CN101009055A - Novel simple assembling module used for constructing modularized robot - Google Patents
Novel simple assembling module used for constructing modularized robot Download PDFInfo
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- CN101009055A CN101009055A CN 200710066828 CN200710066828A CN101009055A CN 101009055 A CN101009055 A CN 101009055A CN 200710066828 CN200710066828 CN 200710066828 CN 200710066828 A CN200710066828 A CN 200710066828A CN 101009055 A CN101009055 A CN 101009055A
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- auricle
- steering wheel
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Abstract
This invention relates to one new easy matching module to form module robot, which comprises left bottom board, right one and steering engine with one side fixed with steering rotation disc to support ear slice, outer ear slices connected to right bottom board, wherein, the steering supportive ear slice is connected with steering machine; the steer rotation outputs ear slice, inside supportive ear slice connected to left one; the steer rotation output ear slice is covered on one side with inner supportive ear top covered on the outer supportive ear slices.
Description
(1) technical field
The present invention relates to a kind of assembling module that is used to make up modularization robot.
(2) background technology
Modularization robot is easy to assembly because of having, and low price usually is used for robot teaching and scientific research.Use general or non-general module researchist can assemble the not robot of isomorphism type, as snake robot, machine caterpillar, and utilize them to carry out motion control, bionical or the like research.
As the patent No. is 94247368.X, patent name is the Chinese utility model patent of intelligence assembling machine, disclose a kind of intelligence assembling machine, formed by frame plate, gear speed governing power source, porous plate, belt and plurality of gears, cam, ratchet, pulley, connecting rod and joint.
The patent No. is 03257835.0 for another example, patent name is the Chinese utility model of assembly unit practice teaching aid, a kind of assembly component is disclosed, comprise main body rack, connect piece, base, lower margin pin, an angle of 90 degrees joint, two-way joint, three-dimensional joint, four-way joint, six joints, L profile shaft bearing, how with suspension bracket bearing pin, list connector, cushion block, chassis, four pin connection seats, use slide plate, belt pulley, worm gear, ratchet, sprocket wheel, wheel, square shaft, spline housing, bigeminy spline housing, three spline housings, sliding sleeve, C shape snap ring, C shape baffle ring member more.
But at present known be used for modular design that modularization robot makes up there are the following problems: (1), for guaranteeing structural strength, general physical dimension is bigger, Heavy Weight, and inconvenience is used; (2), connected mode is single, module assembling inconvenience has reduced and has assembled the not possibility of isomorphism type robot; (3), part can not reuse, thereby the module cost improves; (4), the robustness of module and versatility are not high.
(3) summary of the invention
, assembling inconvenience big for the physical dimension that overcomes existing robot assembling module, the deficiency that versatility is not high the invention provides that a kind of physical dimension is little, easy to assembly, the novel simple assembling module that is used to make up modularization robot of highly versatile.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of novel simple assembling module that is used to make up modularization robot, comprise left bottom plate, right base plate and steering wheel, have the steering wheel rotating disc in the rotating shaft of steering wheel one side, supporting auricle outside steering wheel support auricle, the mechanism fixedlys connected with right base plate respectively, steering wheel supports auricle fixedlys connected with steering wheel one side, supports auricle outside the mechanism and fixedlys connected with right base plate; Support auricle in steering wheel rotation output auricle, the mechanism and fixedly connected with left bottom plate respectively, steering wheel rotation output auricle is socketed in the rotating shaft of steering wheel one side, supports the mating holes socket of supporting outside auricle top boss rotating shaft and the mechanism on the auricle in the mechanism; Spatially, the rotating shaft of steering wheel and left bottom plate, right base plate are parallel, and steering wheel supports that to support auricle outside auricle, the mechanism vertical with right base plate, and the support auricle is vertical with left bottom plate in steering wheel rotation output auricle, the mechanism.
