CN101369385A - Modularized reconfigurable multifunctional education robot - Google Patents
Modularized reconfigurable multifunctional education robot Download PDFInfo
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- CN101369385A CN101369385A CNA2008100129356A CN200810012935A CN101369385A CN 101369385 A CN101369385 A CN 101369385A CN A2008100129356 A CNA2008100129356 A CN A2008100129356A CN 200810012935 A CN200810012935 A CN 200810012935A CN 101369385 A CN101369385 A CN 101369385A
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Abstract
A modularization teaching robot with reconfigurable functions, belongs to the field of electromechanical control and automatization teaching, which comprises a core servo module and an accessory, wherein the core servo module includes a main body host, a main body deputy, a dwang of a joint plane, a dwang of rotation plane, a DC machine and a reinforcement plate. The main body host is symmetrical along a center line and of phi-shape; the reinforcement plate is reinforced on two side walls; the main body deputy is of U-shape, the main body host and the main body deputy are connected through the dwang of a joint plane and the dwang of rotation plane; the DC machine is mounted on the main body host; a connecting module is mounted on four joint planes of the core servo module, the core servo module are combined into a reconfigurable robot through the connecting module, or the core servo module and the accessory are combined into the robot. The invention provides a high level teaching experiment platform which integrates machinery, electron, control theory and software engineering, with strong practice teaching functions.
Description
Technical field
The invention belongs to Electromechanical Control and automated teaching field, what relate to is the educational robot of a kind of educational robot, particularly a kind of modular multi-function.
Background technology
One of contemporary science and technology characteristic of development is exactly that mechanical technique and electronic technology, computer technology, infotech combine, and robot is exactly one of product of combining of this complex art.At present, good robot of some developed countries is incorporated into educational robot the education of universities and colleges and middle and primary schools to the role and influence of following high-tech society.With the artificial teaching platform of educational machine, help the educational development of subjects such as Machine Design, electronic technology, computer technology, infotech, help exploring new way, the new method of educational reform and personnel training, help the comprehensive cultivation of high-quality talents, to promote popularizing of China robot knowledge and technology simultaneously, promote the development of China robot cause and professional's cultivation, promote the formation of emerging intelligent robot industry, thereby set up a kind of brand-new talents cultivating mode, for country, be that the large quantities of more outstanding talents of conveying cultivate in society.
Along with development of science and technology, educational robot has received increasing concern at home and abroad, and many abroad famous universities all do experiment and study etc. as a synthesis experiment platform for the student with robot.But all there are shortcomings such as hardware configuration sealing and function singleness in many existing business-like educational robots.Though external some product function is abundanter, price is extremely expensive, and can't satisfy the robotization related discipline education on demand of distinct Chinese characteristics.As the miniature removable educational robot of E-PUCK that Lausanne, SUI engineering college releases, though have abundant sensor, can only finish some basic experiment in mobile robot field, and can't finish the relevant a lot of experiments of Chinese robotization subject.Canada Quanser company has released modular reversible pendulum system, can be by rotating servo module and the synthetic multiple different controlled device of different enclosure group.But the product of Quanser does not well incorporate the notion of robot, and just fixing Mechatronic control system can only be finished the basic experiment in the electromechanical integration teaching, and can't finish robot field's experiment.Though a lot of various shapes of robots can be created by the brick pattern robot of Denmark LEGO, but its physical construction is very coarse, be difficult to high-caliber academic research, generally only be suitable for middle and primary schools and primary grades undergraduate and use, and be not suitable for higher levels of academic research.In addition, the function of present most of robotization professional teaching product is all more single, can only do motor speed regulation system such as a cover system, finishes other experiment and can't recombinate.A lot of colleges and universities all need to buy the system about 10 covers in order to carry out the experiment of a class of 30 people, and every group 2-3 people does experiment, and this 10 cover system all is duplicate, can only do some experiments.Like this, more serious restriction the creationary performance of student.If increase new experiment content, then some other teaching product must be bought again again in the laboratory, has increased the burden of school's fund.
Summary of the invention
At the deficiencies in the prior art, the present invention proposes a kind of educational robot of modularized reconfigurable multifunctional, install by different module combinations and outside appurtenances, the experiment controlled device of the multiple difference in functionality of one-tenth capable of being combined can well be finished the various experiments of robotization subject and robot subject.The present invention provides a series of high-caliber controlled devices by the experiment that is connected to the robotization subject of modules such as core servo module, bindiny mechanism, widening parts.Usually utilize 10 core servo modules, add relevant widening parts, can finish nearly tens kinds of relevant education experiments of robotization specialty.In addition, the present invention has utilized accurate gear drive, the Design of Mechanical Structure precision, and the different controlled devices of being formed can be set up more accurate mathematical model, are suitable for the experimental study of control theory method.
