CN101314226A - Universal modularized self-reorganization robot based on dual-rotational freedom - Google Patents
Universal modularized self-reorganization robot based on dual-rotational freedom Download PDFInfo
- Publication number
- CN101314226A CN101314226A CNA2008100647302A CN200810064730A CN101314226A CN 101314226 A CN101314226 A CN 101314226A CN A2008100647302 A CNA2008100647302 A CN A2008100647302A CN 200810064730 A CN200810064730 A CN 200810064730A CN 101314226 A CN101314226 A CN 101314226A
- Authority
- CN
- China
- Prior art keywords
- active
- passive
- initiatively
- potentiometer
- connecting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a universal type modularized self-reconfigurable robot based on dual-rotation freedom degree and relates to a robot. The invention aims at solving the problems that the structural combination and the module selection of a reconfigurable robot require the participation of manpower and can not adapt to the requirements of a nonstructural unknown environment and a polytropic task. In the invention, an active module is connected with a passive module; the active module consists of two active closed members and an active right-angle shaft; an upper-end shaft of the active right-angle shaft is connected with one of the two active closed members; a left-end shaft of the active right-angle shaft is connected with the other active closed member; the passive module consists of two passive closed members and a passive right-angle shaft; an upper-end shaft of the passive right-angle shaft is connected with one of the two passive closed members; and a left-end shaft of the passive right-angle shaft is connected with the other passive closed member. The universal type modularized self-reconfigurable robot can freely change the configuration in a mode of manpower combination according to the changes of the environment and tasks and has strong adaptive capacity to the requirements of the nonstructural known environment and the polytropic task.
Description
Technical field
The present invention relates to a kind of robot.
Background technology
Follow development of science and technology and progress, the function of robot and adaptive capacity to environment are required also to improve constantly, especially for the adaptive capacity of destructuring circumstances not known and changeable task.Conventional machines people mostly is the special purpose robot of specific environment and task exploitation, do not have versatility, under this background, begun the research of reconstruction robot, reconstruction robot can obtain finishing required configuration of particular task and module number by simulation calculation, but the combination of configuration and the selection of module still need artificial participation, in case environment and job change exceed designing requirement, reconstruction robot can't adapt to the requirement of destructuring circumstances not known and changeable task.
Summary of the invention
The objective of the invention is to be the configuration combination of solution reconstruction robot and artificial participation of selection needs of module, the problem that can't adapt to destructuring circumstances not known and changeable mission requirements provides a kind of universal modularized self-reorganization robot based on dual-rotational freedom.
The present invention is made up of active module and passive module, any one face on the active module is connected with any one face on the passive module, initiatively module is by the first active closure member, the second initiatively closure member and initiatively rectangular axes composition, initiatively the upper shaft of rectangular axes is connected with the first active closure member, initiatively the left end shaft of rectangular axes is connected with the second active closure member, passive module is by the first passive closure member, the second passive closure member and passive rectangular axes are formed, the upper shaft of passive rectangular axes is connected with the first passive closure member, and the left end shaft of passive rectangular axes is connected with the second passive closure member.
Advantage of the present invention is: because any one face on the active module of the present invention can be connected with any one face on the passive module, initiatively initiatively closure member can be respectively around-90 ° to+90 ° rotations of active rectangular axes realization for the first active closure member and second on the module, the first passive closure member on the passive module and the second passive closure member can be realized-90 ° to+90 ° rotations around passive rectangular axes respectively, so the present invention can pass through the autonomous conversion configuration of mode of artificial combination according to the variation of environment and task, and is strong to destructuring circumstances not known and changeable mission requirements adaptive capacity.