Described steering wheel supports the rectangular triangle of auricle, the place, two oblique angles that described steering wheel supports auricle is provided with mounting hole, described steering wheel supports the auricle hypotenuse fixedlys connected with the steering wheel near the rotating disc side, and the right-angle side of described steering wheel support auricle is fixedlyed connected with right base plate; Support auricle outside the described mechanism and be oxygon, be provided with mounting hole at a drift angle place, there is mating holes at the drift angle place that supports auricle outside the mechanism, is used for cooperating with support auricle in the mechanism, and the hypotenuse corresponding with this drift angle fixedlyed connected with right base plate; Described steering wheel rotation output auricle is oxygon, is provided with mounting hole at a drift angle place, and the drift angle of steering wheel rotation output auricle and steering wheel are near the rotating shaft socket of rotating disc side, and the hypotenuse corresponding with this drift angle fixedlyed connected with left bottom plate; Support auricle in the described mechanism and be oxygon, be provided with mounting hole at a drift angle place, support the mating holes socket on the auricle in the described mechanism outside the projection rotating shaft of the drift angle of support auricle and the mechanism, the hypotenuse corresponding with this drift angle fixedlyed connected with left bottom plate.
As preferred another kind of scheme: described right base plate is provided with and supports the mating surface that auricle cooperates outside steering wheel supports auricle, mechanism, and described left bottom plate is provided with the mating surface that cooperates with support auricle in steering wheel rotation output auricle, the mechanism.
Further, described left bottom plate, right base plate are provided with the mounting hole that cooperates with other assembling module.
Further again, support auricle outside described steering wheel rotation output panel and the mechanism and be provided with the mounting hole that cooperates with other assembling module.
Technical conceive of the present invention is: by 2 base plates (left bottom plate, right base plate), 1 steering wheel supports auricle to this module by it, and 1 steering wheel rotation output auricle supports auricle outside 1 mechanism, supports auricle in 1 mechanism, and 1 steering wheel and some attachment screws are formed.All parts all use aluminum alloy machinery to be processed into, and anodization.
Steering wheel supports auricle by four groups of screws and steering wheel and is connected, and this steering wheel supports and supports auricle outside auricle and the mechanism and be connected by 4 screws with right base plate, thus unit, the formation module right side; Steering wheel rotating disc and steering wheel rotation output auricle links to each other by with the steering wheel rotating disc Screw that connecting hole is fit to being installed, and support auricle in this auricle and the mechanism and link to each other by 4 screws with left bottom plate, thus the left unit of formation module; The connection that right unit is gone into along module installation shaft line pressure in left unit cooperates, thereby finishes the module assembling fast.
Novel plug can realize the rotational freedom of a scope between ± 90 degree.Be the multi-form robot of convenient structure, this module has 4 joint faces and is used for being connected with other module, is respectively outside 2 base plates, steering wheel rotation output panel and the mechanism and supports auricle.
Beneficial effect of the present invention mainly shows: 1, physical dimension is less, convenient uses; 2, there is multiple connected mode between the module, easy to assembly, can form the robot of multiple not isomorphism type; 3, module can be reused, thereby has reduced the module cost; 4, highly versatile, the robustness height.
(4) description of drawings
Fig. 1 is the structural drawing of assembling module of the present invention.
Fig. 2 is the reverse side synoptic diagram of Fig. 1.
Fig. 3 is the structural representation of assembling module before assembling.
Fig. 4 is that assembling module is installed cooperation axis synoptic diagram.
Fig. 5 is that assembling module is installed the synoptic diagram that cooperates after finishing.
Fig. 6 is the structural representation of right base plate.
Fig. 7 is the structural representation of left bottom plate.
Fig. 8 is the structural representation of steering wheel rotation output auricle.
Fig. 9 is the structural representation that steering wheel supports auricle.
Figure 10 is the structural representation that supports auricle outside the mechanism.
Figure 11 is the structural representation that supports auricle in the mechanism.
Figure 12 is a kind of connected mode synoptic diagram between two assembling modules.
Figure 13 is the another kind of connected mode synoptic diagram between two assembling modules.
Figure 14 is another the connected mode synoptic diagram between two assembling modules.
Figure 15 is the another kind of again connected mode synoptic diagram between two assembling modules.