The present invention is achieved by the following technical solutions, comprise at least one core servo module and annex, described core servo module comprises the main body master, the main body pair, the joint face dwang, the plane of rotation dwang, direct current generator and gusset plate, wherein the main body master is along the center line symmetry, be the ∏ type, gusset plate is reinforced on two sidewalls of main body master, the main body pair is a U type structure, main body master is connected with the plane of rotation dwang by the joint face dwang with the main body pair, described direct current generator is installed in the main body Your Majesty, on four joint faces of described core servo module link block is installed, be combined into reconstruction robot by link block between the core servo module, perhaps core servo module and enclosure group synthesis robot.Be combined into reconstruction robot by link block between the described core servo module, utilize a plurality of core servo modules to form snake-shaped robot, can select is that front and back are linked in sequence or hand-deliver fork connection all around, can design the snake-shaped robot of many difference in functionalitys, each module can be installed wheel; Utilize 6 core servo modules to form the six degree of freedom mechanical arm, 16 core servo modules are formed quadruped robot, utilize 18 core servo modules to form robot dog.
When direct current generator in the core servo module is one the 3rd motor, constitute the single shaft servomechanism, the 3rd motor is fixedly mounted on main body master's the back side by motor, and the 3rd motor is sent to power on the dwang of the back side by motor gear and the engagement of back side gear wheel.
Direct current generator is two direct current generators in the core servo module, second motor and first motor are separately fixed at left side and the right side on main body master's the ∏ type wall, first electromagnetic clutch and second electromagnetic clutch also are separately fixed at the both sides on this ∏ type wall, second motor gear is fixed on the output shaft of second motor, the second electromagnetic clutch outer rotor and the second electromagnetic clutch annular wheel are separately fixed at the two ends of the central shaft of second electromagnetic clutch, second motor gear and the engagement of the second electromagnetic clutch outer rotor are with transfer motion power to the second electromagnetic clutch annular wheel, first motor gear is fixed on the output shaft of first motor, the first electromagnetic clutch outer rotor and the first electromagnetic clutch annular wheel are separately fixed at the two ends of the central shaft of first electromagnetic clutch, first motor gear and the engagement of the first electromagnetic clutch outer rotor are to transfer to first motor power on the first electromagnetic clutch annular wheel, the second axis gear wheel and the first axis gear wheel are separately fixed at joint face dwang and plane of rotation dwang, the second axis gear wheel and the first axis gear wheel mesh the second electromagnetic clutch annular wheel and the first electromagnetic clutch annular wheel respectively, the second axis gear wheel and the first axis gear wheel are sent to the rotating torque on the electromagnetic clutch joint face dwang and plane of rotation dwang respectively, the joint face dwang is fixed on the right side wall of main body pair, the plane of rotation dwang is fixed on the left side wall of main body pair, the first electromagnetic clutch outer rotor and the second electromagnetic clutch outer rotor mesh two wheel gears that are fixed on the sidewall of the main body master left and right sides respectively.
Direct current generator is three direct current generators in the core servo module, second motor and first motor are separately fixed at left side and the right side on main body master's the ∏ type wall, the 3rd motor is fixedly mounted on main body master's the back side by motor, second motor gear is fixed on the output shaft of second motor, the second electromagnetic clutch outer rotor and the second electromagnetic clutch annular wheel are separately fixed at the two ends of the central shaft of second electromagnetic clutch, second motor gear and the engagement of the second electromagnetic clutch outer rotor are with transfer motion power to the second electromagnetic clutch annular wheel, first motor gear is fixed on the output shaft of first motor, the first electromagnetic clutch outer rotor and the first electromagnetic clutch annular wheel are separately fixed at the two ends of the central shaft of first electromagnetic clutch, first motor gear and the engagement of the first electromagnetic clutch outer rotor are to transfer to first motor power on the first electromagnetic clutch annular wheel, the second axis gear wheel and the first axis gear wheel are separately fixed at joint face dwang and plane of rotation dwang, the second axis gear wheel and the first axis gear wheel mesh the second electromagnetic clutch annular wheel and the first electromagnetic clutch annular wheel respectively, the second axis gear wheel and the first axis gear wheel are sent to the rotating torque on the electromagnetic clutch joint face dwang and plane of rotation dwang respectively, the joint face dwang is fixed on the right side wall of main body pair, the plane of rotation dwang is fixed on the left side wall of main body pair, the first electromagnetic clutch outer rotor and the second electromagnetic clutch outer rotor mesh two wheel gears that are fixed on the sidewall of the main body master left and right sides respectively.
