods are connected by cables to form a hollow outer frame in the form of a curved rod tension. The movement of the block realizes the overall movement of the curved rod, and the formed outer frame space is provided with a detachable solar power generation film. The solar power generation film covers the structural surface inside the curved rod skeleton and provides energy consumption for the movement of the movable weight.

Preferably, the drive part includes a motor, the output end of the motor is connected with a gear, and along the arc of the curved rod, a rack is provided at the bottom of the inner wall, the gear and the rack are meshed, and the movable weight is connected to one side of the motor.

Preferably, each curved rod has an outward bending arc of 120°, forming a spherical space inside, and each curved rod extends outward at a distance of 15° at the nodes at both ends, and the entire curved rod has an arc of 150°, so that the entire structure is close to a sphere in shape.

Preferably, the outer envelope surface of the main structure of the formed outer frame is composed of two basic figures: 12 isosceles triangles and 8 equilateral triangles, wherein each side of the equilateral triangle is a cable, and there are cables on both sides of the isosceles triangle, and there is no cable on one side.

Preferably, the three sides of the single solar power generation film are provided with Velcro, and the Velcro is divided into a bristle part of the Velcro and a round part of the Velcro, and a part connected to the rigid cable is left in the middle and the Velcro is directly pasted on the rigid cable to fix the solar power generation film.

(3) Beneficial effects

After adopting the above technical solution, the present invention has the following advantages compared with the prior art:

1. The six-bar curved rod tension integral movable structure formed by the present invention has certain compression and impact resistance. At the same time, it can move quickly by controlling the center of gravity offset of multiple curved rods. It is superior to the previous tension integral structure in terms of motion performance and environmental adaptability, and can move flexibly even on potholed ground.

2. The integral movable structure of the six-bar curved rod tensioning formed by the present invention, the built-in solar power generation film in the overall movable structure can bring a steady stream of energy to the movement of the curved rod, and the robot formed by the six-bar curved rod tensioning can carry small equipment, and can better move in rough and harsh environments. It can be used in engineering rescue detection or space missions in the future; secondly, the stable operation of the curved rod as a whole can also reduce the impact on the solar power generation film, thereby reducing its damage and prolonging its service life.

Description of drawings

Fig. 1 is a schematic diagram of the present invention;

Fig. 2 is wireframe perspective view of the present invention

Fig. 3 is the improved schematic diagram of solar power generation thin film of the present invention;

Fig. 4 is a schematic diagram of the structure of a single curved rod of the present invention;

Fig. 5 is a schematic diagram of the internal structure of a single curved rod of the present invention after it is disassembled;

Fig. 6 is a structural schematic diagram of a solar power generation thin film of the present invention;

Fig. 7 is a front view of the solar power generation film structure of the present invention;

Fig. 8 is a schematic diagram of the equilibrium state 1 of the overall mechanism of the present invention;

Fig. 9 is a schematic diagram of the equilibrium state 3 of the overall mechanism of the present invention;

Fig. 10 is a schematic diagram of the sliding state of the overall mechanism of the present invention;

Fig. 11 is a schematic diagram of the equilibrium state 2 of the overall mechanism of the present invention.

In the figure: 1. Curved rod; 2. Cable; 3. Solar power generation film; 4. Motor; 5. Gear; 6. Rack; 7. Slider; 8. Ball bearing;

Detailed ways

The present invention will be further elaborated below by means of the accompanying drawings and examples.

As shown in Figure 1-7: a 6-bar curved rod tensioning integral robot with a solar-powered slider. The main structure is an outer frame in the form of a curved rod tension. It is composed of 6 curved pressure rods, 24 cables 2 and 12 hinged nodes. Each curved rod protrudes outward and forms a spherical space inside. In addition, each curved rod 1 extends outward for a certain distance at the nodes at both ends, making the entire structure closer to a sphere in shape, and the components of the entire motion structure are rigid.

The overall movable structure of the 6-bar curved rod tensioning in the present invention is composed of 6 arc-shaped slide rails and 24 drag cables 2. There is a mass slider 7 on each slide rail (in order to increase the reaction efficiency of movement, two or more mass sliders 7 can also be provided, but the control aspect is more cumbersome. Therefore, this solution uses a slider 7 as an example). The center of mass of the structure is adjusted by sliding the slider 7 on the track, and the relative position between the center of mass and the bottom surface is changed to realize structural movement. Each slide rail extends outward for a section at the nodes at both ends The distance makes the structure move more flexibly and efficiently.