(5) embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1～Figure 11, a kind of novel simple assembling module that is used to make up modularization robot, comprise left bottom plate 1, right base plate 4 and steering wheel 6, have steering wheel rotating disc 7 in the rotating shaft of described steering wheel 6 one sides, described assembling module comprises that also steering wheel supports auricle 5, the steering wheel rotation is exported to support outside auricle 8, the mechanism and supported auricle 2 in auricle 3 and the mechanism; Support auricle 3 outside described steering wheel support auricle 5, the mechanism and fixedly connected with right base plate 4 respectively, steering wheel supports auricle 5 fixedlys connected with steering wheel 6 one sides, supports auricle 3 outside the mechanism and directly fixedlys connected with right base plate 4; Supporting auricle 2 in described steering wheel rotation output auricle 8, the mechanism fixedlys connected with left bottom plate 1 respectively, steering wheel rotation output auricle 8 is socketed in the rotating shaft of steering wheel 6 one sides, supports the mating holes socket of supporting outside auricle 2 top boss rotating shafts and the mechanism on the auricle 3 in the mechanism; Spatially, the rotating shaft of described steering wheel 6 and left bottom plate 1, right base plate 4 are parallel, and described steering wheel supports that to support auricle 3 outside auricle 5, the mechanism vertical with right base plate 4, and support auricle 2 is vertical with left bottom plate 1 in described steering wheel rotation output auricle 8, the mechanism.
Described steering wheel supports auricle 5 rectangular triangles, the place, two oblique angles that described steering wheel supports auricle 5 is provided with mounting hole, described steering wheel supports auricle 5 hypotenuses fixedlys connected with the steering wheel 6 near the rotating disc side, and the right-angle side of described steering wheel support auricle 5 is fixedlyed connected with right base plate 4; Support auricle 3 outside the described mechanism and be oxygon, be provided with mounting hole at a drift angle place, there is mating holes at the drift angle place that supports auricle 3 outside the mechanism, is used for cooperating with support auricle 2 in the mechanism, and the hypotenuse corresponding with this drift angle fixedlyed connected with right base plate 4; Described steering wheel rotation output auricle 8 is oxygon, is provided with mounting hole at a drift angle place, and the drift angle of steering wheel rotation output auricle 8 and steering wheel are near the rotating shaft socket of rotating disc side, and the hypotenuse corresponding with this drift angle fixedlyed connected with left bottom plate; Support auricle 2 in the described mechanism and be oxygon, be provided with mounting hole at a drift angle place, support the mating holes socket on the auricle 3 in the described mechanism outside the projection rotating shaft of the drift angle of support auricle 2 and the mechanism, the hypotenuse corresponding with this drift angle fixedlyed connected with left bottom plate 1
Described right base plate 4 is provided with and supports the mating surface that auricle 3 cooperates outside steering wheel supports auricle 5, mechanism, and described left bottom plate 1 is provided with the mating surface that cooperates with support auricle 2 in steering wheel rotation output auricle 8, the mechanism.Described left bottom plate 1, right base plate 4 are provided with the mounting hole that cooperates with other assembling module.Support auricle 3 outside described steering wheel rotation output panel 7 and the mechanism and be provided with the mounting hole that cooperates with other assembling module.
With reference to Figure 12, two modules are directly connected fast by 4 screws, the right base plate of a module directly is connected with the left bottom plate of another module is equidirectional;
With reference to Figure 13, the mating holes between the left bottom plate of two modules, the right base plate can be realized revolving along z axis and turn 90 degrees the back and connect symmetrically;
With reference to Figure 14, by 2 screws, utilize and support two and 2 unthreaded holes in right base plate middle part that are symmetrically distributed in 6 connecting thread holes of auricle outside the mechanism, can realize that two modules vertically connect;
With reference to Figure 15, by 2 cover screw-nuts, utilize 2 unthreaded holes of connecting hole and right base plate middle part of steering wheel rotation output panel, can realize that two modules vertically connect.
When reusing module, can decompose according to the backward of module assembling sequence.
Four kinds of different connected modes shown in Figure 12,13,14,15 by these four kinds of connected modes, can realize various mechanism action for making up modular mechanical people's elementary cell.