On four joint faces of core servo module link block is installed, can on four joint faces, interconnects by link block between the core servo module and be combined into robot, perhaps core servo module and enclosure group synthesis robot.
A motion control card is installed on the described core servocontrol module, on PC, is programmed, download on the motion control card of controlled device by serial ports, network interface mode then and control in real time.
Described motion control card, employing is based on the embedded Control structure of DSP, peripheral circuit comprises wireless communication module, infrared sensor, acceleration transducer and power management, also comprise expansion interface, expand other functional modules, support USB, serial ports and JTAG communication interface, connect driving circuit at last motor is controlled in real time.Also can use the sports cards on the market, such as the motion control card DMC2410 of Shenzhen Leadtech Control Technology Co., Ltd..
Single servo module utilizes 3 direct current generator maximums can realize 5 degree of freedom, wherein switch and to realize that the pitching around central shaft is 1 degree of freedom by electromagnetic clutch, two differential driving gears are 2 degree of freedom, can realize that by the electromagnetic clutch switching it is 1 degree of freedom that the left side dwang rotates, 1 rotary freedom can be realized by a motor in the back.Because it is unified that the structure of four faces of single servo module is a symmetry, therefore can realize interconnecting of 4 faces by gear train, can reconstitute many different controlled devices.
Link block provides two kinds of schemes, and a kind of is manual link block, and this link block is installed on four joint faces of core servo module, two modules manually need be put together and work good, and manually utilizes screw to connect then.Equally, separation also needs manually screw disassembling to be separated.For general experimental study, manually link block gets final product, and can be combined into many different controlled devices very easily.Another is automatic link block, adopts the buckle mode to connect between two link blocks.A direct current flat electric machine is arranged in the link block, and the motion that promotes butt hook by control flat electric machine rotation realizes being dynamically connected certainly of two interfaces and separates.
Introduce the restructural characteristic and the multifunctional characteristics of coming the describing module robot respectively from the different extended modes of individual module, a plurality of module and module and outside widening parts below:
(1) individual module: core servo module physical construction dexterity, can select to install different parts according to demand and finish difference in functionality.Single core servo module can be formed the servo-control system of a 5DOF at most, can finish DC motor speed-regulating control, flexibly connects control etc.The transmission of module is achieved in that two direct current generators are arranged at the bottom that is positioned at core servo module main body master, by gear power is sent to the inboard transmission gear of electromagnetic clutch, and the driven wheel gear rotates.The outboard gears of electromagnetic clutch drives the rotation of joint face dwang respectively by engagement and the plane of rotation dwang rotates.Therefore, can come the rotation of control linkage face dwang and the rotation of plane of rotation dwang by the power on/off of electromagnetic clutch.Because the singularity of electromagnetic clutch, so this servo-control system has the characteristic of flexible load, can finish the infrastest of robotization subject about DC motor speed-regulating experiment and classical control theory and modern control theory.The student can be by the difference of demonstration performance after the loading of comparison direct current generator, understand the characteristics of open loop and closed-loop control system in depth, and the design example by this robot, firmly grasp the method for designing of modern Mechatronic control system, for from now on research and engineering design are laid a good foundation.
(2) individual module+wheel:, then can form a differential driving dolly if single core servo module is only adorned two direct current generators in bottom and other parts are not installed.The wheel of dolly can be dismantled easily and install by the fabrication hole of two sides.Reserve control card and lithium battery installation site respectively at the middle body of core servo module, reserved the infrared sensor interface in front and back respectively.Because the main body pair can be done luffing around central shaft, therefore little camera is installed on the main body pair can also increase vision system for the mobile robot.Therefore, by two wheels are installed, then this system can become a mobile-robot system.Because dolly has oneself independently electric power system and processing unit and sensory perceptual system, be an autonomous mobile robot system therefore.Utilize this robot, can finish the relevant many experiments of robotics, as path planning, location navigation, keep away barrier etc.A plurality of mobile-robot systems can also be formed multi-agent system, can be used for multiple agent coordination research and the research of contest class etc.