The curved bar tensioning overall structure can fix the equipment box 11 inside, place the required equipment, and make full use of the internal space. The internal surface of the structure is covered with a detachable solar power generation film. The solar power generation film is connected with the cable 2 to supply power to the drive motor 4 and internal equipment.

As shown in Figure 2, the solar power generation film 3 is composed of a solar power generation film power generation part, an electric energy transmission interface and Velcro 10. The solar power generation film power generation part is composed of solar cells, which are customized into equilateral triangles and isosceles triangles according to requirements, so as to better cover the surface of the tensioned robot.

As shown in ① and ② in accompanying drawing 6, the three sides of the power generation part of the solar power generation film (or use two of them according to the position) are provided with a Velcro 10, the Velcro 10 includes a bristle part 101 and a round hair part 102, and the middle part is used to place the cable 2, and is used to fix the solar power generation film on the cable 2. When the solar power generation film is not needed, the Velcro 10 can be directly torn off to remove the solar power generation film.

The power transmission interface is set under the thin film power generation part of the solar power generation, which can be connected with the USB interface on the cover of the slide rail through a data cable to supply power to the driving device and equipment. At the same time, the stable operation of the curved rod can also reduce the impact on the solar power generation film, thereby reducing its damage and prolonging its service life.

The solar power generation film 3 is arranged as a whole in the form of 8 equilateral triangles and 12 isosceles triangles corresponding to the structural surface placed inside the curved rod skeleton.

It should be noted that the cable 2 is connected to the inner ring of the curved rod 1 as a whole, and the cable 2 can meet at one point, so that a complete solar power generation film 3 can be arranged, but the area of a single solar power generation film is relatively small, absorbing little solar energy, and part of the film is located inside the rod and cannot receive solar energy.

As an improvement, see Figure 3 and Figure 7, as shown in ③, the cable 2 is connected to the outside of the curved rod 1, so that eight solar power generation films 3 can be arranged on the cable 2, which can increase the area of a single film and increase the absorption of solar energy. People can add films of specific shapes according to their needs, and the structural stability is relatively good.

The solar power generation film 3 can be made and arranged according to requirements, and there are various arrangements, not limited to these two.

The entire structure is set up as follows. The batteries driven by the slider 7 of the same quality are placed inside the battery boxes at both ends of the curved rod 1. The batteries are connected to the preset wire holes in the guide rail. In addition, the cover at one end of the slide rail is preset with a wire hole for connecting the battery to the drive device. In this way, the solar power generation film can be powered for 24 hours without affecting the movement of the robot. Both sides of the end of the curved guide rail are respectively provided with connecting holes for the cable 2 for connecting the cable 2; the upper part of the curved guide rail is covered with the upper casing of the curved rod 1 for protecting the guide rail and the driving device, and the casing is provided with an equipment box connection port, which can be used to fix the equipment box.

The driving part for controlling the movable weight includes a motor 4, the output end of the motor 4 is connected with a gear 5, along the arc of the curved rod 1, a rack 6 is provided at the bottom of the inner wall, the gear 5 meshes with the rack 6, the movable weight is connected to one side of the motor 4, the movable weight includes a slider 7 with quality, and the slider 7 is connected to the side of the motor 4 through a connecting block. The slider 7 is provided with a ball bearing 8. Move in the guide rail groove 9.

Wherein each driving slider 12 can be controlled independently, can not interfere with each other, and when individual driving slider 12 fails, can drive other driving sliders 12 to move, can realize structure to move in all directions by controlling different numbers of driving sliders 12.

It should be noted that, as shown in Fig. 5, it is a partially schematic part of the slider 7 after cutting for easy identification, and the driving slider 12 schematically shown in Figs. 8-11 is a whole slider, which includes internal slider 7, motor and other components.

The entire motion system communicates wirelessly with the PC via radio, so the motion system transmits all sensor data, such as the actual position, speed and direction of movement of the drive, as well as data from the accelerometer, and the mobile system is controlled wirelessly by using the transmitted data.