Description of drawings
Fig. 1 is the integral outer structural perspective of universal modularized self-reorganization robot of the present invention, Fig. 2 is the external structure stereogram of active module 40, Fig. 3 is the internal structure stereogram (removing initiatively bindiny mechanism 1) of initiatively module 40, Fig. 4 is the external structure stereogram of the first active closure member 40-1, Fig. 5 is the internal structure stereogram of the first active closure member 40-1, Fig. 6 is initiatively anti-backlash 11 and initiatively the installation site schematic diagram of the first potentiometer gear 14, Fig. 7 is the structural representation of active bindiny mechanism 1, Fig. 8 be initiatively the hook 5 in the bindiny mechanism 1 around the process chart of active fixed axis 18 when active dog hole 6-3 screws out connecting plate 6 initiatively, Fig. 9 be initiatively the passive connecting plate 6 of hook 5 precessions in the bindiny mechanism 1 ' on passive dog hole 6 '-3 in process chart, Figure 10 is an active slide rail 20, active first pull rod shaft 25, active synchronization driving pulley 26, active pull bar 27, syndeton schematic diagram between active second pull rod shaft 28 and the active center axle 30, Figure 11 be initiatively housing 2 or passive housing 2 ' stereogram, Figure 12 is the external structure stereogram of passive module 50, Figure 13 is the internal structure stereogram (remove passive bindiny mechanism 1 ') of passive module 50, Figure 14 is the external structure stereogram of the first passive closure member 50-1, Figure 15 is the internal structure stereogram of the first passive closure member 50-1, Figure 16 be passive anti-backlash 11 ' with the passive first potentiometer gear 14 ' the installation site schematic diagram, Figure 17 be passive bindiny mechanism 1 ' structural representation.
The specific embodiment
The specific embodiment one: present embodiment is described in conjunction with Fig. 1, present embodiment is made up of active module 40 and passive module 50, any one face on the active module 40 is connected with any one face on the passive module 50, initiatively module 40 is by the first active closure member 40-1, second initiatively the closure member 40-2 and initiatively rectangular axes 45 compositions, initiatively the upper shaft of rectangular axes 45 is connected with the first active closure member 40-1, initiatively the left end shaft of rectangular axes 45 is connected with the second active closure member 40-2, the first active closure member 40-1 and second initiatively closure member 40-2 can realize-90 ° to+90 ° rotations around active rectangular axes 45 respectively, see Fig. 2, passive module 50 is by the first passive closure member 50-1, the second passive closure member 50-2 and passive rectangular axes 55 are formed, the upper shaft of passive rectangular axes 55 is connected with the first passive closure member 50-1, the left end shaft of passive rectangular axes 55 is connected with the second passive closure member 50-2, the first passive closure member 50-1 and the second passive closure member 50-2 can realize-90 ° to+90 ° rotations around passive rectangular axes 55 respectively, see Figure 12.Module is the elementary cell that constitutes self-reorganization robot, and the function of module comprises the function after displacement function and the multimode combination, and the function of module self is meant the motion mode that individual module has; Combination function is meant the locomitivity that has after the multimode combination.Individual module does not have the independent ability that changes self-position, by active module 40 and cooperating of passive module 50 changing self-position, could change the individual module self-position by cooperatively interacting of multimode, in reconstruct and motion process, robot can form suitable configuration according to the module of the different numbers of task choosing and execute the task.Active module 40 of the present invention and passive module 50 have the geometric shape of rule, are convenient to form stable static packing space; Have two cradle head frees degree simultaneously, it is whole mobile to constitute prosthetic robot.The module free degree is rationally distributed, compact conformation, and modular structure intensity is good, guarantees the homogeneity of module, and except that syndeton, module has identical motor function, and module has stronger load capacity; This robot has following advantage: (1), from the reconstruct function: robot can have very strong adaptive capacity to destructuring environment and circumstances not known according to the autonomous conversion configuration of the variation of environment and task.(2), self-repair function: initiatively module 40 and passive module 50 are standard module, and module has interchangeability, when wherein a certain module breaks down, can be replaced by above-mentioned standard module and continue to finish the work, and has guaranteed reliably carrying out of task.(3), functional expansionary; By the function of increase and decrease number of modules or kind expansion robot, for example can change the motion and the operating space of robot by the quantity that changes rotating module.(4), adaptivity: determined the robot good adaptive from reconstruct function and self-repair function, can adapt to destructuring environment or circumstances not known by changing self configuration or number of modules.