(3) two modules connect: two core servo modules interconnect can form torque system and 2DOF robot system.If add the inverted pendulum annex, then can constitute 2DOF parallel robot and reversible pendulum system.This has just constituted the drive system of owing with coupled characteristic of a complexity, control the stable of inverted pendulum by the motion of controlling two core servo module motors, this system is suitable for the research of many advance control algorithm, as adaptive control, the research of separating senior algorithms such as even control, robust control.Two modules interconnect, and also can form a joint drive system, by the control direct current generator, can control module creep, and finish the experimental study of some snakelike wriggling control aspects.
(4) a plurality of modules connect: when adopting a plurality of modules interconnective, then can constitute snake-shaped robot, Annular machine people, anthropomorphic robot and multi-foot robot etc.This robotlike is suitable for the experimental study of distributed control, centralized control and field of intelligent control.If when adopting automatic link block to connect simultaneously, but can also be used to study the related experiment that self-reorganization robot is learned.When constituting snake-shaped robot,, then can study the wriggling walking control of snake-shaped robot if each servo module does not add wheel.Can also carry out the snakelike migration control method research of differential driving and joint wriggling cooperation if add wheel.Simultaneously, but during self-reorganization robot,, and, therefore, provide a kind of mode of motion more fast in research than the reconstruction robot of present existence because each module can be installed wheel because each module all is an autonomous module.Utilize 6 modules respectively to intersect 90 degree and connect, can also form a 6DOF arm-and-hand system, can finish the experimental study of many related disciplines such as conventional machines people, Automatic Control Theory, modern control theory, adaptive control, System Discrimination.
(5) individual module+annex: individual module adds suitable annex, then can constitute the controlled device of many other characteristics.Mainly designed following several accessories among the present invention: extension type (variable barycenter) inverted pendulum annex, club balance annex, line slideway annex etc., can form the Single-Rotational Inverted Pendulum system respectively, club balanced system and straight line reversible pendulum system etc.The present invention is than the commercial teaching product of present robotization specialty, characteristics such as have that extendability is stronger, function is abundant more and volume is little.General needs 6 to 10 modules, can finish nearly more or less a hundred curriculum experiment of robotics, automatic field, can only do 1 to several experiments than a present teaching product, has tangible practical value and can not recombinate mutually to utilize again.Equally, the student may learn a lot of cross discipline technical know-hows such as machinery, electronics, control by the combination of various controlled devices.The present invention is when work, on mechanical system, need to install a motion control card, on PC, can utilize language such as C, C++, MATLAB to programme, download on the motion control card of controlled device by modes such as serial ports, network interfaces then and control in real time.Therefore, the present invention can be at many-sided content design experiments such as the Machine Design of robot system, design of drive circuit, Control System Designs, being one, to enrich machinery, electronics, control theory, soft project integrated be the high-level teaching experiment platform of one, has very strong practical teaching function.
Description of drawings
Fig. 1 a is the vertical view of the core servo module of modularized reconfigurable multifunctional education robot of the present invention,
Fig. 1 b is the upward view of the core servo module of modularized reconfigurable multifunctional education robot of the present invention,
Fig. 2 a is a kind of embodiment of the present invention: the core servo module adds the vertical view that wheel constitutes miniature mobile robot,
Fig. 2 b is second kind of embodiment of the present invention: the core servo module adds the side view that wheel constitutes miniature mobile robot,
Fig. 2 c is the side view that Fig. 2 b sees from the bottom up,
Fig. 3 a is the third embodiment of the present invention: two modules connect and compose the vertical view of 2DOF parallel robot,
Fig. 3 b is the 4th kind of embodiment of the present invention: two modules connect and compose the side view of 2DOF parallel robot,
Fig. 4 a is a manual link block synoptic diagram of the present invention,
Fig. 4 b is that the present invention utilizes the synoptic diagram of hand with two core servo modules of module connection,
Fig. 5 a is an automatic link block synoptic diagram of the present invention,
Fig. 5 b is an automatic link block side view of the present invention,
Fig. 6 is the 5th kind of embodiment of the present invention: the core servo module adds the inverted pendulum annex and constitutes plane inverted pendulum synoptic diagram,
Fig. 7 is the 6th kind of embodiment of the present invention: the core servo module adds the inverted pendulum annex and constitutes the Single-Rotational Inverted Pendulum synoptic diagram,
Fig. 8 is the 7th kind of embodiment of the present invention: a plurality of core servo modules connect and compose the synoptic diagram of snake-shaped robot,
Fig. 9 is the 8th kind of embodiment of the present invention: a plurality of core servo modules connect and compose the synoptic diagram of complicated anthropomorphic robot,
Figure 10 is the main body auxiliary structure synoptic diagram of core servo module of the present invention;
Figure 11 is the main body main structure synoptic diagram of core servo module of the present invention;
Figure 12 is the structural representation of motion control card of the present invention.