The structure is simple to manufacture, can be quickly disassembled and installed, and is very convenient to transport. When it is to be used, the components can be transported to the site for on-site installation. When the structure is used, the whole structure can be disassembled into three parts, slide rail, slide block 7, and dragline 2, to facilitate storage and transportation. The equipment box and solar power generation film can be installed and disassembled according to needs.

The moving process of the tensegrity robot and the equilibrium state after moving will be described in detail below in conjunction with the accompanying drawings (for the convenience of observation, the accompanying drawings show that the solar power generation film and the upper cover of the curved rod are removed for demonstration).

Referring to accompanying drawing 8, initially can choose to form overall equilibrium state 1 (three rods touch the ground) or equilibrium state 2 (the slide block of the whole structure is in symmetrical position) according to terrain. Among them, the equilibrium state 1 can be used for steady-state support in a relatively rugged environment.

Referring to accompanying drawings 9-11, taking forward movement as an example, the driving slider 12-1 and driving slider 12-2 of the upper and lower rods slide forward from the middle, and the whole structure rolls forward along the trend (Figure 9). move.

When steering is required, the driving slider 12-5 and driving slider 12-6 in the accompanying drawing 9 can be adjusted accordingly to realize the steering of the tensegrity robot.

The above description is based on the embodiment as inspiration, and through the above description content, relevant workers can completely make various changes and modifications within the scope of not departing from the idea of the invention. The technical scope of the new use of this item is not limited to the content in the description, and the scope of protection must be determined according to the scope of the claims.

Claims (4)

1. A6 pole bent lever stretch-draw whole robots of solar energy power supply slider, its characterized in that: the bending device comprises 6 bending rods, wherein 24n inhaul cables are hinged at two ends of any bending rod as hinge points, and the 6 bending rods are connected through the inhaul cables to form a hollow outer frame in a bending rod stretching integral form; each curved bar is provided with a movable weight which moves independently along the bending direction of the curved bar, each curved bar is also provided with a driving piece for controlling the movable weights, the movement of the plurality of movable weights is controlled simultaneously to realize the stretching whole advancing of the curved bar, a detachable solar power generation film is arranged in the formed outer frame space, and the solar power generation film covers the structure surface inside the curved bar framework and provides energy consumption for the movement of the movable weights;

the radian of each curved rod outwards bending is 120 degrees, a spherical space is formed inside, each curved rod extends outwards for a distance of 15 degrees at the nodes at the two ends, and the radian of the whole curved rod is 150 degrees, so that the whole structure is similar to a sphere in shape.

2. The 6-bar curved bar tensioning robot of a solar powered slider of claim 1, wherein: the driving piece comprises a motor, the output of motor is connected with the gear, follows the arc trend of bent lever is equipped with the rack in the bottom of its inner wall, and the gear meshes with the rack mutually, the activity pouring weight is connected in one side of motor, the activity pouring weight is including the slider that has the quality, and the slider passes through the connecting block to be connected in motor one side, be equipped with ball bearing on the slider, follow the arc trend of bent lever has seted up the guide rail groove in the bottom of its inner wall, and ball bearing removes in the guide rail groove.

3. The 6-bar curved bar tensioning robot of a solar powered slider of claim 1, wherein: the outer wrapping surface of the formed outer frame main body structure is composed of 12 isosceles triangles and 8 isosceles triangles, wherein each side of each isosceles triangle is a guy cable, two sides of each isosceles triangle are provided with guy cables, one side of each isosceles triangle is not provided with a guy cable, each arc rod is outwards bent, and the solar power generation film is integrally arranged into the structure surface of the inner part of the bent rod framework, wherein the structure surface of the inner part of the bent rod framework is correspondingly arranged with the 8 isosceles triangles and the 12 isosceles triangles.

4. A 6-bar curved bar tensioning robot for a solar powered slider as defined in claim 3, wherein: the three sides of the solar power generation film are provided with magic tapes, the magic tapes are divided into a magic tape thorn hair part and a magic tape round hair part, and a part connected with a rigid inhaul cable is reserved in the middle of the magic tape and directly adhered to the rigid inhaul cable to fix the solar power generation film.