The specific embodiment two: present embodiment is described in conjunction with Fig. 3～Fig. 6 and Figure 11, the first active closure member 40-1 of present embodiment and the second active closure member 40-2 are by two active bindiny mechanisms 1, active housing 2, active motor 8, active motor gear 10, active anti-backlash 11, active potentiometer 12, the active first potentiometer gear 13, the active first potentiometer gear 14, active joint potentiometer gear 15, initiatively joint driven wheel 16 and active drive connecting plate 17 are formed, active drive connecting plate 17 is fixed on the initiatively center of housing 2, active drive connecting plate 17 is provided with initiatively potentiometer hole 17-1, initiatively an end of potentiometer 12 is arranged in the active potentiometer hole 17-1, initiatively the first potentiometer gear 13 is sleeved on the active potentiometer 12, initiatively the centre bore periphery on the first potentiometer gear 13 is provided with drive flange 13-1, initiatively the first potentiometer gear 14 is arranged on the upper end of the active first potentiometer gear 13 and is sleeved on the drive flange 13-1 of the active first potentiometer gear 13, initiatively the first potentiometer gear 14 is provided with initiatively anti-backlash hole 14-1, initiatively anti-backlash 11 is arranged among the active anti-backlash hole 14-1, initiatively motor 8 be fixed on active drive connecting plate 17 below, initiatively motor gear 10 is arranged on the output shaft of active motor 8, initiatively joint potentiometer gear 15 and active joint driven wheel 16 are successively set on the active rectangular axes 45 from the bottom to top, one initiatively bindiny mechanism 1 be arranged on housing 2 initiatively above, another initiatively bindiny mechanism 1 be arranged on the initiatively right flank of housing 2.Design makes the active closure member 40-1 that wins have three degree of freedom like this, and wherein initiatively the rectangular axes 45 and the first active closure member 40-1 constitute a joint freedom degrees, and initiatively two active bindiny mechanisms 1 on the closure member 40-1 have two frees degree; The second active closure member 40-2 has three degree of freedom, and wherein initiatively the rectangular axes 45 and the second active closure member 40-2 constitute a joint freedom degrees, and two active bindiny mechanisms 1 on the second active closure member 40-2 have two frees degree; Therefore initiatively module 40 has six-freedom degree, and wherein the active rectangular axes 45 and the first active closure member 40-1 and the second active closure member 40-2 constitute two joint freedom degrees, and initiatively four active bindiny mechanisms 1 on the module 40 have four frees degree.
The specific embodiment three: present embodiment is described in conjunction with Fig. 7～Figure 10, the active bindiny mechanism 1 of present embodiment is by four hooks 5, active connecting plate 6, four active fixed axis 18, four active slip axles 19, four active slide rails 20, driving pulley 22, active reducing motor 23, active synchronization band 24, four active first pull rod shaft 25, active synchronization driving pulley 26, four active pull bars 27, four active second pull rod shaft 28 and active center axle 30 are formed, initiatively be laid with four initiatively chute 6-1 on the connecting plate 6, four active slide rails 20 are separately positioned among four active chute 6-1, initiatively slide rail 20 is provided with active slip axis hole 20-1, active slip axle 19 is arranged in the active slip axis hole 20-1, the both sides of each active chute 6-1 initiatively connecting plate 6 are provided with initiatively fixedly axle bed 6-2, initiatively fixedly axle bed 6-2 is provided with initiatively fixed shaft hole 6-2-1, initiatively fixed axis 18 is arranged among the active fixed shaft hole 6-2-1, hook 5 is arranged on active fixed axis 18 and the active slip axle 19, active center axle 30 be arranged on connecting plate 6 initiatively in the heart, active synchronization driving pulley 26 is arranged on the active center axle 30, initiatively reducing motor 23 be fixed on connecting plate 6 initiatively above, driving pulley 22 is arranged on the output shaft of active reducing motor 23, one end of active synchronization band 24 is arranged on the driving pulley 22, the other end of active synchronization band 24 is arranged on the active synchronization driving pulley 26, active synchronization driving pulley 26 is provided with four actives, the first pull bar axis hole 26-1, four active first pull rod shaft 25 are separately positioned in four actives, the first pull bar axis hole 26-1, initiatively the end near active connecting plate 6 centers is provided with the initiatively second pull bar axis hole 20-2 on the slide rail 20, initiatively second pull rod shaft 28 is arranged in the active second pull bar axis hole 20-2, initiatively an end of pull bar 27 is arranged on active first pull rod shaft 25, initiatively the other end of pull bar 27 is arranged on active second pull rod shaft 28, and initiatively each initiatively is provided with initiatively dog hole 6-3 in the outside of chute 6-1 on the connecting plate 6.Initiatively bindiny mechanism 1 is responsible in restructuring procedure and being connected and disconnection of adjacent block, in motion process, be responsible for transmission power, for robot provides reliable support, guaranteed the smooth change of configuration, initiatively bindiny mechanism 1 directly is connected in the system as the key composition of robot, and the quality of mechanism's intensity directly influences the intensity of robot.(existing initiatively bindiny mechanism mainly contains pin-and-hole formula, electromagnetic type, magneto and memorial alloy formula, though the pin-and-hole formula connects reliably, needs additional space when separating, and influences re-configurability; Though electromagnetic type and magneto are simple in structure, shear resistance is poor, and the electromagnetic type volume is big, power consumption; Memorial alloy formula mechanism is simple, and volume is little, but energy consumption is big); Active of the present invention bindiny mechanism 1 compact conformation, load capacity is strong, and structural strength is good, and reliable operation, rapidly can self-locking after the connection, so save the energy.