Among the figure: 1 main body master, 2 main body pairs, 3 front connecting links, 4 first motor gears, 5 plane of rotation dwangs, 6 first electromagnetic clutch outer rotors, 7 motors are fixed, 8 back side gear wheels, 9 back side dwangs, 10 second motor gears, 11 first electromagnetic clutchs, 12 joint face dwangs, 13 second electromagnetic clutch outer rotors, 14 second electromagnetic clutch spindle noses, 15 second axis gear wheels, 16 first motors, 17 gusset plates, 18 first axis gear wheels, 19 first electromagnetic clutch spindle noses, 20 second electromagnetic clutchs, 21 the 3rd motors, 22 second motors, 23 first electromagnetic clutch annular wheels, 24 second electromagnetic clutch annular wheels, 25 revolver, 26 batteries, 27 the 3rd infrared sensors, 28 circuit boards are fixed, 29 right wheels, 30 circuit boards, 31 sliding pearl baffle plates, 32 sliding pearls, 33 first round gears, 34 second wheel gears, 35 first infrared sensors, 36 second infrared sensors, 37 inverted pendulum transmission shafts, 38 control links, 39 control levers, cover in 40 link blocks, 41 link block overcoats, 42 link block bases, 43 link blocks lid, 44 butt hooks, 45 connecting holes, 46 push rods, 47 flat electric machines, 48 drive cam, 49 fixed heads, 50 forks are connected, 51 fork axles, 52 adapters, 53 forks, 54 swing arms, 55 incremental optical-electricity encoders.
Embodiment
Below in conjunction with accompanying drawing the present invention is described further:
It shown in Fig. 1 a the vertical view of nucleus module, single core servo module can be installed 3 direct current generators at most, can reach 5 degree of freedom motions at most, can dispose different motor numbers according to the requirement of experimental subjects, thereby finish the experiment of various various objectives, and reduce equipment cost.The following description of the annexation of core servo module: main body master 1 as shown in figure 11, is similar to " ∏ " type along the center line symmetry, is in order to guarantee the balance of module, can to reinforce main body master 1 by gusset plate 17 simultaneously and keep it to be not easy distortion like this.Main body pair 2 is a U type structure as shown in figure 10.Main body master 1 is connected with plane of rotation dwang 5 by joint face dwang 12 along the module centers line with main body pair 2, second motor 22 and first motor 16 respectively by screw retention on main body master 1 ∏ type wall, first electromagnetic clutch 11 and second electromagnetic clutch 20 are separately fixed at the both sides on this ∏ type wall too, and the 3rd motor 21 is fixed 7 by motor and is connected on main body master 1 the side walls.On the output shaft of second motor 22, the second electromagnetic clutch outer rotor 13 and the second electromagnetic clutch annular wheel 24 are separately fixed at the two ends of the central shaft of first electromagnetic clutch 11 to second motor gear 10 by screw retention.Second motor gear 10 and 13 engagements of the second electromagnetic clutch outer rotor are with transfer motion power to the second electromagnetic clutch annular wheel 24, first motor gear 4 of symmetry side is fixed on the output shaft of first motor 16, the first electromagnetic clutch outer rotor 6 and the first electromagnetic clutch annular wheel 23 are separately fixed at the two ends of the central shaft of second electromagnetic clutch 20, and first motor gear 4 and the engagement of the first electromagnetic clutch outer rotor 6 are with on first motor, 16 power transmission to the first electromagnetic clutch annular wheels 23.The second axis gear wheel 15 and the first axis gear wheel 18 are separately fixed at joint face dwang 12 and plane of rotation dwang 5, and mesh the second electromagnetic clutch annular wheel 24 and the first electromagnetic clutch annular wheel 23 respectively, respectively the rotating torque on the electromagnetic clutch is sent to dwang separately.Joint face dwang 12 by screw retention on main body master 1 sidewall, plane of rotation dwang 5 by bearing fixing on main body master 1 sidewall.Back side dwang 9 on main body master 1 the back side, and is installed back side gear wheel 8 on gearing mesh the 3rd motor 21 output terminals to obtain rotational power at the axle head of dwang by bearing fixing.3 of front connecting links are by the front portion of screw retention in main body pair 2.Gusset plate 17 respectively by screw retention on two sidewalls of main body master 1 to prevent sidewall generation deformation.