Claims (5)
1, a kind of novel simple assembling module that is used to make up modularization robot, comprise left bottom plate, right base plate and steering wheel, have the steering wheel rotating disc in the rotating shaft of steering wheel one side, supporting auricle outside steering wheel support auricle, the mechanism fixedlys connected with right base plate respectively, steering wheel supports auricle fixedlys connected with steering wheel one side, supports auricle outside the mechanism and fixedlys connected with right base plate; Support auricle in steering wheel rotation output auricle, the mechanism and fixedly connected with left bottom plate respectively, steering wheel rotation output auricle is socketed in the rotating shaft of steering wheel one side, supports the mating holes socket of supporting outside auricle top boss rotating shaft and the mechanism on the auricle in the mechanism; Spatially, the rotating shaft of steering wheel and left bottom plate, right base plate are parallel, and steering wheel supports that to support auricle outside auricle, the mechanism vertical with right base plate, and the support auricle is vertical with left bottom plate in steering wheel rotation output auricle, the mechanism.
2, the novel simple assembling module that is used to make up modularization robot as claimed in claim 1, it is characterized in that: described steering wheel supports the rectangular triangle of auricle, the place, two oblique angles that described steering wheel supports auricle is provided with mounting hole, described steering wheel supports the auricle hypotenuse fixedlys connected with the steering wheel near the rotating disc side, and the right-angle side of described steering wheel support auricle is fixedlyed connected with right base plate; Support auricle outside the described mechanism and be oxygon, be provided with mounting hole at a drift angle place, there is mating holes at the drift angle place that supports auricle outside the mechanism, is used for cooperating with support auricle in the mechanism, and the hypotenuse corresponding with this drift angle fixedlyed connected with right base plate; Described steering wheel rotation output auricle is oxygon, is provided with mounting hole at a drift angle place, and the drift angle of steering wheel rotation output auricle and steering wheel are near the rotating shaft socket of rotating disc side, and the hypotenuse corresponding with this drift angle fixedlyed connected with left bottom plate; Support auricle in the described mechanism and be oxygon, be provided with mounting hole at a drift angle place, support the mating holes socket on the auricle in the described mechanism outside the projection rotating shaft of the drift angle of support auricle and the mechanism, the hypotenuse corresponding with this drift angle fixedlyed connected with left bottom plate.
3, the novel simple assembling module that is used to make up modularization robot as claimed in claim 2, it is characterized in that: described right base plate is provided with and supports the mating surface that auricle cooperates outside steering wheel supports auricle, mechanism, and described left bottom plate is provided with the mating surface that cooperates with support auricle in steering wheel rotation output auricle, the mechanism.
4, as the described novel simple assembling module that is used to make up modularization robot of one of claim 1-3, it is characterized in that: described left bottom plate, right base plate are provided with the mounting hole that cooperates with other assembling module.
5, as the described novel simple assembling module that is used to make up modularization robot of one of claim 1-3, it is characterized in that: support auricle outside described steering wheel rotation output panel and the mechanism and be provided with the mounting hole that cooperates with other assembling module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100668287A CN100557662C (en) | 2007-01-24 | 2007-01-24 | Be used to make up the novel simple assembling module of modularization robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100668287A CN100557662C (en) | 2007-01-24 | 2007-01-24 | Be used to make up the novel simple assembling module of modularization robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101009055A true CN101009055A (en) | 2007-08-01 |
| CN100557662C CN100557662C (en) | 2009-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100668287A Expired - Fee Related CN100557662C (en) | 2007-01-24 | 2007-01-24 | Be used to make up the novel simple assembling module of modularization robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798946A (en) * | 2016-05-06 | 2016-07-27 | 广州途道信息科技有限公司 | Connecting piece for steering engine |
-
2007
- 2007-01-24 CN CNB2007100668287A patent/CN100557662C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798946A (en) * | 2016-05-06 | 2016-07-27 | 广州途道信息科技有限公司 | Connecting piece for steering engine |
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| Publication number | Publication date |
|---|---|
| CN100557662C (en) | 2009-11-04 |
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Granted publication date: 20091104 Termination date: 20210124 |