The specific embodiment four: present embodiment is described in conjunction with Figure 13～Figure 16, the first passive closure member 50-1 of present embodiment and the second passive closure member 50-2 by two passive bindiny mechanisms 1 ', passive housing 2 ', passive motor 8 ', passive motor gear 10 ', passive anti-backlash 11 ', passive potentiometer 12 ', the passive first potentiometer gear 13 ', the passive first potentiometer gear 14 ', passive joint potentiometer gear 15 ', passive joint driven wheel 16 ' and passive driving connecting plate 17 ' composition, the passive housing 2 of passive driving connecting plate 17 ' be fixed on ' the center, passive driving connecting plate 17 ' be provided with passive potentiometer hole 17 '-1, passive potentiometer 12 ' an end be arranged in the passive potentiometer hole 17 '-1, the passive potentiometer 12 of the passive first potentiometer gear 13 ' be sleeved on ' on, the passive first potentiometer gear 13 ' on the centre bore periphery be provided with passive flange 13 '-1, the passive first potentiometer gear 13 of the passive first potentiometer gear 14 ' be arranged on ' the upper end and be sleeved on the passive first potentiometer gear 13 ' passive flange 13 '-1 on, the passive first potentiometer gear 14 ' be provided with passive anti-backlash hole 14 '-1, passive anti-backlash 11 ' be arranged in the passive anti-backlash hole 14 '-1, the passive driving connecting plate 17 of passive motor 8 ' be fixed on ' below, the passive motor 8 of passive motor gear 10 ' be arranged on ' output shaft on, the passive rectangular axes 45 of passive joint potentiometer gear 15 ' and passive joint driven wheel 16 ' be successively set on from the bottom to top ' on, the passive housing 2 of passive bindiny mechanism 1 ' be arranged on ' above, the passive housing 2 of another passive bindiny mechanism 1 ' be arranged on ' right flank.Design makes the passive closure member 50-1 that wins have one degree of freedom like this, is the joint freedom degrees that is made of the passive rectangular axes 55 and the first passive closure member 50-1; The second passive closure member 50-2 has one degree of freedom, is the joint freedom degrees that is made of the passive rectangular axes 55 and the second passive closure member 50-2; Therefore passive module 50 has two frees degree.
The specific embodiment five: in conjunction with Figure 17 present embodiment is described, the passive bindiny mechanism 1 of present embodiment ' by passive connecting plate 6 ' form, passive connecting plate 6 ' be provided with passive dog hole 6 '-3.Design the better effects if that makes that active module 40 is connected with passive module 50 like this.