The transmission process of core servo module is as follows: first motor 16 is sent to power on the first electromagnetic clutch outer rotor 6 on year-on-year basis by first motor gear 4, and whether first electromagnetic clutch 20 utilizes power on/off can select power to be sent on the first electromagnetic clutch spindle nose 19.On the first electromagnetic clutch spindle nose 19, pasted one first electromagnetic clutch annular wheel 23, this gear and the first axis gear wheel 18 mesh with ratio of gear 5:1, therefore whether the first axis gear wheel 18 is positioned on the plane of rotation dwang 5 by dog screw, can select rotational power with motor to be sent to going up of plane of rotation dwang 5 by the break-make of electromagnetic clutch and drive its rotation.Equally, second motor 22 is sent to power on the second electromagnetic clutch outer rotor 13 on year-on-year basis by second motor gear 10, and whether second electromagnetic clutch 11 can utilize power on/off to select power to be sent on the second electromagnetic clutch spindle nose 14.The second electromagnetic clutch annular wheel 24 is fixed on the second electromagnetic clutch spindle nose 14 and meshes with the second axis gear wheel 15, and ratio of gear is similarly 5:1 can drive 12 rotations of joint face dwang.Joint face dwang 12 is screwed with main body pair 2, so the rotation of joint face dwang 12 can drive, and main body is secondary to be rotated around central shaft.Whether therefore, can select to allow main body pair 2 be rotated motion with respect to main body master 1 around central shaft by the power on/off of second electromagnetic clutch 11, the scope of rotation is-90 to spend+90 degree.The 3rd motor 21 is fixed 7 by motor and is fixed on the main body master 1, drives 9 rotations of back side dwang by the gearing mesh back side gear wheel 8 on the motor, and ratio of gear is 2:1.Like this, can guarantee that one of plane of symmetry all has a rotary freedom on four joint faces of core servo module, lay the foundation for connecting and do relative motion between the multimode.Single core servo module is a multiple-axis servo control system, is suitable for student's study about principles such as DC MOTOR CONTROL, mechanical drive, can carry out the experiment of courses such as Automatic Control Theory, DC motor speed-regulating, computer control, modern control theory.
Fig. 2 a is first embodiment of the present invention, and the core servo module is added that two wheels can constitute the miniature mobile robot of a differential driving.Fig. 2 b is the side view of the miniature mobile robot of formation, and Fig. 2 c is the side view of seeing from the bottom up.When constituting two-wheeled differential driving mobile robot, 2 direct current generators and 1 axis gear wheel can only be installed, (front-back respectively has two for corresponding first infrared sensor 35 of fit on and second infrared sensor 36 then, totally 4 infrared sensors are used for range finding), and lithium battery etc. constitutes an autonomous miniature mobile robot.Principle of work is as follows: first motor 16 is sent to power on the first electromagnetic clutch outer rotor 6 by first motor gear 4, and second wheel gear 34 is fixed on the right wheel 29, and therefore the engagement (ratio of gear is 1:2) by the first electromagnetic clutch outer rotor 6 and second wheel gear 34 can be sent to power on the right wheel 29.Equally for revolver 25, second motor 22 is sent to power on the second electromagnetic clutch outer rotor 13 by second motor gear 10, electromagnetic clutch outer rotor 13 can be sent to power on the first round gear 33 by gearing mesh, thereby drives 25 rotations of revolver.Like this, can realize the differential driving of robot by the independent control of two direct current generators.In order to keep the balance of robot, three sliding pearls 32 have been installed respectively in front and back, guarantee motion on the one hand steadily, reduce friction force on the other hand with ground.In addition, the power of second motor 22 can be sent on the second axis gear wheel 15, be rotated thereby can drive main body pair 2 by second electromagnetic clutch 11.Therefore, this mobile robot can also realize that at the volley two infrared sensors in front carry out the range observation in the vertical direction different angles by the luffing of main body pair 2, rather than fixing horizontal direction, this brings great convenience for mobile robot's perception.Also can fix a little USB camera on the top of main body pair 2 in addition, robot can be implemented in the visual scanning in the certain angle on the vertical direction like this.Utilize this controlled device, can finish the experiment of courses such as robotics, intelligent robot, Based Intelligent Control.