Operation principle of the present utility model: see Fig. 7, initiatively reducing motor 23 clockwise rotates, driving pulley 22 rotates, driving active synchronization driving pulley 26 by active synchronization band 24 rotates, active synchronization belt wheel 26 is by initiatively initiatively pull bar 27 swings of first pull rod shaft, 25 promotions, thereby driving initiatively, slide rail 20 outwards moves along active chute 6-1, the 20 outside motions of active slide rail drive active slip axles 19 and move up and down along the active slip axis hole 20-1 on the active slide rails 20, active slip axle 19 drives hook 5 and screws out the initiatively surface of connecting plate 6 around active fixed axis 18 from active dog hole 6-3, the passive connecting plate 6 of precession ' passive dog hole 6 '-3 in, see Fig. 8, last four hooks, 5 general's active connecting plates 6 and passive connecting plate 6 ' link together closely, realize being connected of active module 40 and passive module 50, seen Fig. 9; When module was separated, lucky and top sequence of movement was opposite.When active module 40 is connected fully with passive module 50, active synchronization driving pulley 26 central points and initiatively first pull rod shaft, 25 central points line and active synchronization driving pulley 26 central points and initiatively the line of second pull rod shaft, 28 central points surpass the mechanism dead point (active synchronization driving pulley 26 axis, initiatively first pull rod shaft, 25 axis and initiatively second pull rod shaft, 28 axis in same plan-position) 2 ° times, initiatively the side 6-1-1 of chute 6-1 restriction initiatively pull bar 27 continue to swing; In the dead-centre position, have only active synchronization driving pulley 26 to rotate as initiatively driving hook 5, the moment on the hook 5 can't make mechanism throw off, thereby has realized connecting the self-locking of back mechanism, need not motor torque and keeps, and saves energy.
Claims (5)
1, a kind of universal modularized self-reorganization robot based on dual-rotational freedom, it is made up of active module (40) and passive module (50), it is characterized in that any one face on the module (40) initiatively is connected with any one face on the passive module (50), initiatively module (40) is by the first active closure member (40-1), the second initiatively closure member (40-2) and initiatively rectangular axes (45) composition, initiatively the upper shaft of rectangular axes (45) is connected with the first active closure member (40-1), initiatively the left end shaft of rectangular axes (45) is connected with the second active closure member (40-2), passive module (50) is by the first passive closure member (50-1), the second passive closure member (50-2) and passive rectangular axes (55) are formed, the upper shaft of passive rectangular axes (55) is connected with the first passive closure member (50-1), and the left end shaft of passive rectangular axes (55) is connected with the second passive closure member (50-2).
2, universal modularized self-reorganization robot based on dual-rotational freedom according to claim 1, it is characterized in that the first active closure member (40-1) and the second active closure member (40-2) are by two active bindiny mechanisms (1), active housing (2), active motor (8), active motor gear (10), active anti-backlash (11), active potentiometer (12), the active first potentiometer gear (13), the active first potentiometer gear (14), active joint potentiometer gear (15), initiatively joint driven wheel (16) and active drive connecting plate (17) are formed, active drive connecting plate (17) is fixed on the initiatively center of housing (2), active drive connecting plate (17) is provided with initiatively potentiometer hole (17-1), initiatively an end of potentiometer (12) is arranged in the active potentiometer hole (17-1), initiatively the first potentiometer gear (13) is sleeved on the active potentiometer (12), initiatively the centre bore periphery on the first potentiometer gear (13) is provided with drive flange (13-1), initiatively the first potentiometer gear (14) is arranged on the upper end of the active first potentiometer gear (13) and is sleeved on the drive flange (13-1) of the active first potentiometer gear (13), initiatively the first potentiometer gear (14) is provided with initiatively anti-backlash hole (14-1), initiatively anti-backlash (11) is arranged in the active anti-backlash hole (14-1), initiatively motor (8) be fixed on active drive connecting plate (17) below, initiatively motor gear (10) is arranged on the output shaft of active motor (8), initiatively joint potentiometer gear (15) and active joint driven wheel (16) are successively set on the active rectangular axes (45) from the bottom to top, one initiatively bindiny mechanism (1) be arranged on housing (2) initiatively above, another initiatively bindiny mechanism (1) be arranged on the initiatively right flank of housing (2).