Fig. 3 a and Fig. 3 b are respectively the vertical view and the side views of second kind of embodiment of the present invention-two-freedom parallel robot.Combined method is as follows: each core servo module is only installed the 3rd motor 21 and back side gear wheel 8, motor power is sent to its rotation of drive on the axle 37, thereby motion that can control link 38, the acting in conjunction by two modules just can come control lever 39 to take exercises in the surface level certain limit like this.Controlled target is exactly to control the also terminal position of link rod, and such system has characteristics such as the driving of owing, coupling, is suitable for the research of advance control algorithm.Equally, can add an inverted pendulum assembly, thereby constitute a complicated more system, can bring bigger challenge to control theory at the end of parallel robot.Such system is suitable for separating the research of senior control algolithms such as even control, adaptive control, robust control and Based Intelligent Control.Utilize this controlled device, can finish the related experiment of courses such as Based Intelligent Control, adaptive control, optimum control.
Fig. 4 a, Fig. 4 b and Fig. 5 a and Fig. 5 b have provided used manual the connection and the synoptic diagram of link block automatically when the present invention connects together a plurality of modules.Fig. 4 a has provided two inside and outside adapter sleeve synoptic diagram of manual link block, and Fig. 4 b has provided the connected mode synoptic diagram.In Fig. 4 b, when two modules need connect, earlier cover in the link block 40 is connected with front connecting link 3, link block overcoat 41 is connected with back side dwang 9, manually dock the interior cover 40 and the link block overcoat 41 of link block then, and be screwed, two modules firmly can be linked together.Four faces in the front, rear, left and right of each core servo module can dock with four faces in front, rear, left and right of another one core servo module respectively, can constitute the combination of multiple Different Exercise Mode.Manually the advantage of link block be simple in structure, strength of joint is big, shortcoming is that module must manually connect and separate.If want to do the research in self-reorganization robot field, then need each module can realize from being dynamically connected.Therefore, the present invention has designed automatic link block equally, shown in Fig. 5 a and 5b.Each module is on the face that two needs connect, an automatic link block all is installed respectively, link block base 42 is fixed on separately the joint face, when two block motion to be connected arrive mutual close together, and when butt hook 44 aligns with the connecting hole 45 of another one link block, butt hook 44 inserts the connecting hole 45 of another link block, and at this moment flat electric machine 47 drives cam 48 rotations, thereby utilizes push rod 46 that butt hook 44 is released insertion connecting hole 45 in joint face.Like this, the hook of two link blocks docks mutually with the hole, and connection hook has the power of outwards opening, therefore can be firm two link blocks are linked together, thereby can two nucleus modules be connected mutually and separate by Automatic Program.
Fig. 6 is that the present invention adds the 3rd embodiment-straight line reversible pendulum system that the expansion annex is formed.The composition mode is as follows: two first motor 16 and second motor 22 and transmission gears separately that supply differential driving to use only are installed in the core servo module, other direct current generator and parts are not installed, form a two-wheeled differential driving dolly earlier.Then, fixed head 49 of installation is fixed an inverted pendulum assembly thereon on dolly, thereby constitutes a straight line reversible pendulum system.The inverted pendulum assembly is made up of following several sections: fork linking 50, fork axle 51, adapter 52, fork 53, swing arm 54 and incremental optical-electricity encoder 55.This straight line reversible pendulum system may operate on the plane, also may operate on the fixing parallel track and forms traditional straight line reversible pendulum system.In addition, by on the inverted pendulum assembly, increasing one-level or multistage fork, can be the multistage linear reversible pendulum system with this system extension.Utilize this controlled device, can finish the experiment of courses such as modern control theory, Based Intelligent Control, adaptive control, System Discrimination.