3, universal modularized self-reorganization robot based on dual-rotational freedom according to claim 2, it is characterized in that initiatively bindiny mechanism (1) is by four hooks (5), active connecting plate (6), four active fixed axis (18), four active slip axles (19), four active slide rails (20), driving pulley (22), active reducing motor (23), active synchronization band (24), four active first pull rod shaft (25), active synchronization driving pulley (26), four active pull bars (27), four active second pull rod shaft (28) and active center axle (30) are formed, initiatively be laid with four initiatively chutes (6-1) on the connecting plate (6), four active slide rails (20) are separately positioned in four active chutes (6-1), initiatively slide rail (20) is provided with active slip axis hole (20-1), active slip axle (19) is arranged in the active slip axis hole (20-1), the both sides of each active chute (6-1) initiatively connecting plates (6) are provided with initiatively fixedly axle bed (6-2), initiatively fixedly axle bed (6-2) is provided with initiatively fixed shaft hole (6-2-1), initiatively fixed axis (18) is arranged in the active fixed shaft hole (6-2-1), hook (5) is arranged on active fixed axis (18) and the active slip axle (19), active center axle (30) be arranged on connecting plate (6) initiatively in the heart, active synchronization driving pulley (26) is arranged on the active center axle (30), initiatively reducing motor (23) be fixed on connecting plate (6) initiatively above, driving pulley (22) is arranged on the output shaft of active reducing motor (23), one end of active synchronization band (24) is arranged on the driving pulley (22), the other end of active synchronization band (24) is arranged on the active synchronization driving pulley (26), active synchronization driving pulley (26) is provided with four actives, the first pull bar axis hole (26-1), four active first pull rod shaft (25) are separately positioned in four actives, the first pull bar axis hole (26-1), initiatively slide rail (20) is gone up a close initiatively end at connecting plate (6) center and is provided with the initiatively second pull bar axis hole (20-2), initiatively second pull rod shaft (28) is arranged in the active second pull bar axis hole (20-2), initiatively an end of pull bar (27) is arranged on active first pull rod shaft (25), initiatively the other end of pull bar (27) is arranged on active second pull rod shaft (28), and initiatively connecting plate (6) is gone up each and initiatively is provided with initiatively dog hole (6-3) in the outside of chute (6-1).
4, universal modularized self-reorganization robot based on dual-rotational freedom according to claim 1, it is characterized in that the first passive closure member (50-1) and the second passive closure member (50-2) are by two passive bindiny mechanisms (1 '), passive housing (2 '), passive motor (8 '), passive motor gear (10 '), passive anti-backlash (11 '), passive potentiometer (12 '), the passive first potentiometer gear (13 '), the passive first potentiometer gear (14 '), passive joint potentiometer gear (15 '), passive joint driven wheel (16 ') and passive driving connecting plate (17 ') are formed, passive driving connecting plate (17 ') is fixed on the center of passive housing (2 '), passive driving connecting plate (17 ') is provided with passive potentiometer hole (17 '-1), one end of passive potentiometer (12 ') is arranged in the passive potentiometer hole (17 '-1), the passive first potentiometer gear (13 ') is sleeved on the passive potentiometer (12 '), centre bore periphery on the passive first potentiometer gear (13 ') is provided with passive flange (13 '-1), the passive first potentiometer gear (14 ') is arranged on the upper end of the passive first potentiometer gear (13 ') and is sleeved on the passive flange (13 '-1) of the passive first potentiometer gear (13 '), the passive first potentiometer gear (14 ') is provided with passive anti-backlash hole (14 '-1), passive anti-backlash (11 ') is arranged in the passive anti-backlash hole (14 '-1), passive motor (8 ') be fixed on passive driving connecting plate (17 ') below, passive motor gear (10 ') is arranged on the output shaft of passive motor (8 '), passive joint potentiometer gear (15 ') and passive joint driven wheel (16 ') are successively set on the passive rectangular axes (45 ') from the bottom to top, a passive bindiny mechanism (1 ') be arranged on passive housing (2 ') above, another passive bindiny mechanism (1 ') is arranged on the right flank of passive housing (2 ').
5, the universal modularized self-reorganization robot based on dual-rotational freedom according to claim 4 is characterized in that passive bindiny mechanism (1 ') is made up of passive connecting plate (6 '), and passive connecting plate (6 ') is provided with passive dog hole (6 '-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100647302A CN100572000C (en) | 2008-06-13 | 2008-06-13 | Universal modularized self-reorganization robot based on dual-rotational freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100647302A CN100572000C (en) | 2008-06-13 | 2008-06-13 | Universal modularized self-reorganization robot based on dual-rotational freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101314226A true CN101314226A (en) | 2008-12-03 |
| CN100572000C CN100572000C (en) | 2009-12-23 |
Family
ID=40105446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2008100647302A Expired - Fee Related CN100572000C (en) | 2008-06-13 | 2008-06-13 | Universal modularized self-reorganization robot based on dual-rotational freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100572000C (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101549494B (en) * | 2009-05-11 | 2012-05-02 | 北京航空航天大学 | Monomer automatic transformable robot with self-assembly characteristic |
| CN102806559A (en) * | 2012-08-29 | 2012-12-05 | 东南大学 | Unit module mechanism of modular reconfigurable robot |
| CN103264389A (en) * | 2013-05-14 | 2013-08-28 | 东南大学 | Omni-directional moving unit module structure of modularized self-reconfiguration robot |
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| CN104385265A (en) * | 2014-07-02 | 2015-03-04 | 中国科学院合肥物质科学研究院 | Robot with redundant degree of freedom |
| CN104401415A (en) * | 2014-10-23 | 2015-03-11 | 天津理工大学 | Knuckle reconfigurable robot unit module |
| CN104742117A (en) * | 2015-03-16 | 2015-07-01 | 天津理工大学 | Self-reconfigurable robot unit module having independent movement function |
| CN104742149A (en) * | 2013-12-26 | 2015-07-01 | 罗普伺达有限公司 | 2-axis hollow module for articulated robots using solid shaft motors |
| CN105137961A (en) * | 2015-08-19 | 2015-12-09 | 上海交通大学 | Self repair method for large scale crystal lattice module robot system |
| CN105150242A (en) * | 2015-10-15 | 2015-12-16 | 哈尔滨工业大学 | Self-transformation robot module unit and snakelike robot |
| CN105643654A (en) * | 2016-02-19 | 2016-06-08 | 上海钧工智能技术有限公司 | Reconfigurable modular robot arm pan-tilt head |
| CN107498549A (en) * | 2017-09-15 | 2017-12-22 | 福州大学 | The bindiny mechanism of reconfigurable modular robot and its method of work |
| CN111152204A (en) * | 2020-01-18 | 2020-05-15 | 九立(北京)机器人科技有限公司 | Slewing mechanism, mechanical arm and robot |
| CN111432987A (en) * | 2017-10-27 | 2020-07-17 | 费斯托股份两合公司 | Hardware module and mechanical coupling for a robotic system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699931A (en) * | 2012-05-09 | 2012-10-03 | 东南大学 | Connecting mechanism used between unit modules of modular self-reconfigurable robot |
-
2008
- 2008-06-13 CN CNB2008100647302A patent/CN100572000C/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101549494B (en) * | 2009-05-11 | 2012-05-02 | 北京航空航天大学 | Monomer automatic transformable robot with self-assembly characteristic |
| CN102806559A (en) * | 2012-08-29 | 2012-12-05 | 东南大学 | Unit module mechanism of modular reconfigurable robot |
| CN103264389A (en) * | 2013-05-14 | 2013-08-28 | 东南大学 | Omni-directional moving unit module structure of modularized self-reconfiguration robot |
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| CN104742149A (en) * | 2013-12-26 | 2015-07-01 | 罗普伺达有限公司 | 2-axis hollow module for articulated robots using solid shaft motors |
| CN104385265A (en) * | 2014-07-02 | 2015-03-04 | 中国科学院合肥物质科学研究院 | Robot with redundant degree of freedom |
| CN104401415B (en) * | 2014-10-23 | 2017-01-11 | 天津理工大学 | Knuckle reconfigurable robot unit module |
| CN104401415A (en) * | 2014-10-23 | 2015-03-11 | 天津理工大学 | Knuckle reconfigurable robot unit module |
| CN104742117A (en) * | 2015-03-16 | 2015-07-01 | 天津理工大学 | Self-reconfigurable robot unit module having independent movement function |
| CN104742117B (en) * | 2015-03-16 | 2016-08-24 | 天津理工大学 | A kind of self-reorganization robot unit module with self-movement |
| CN105137961A (en) * | 2015-08-19 | 2015-12-09 | 上海交通大学 | Self repair method for large scale crystal lattice module robot system |
| CN105137961B (en) * | 2015-08-19 | 2018-01-19 | 上海交通大学 | A kind of self-repair method of extensive crystal lattice type modular robot system |
| CN105150242A (en) * | 2015-10-15 | 2015-12-16 | 哈尔滨工业大学 | Self-transformation robot module unit and snakelike robot |
| CN105150242B (en) * | 2015-10-15 | 2017-03-08 | 哈尔滨工业大学 | A kind of automatic transformable robot modular unit and snake-shaped robot |
| CN105643654A (en) * | 2016-02-19 | 2016-06-08 | 上海钧工智能技术有限公司 | Reconfigurable modular robot arm pan-tilt head |
| CN107498549A (en) * | 2017-09-15 | 2017-12-22 | 福州大学 | The bindiny mechanism of reconfigurable modular robot and its method of work |
| CN107498549B (en) * | 2017-09-15 | 2023-03-03 | 福州大学 | Connecting mechanism of reconfigurable module robot and working method thereof |
| CN111432987A (en) * | 2017-10-27 | 2020-07-17 | 费斯托股份两合公司 | Hardware module and mechanical coupling for a robotic system |
| CN111152204A (en) * | 2020-01-18 | 2020-05-15 | 九立(北京)机器人科技有限公司 | Slewing mechanism, mechanical arm and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100572000C (en) | 2009-12-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100572000C (en) | Universal modularized self-reorganization robot based on dual-rotational freedom | |
| CN100579731C (en) | Double L-shaped cubic modularized self-reconstruction robot based on rotary hook hole | |
| CN110525149A (en) | A kind of amphibious mobile humanoid robot of wheel leg type that the angle of attack is variable | |
| CN101804636B (en) | Five degree-of-freedom reconfigurable modular service robot arm | |
| CN101214618B (en) | Double connecting rods type reversible table | |
| CN104002298A (en) | Two-moving and one-rotating decoupling parallel robot mechanism | |
| CN103737208A (en) | Multi-degree-of-freedom welding robot | |
| CN109466652B (en) | Multi-degree-of-freedom trunk mechanism suitable for biped robot | |
| CN103009380A (en) | Parallel mechanism with movement bifurcation characteristic | |
| CN104626122A (en) | (1T2R) and 1R four-degree-of-freedom decoupling series-parallel mechanism | |
| CN105082113A (en) | Fully-isotropic two-dimensional movement and rotation parallel robot mechanism | |
| CN109706063A (en) | A kind of culture dish of adjustable biological medicine | |
| CN103424269A (en) | Coupled four-DOF motion simulation platform comprising closed-loop subchain | |
| CN100400246C (en) | Rotation pair combination unit and motion decoupling parallel mechanism formed thereby | |
| CN102069393B (en) | Three-degree-of-freedom parallel mechanism for virtual-axis machine tool and robot | |
| CN202162805U (en) | Spherical surface rotation parallel mechanism having three degrees of freedom of decoupling | |
| CN100522509C (en) | Energy-saving bindiny mechanism based on direct current speed-down motor and rolling hook hole | |
| CN102962839A (en) | Vibrating screen mechanism with three-dimensional independent output motion | |
| CN102114599B (en) | Decoupling three-rotation parallel mechanism for imaginary axis lathe and robot | |
| CN102528818B (en) | Multi-loop coupling connecting rod working device with complex hinge | |
| CN207344579U (en) | Four branch's Three Degree Of Freedom isotropism plane parallel robot mechanisms | |
| CN206551011U (en) | A kind of six-freedom parallel device based on crawl parallel institution | |
| CN110103202A (en) | A kind of multi-mode series-parallel mechanical arm based on Motion Bifurcation mechanism | |
| CN104742995B (en) | The modular leg unit of polypody mobile robot | |
| CN107553472B (en) | Completely isotropic plane parallel mechanism with precisely constrained kinematic chain |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091223 Termination date: 20120613 |