Fig. 7 is the synoptic diagram of the 4th embodiment of the present invention, promptly utilizes core servo module and inverted pendulum assembly to constitute the Single-Rotational Inverted Pendulum system.Anabolic process is as follows: the 3rd motor 21 and its transmission gear that only keeps the core servo module, and other parts are not installed, and module erected put, back side dwang 9 is replaced with inverted pendulum transmission shaft 37, and the inverted pendulum assembly is installed thereon, can constitute an one-level Single-Rotational Inverted Pendulum system.By on the inverted pendulum assembly, increasing the one-level fork, native system can also be expanded to secondary or multistage Single-Rotational Inverted Pendulum system.Equally, utilize core servo module of the present invention to add other expansion module such as flexible chi module, club module, can also form flexible ruler system of rotation and club balanced system etc.Utilize this controlled device, can finish the experiment of correlated curriculums such as optimum control, Based Intelligent Control, modern control theory.
Fig. 8 has provided the synoptic diagram of the 5th embodiment of the present invention, is about to 13 modules and has been interconnected to constitute snake-shaped robot.By manual link block or automatic link block, can utilize a plurality of core servo modules to form snake-shaped robots.In the connection procedure, can select according to motion requirement is that front and back are linked in sequence, and still all around the hand-deliver fork connects, and can design the snake-shaped robot of many difference in functionalitys.If install wheel for each module, then whole snake-shaped robot can also utilize wheel to have the ability that slides fast, and has only the ability of wriggling and advancing unlike present snake-shaped robot.If what adopt is automatic link block, then in motion process, can also do the research aspect the restructing algorithm.Utilize this controlled device, can finish the experiment of correlated curriculums such as distributed control theory, Based Intelligent Control, intelligent robot.
Fig. 9 has provided the synoptic diagram of the 6th embodiment of the present invention, promptly utilizes 14 core servo modules to be interconnected to constitute complicated anthropomorphic robot.By manual link block or automatic link block, can utilize a plurality of core servo modules to form complicated robot architecture.Such as utilizing 6 core servo modules to form the six degree of freedom mechanical arm, 16 core servo modules are formed quadruped robot, utilize 18 core servo modules to form structures such as robot dog.These experiments can be given full play to student's innovative thinking, are very suitable for the education experiment of robotization subject.Utilize this controlled device, can finish the experiment of correlated curriculums such as robotics, intelligent robot, Based Intelligent Control, distributed control, reconstruction robot.
Figure 12 is the synoptic diagram of control card embodiment of the present invention, control card of the present invention adopts the embedded Control structure based on DSP, peripheral circuit comprises functional modules such as wireless communication module, infrared sensor, acceleration transducer and power management, can also expand other functional modules by expansion interface, support communication interfaces such as USB, serial ports and JTAG, connect driving circuit at last motor is controlled in real time.Also can use the sports cards on the market, such as the motion control card DMC2410 of Shenzhen Leadtech Control Technology Co., Ltd..
Except above-mentioned embodiment, modularized reconfigurable multifunctional education robot of the present invention can also be combined into other many controlled devices, and does not depart from the scope of the present invention.
Claims (10)
1. the educational robot of a modularized reconfigurable multifunctional, it is characterized in that comprising at least one core servo module and annex, described core servo module comprises the main body master, the main body pair, the joint face dwang, the plane of rotation dwang, direct current generator and gusset plate, wherein the main body master is along the center line symmetry, be the ∏ type, gusset plate is reinforced on two sidewalls of main body master, the main body pair is a U type structure, main body master is connected with the plane of rotation dwang by the joint face dwang with the main body pair, described direct current generator is installed in the main body Your Majesty, on four joint faces of described core servo module link block is installed, be combined into reconstruction robot by link block between the core servo module, perhaps core servo module and enclosure group synthesis robot.
2. according to the educational robot of the described a kind of modularized reconfigurable multifunctional of claim 1, when it is characterized in that described direct current generator is one the 3rd motor, constitute the single shaft servomechanism, the 3rd motor is fixedly mounted on main body master's the back side by motor, and the 3rd motor is sent to power on the dwang of the back side by motor gear and the engagement of back side gear wheel.
3. according to the educational robot of the described a kind of modularized reconfigurable multifunctional of claim 1, it is characterized in that described direct current generator is two direct current generators, second motor and first motor are separately fixed at left side and the right side on main body master's the ∏ type wall, first electromagnetic clutch and second electromagnetic clutch also are separately fixed at the both sides on this ∏ type wall, second motor gear is fixed on the output shaft of second motor, the second electromagnetic clutch outer rotor and the second electromagnetic clutch annular wheel are separately fixed at the two ends of the central shaft of second electromagnetic clutch, second motor gear and the engagement of the second electromagnetic clutch outer rotor are with transfer motion power to the second electromagnetic clutch annular wheel, first motor gear is fixed on the output shaft of first motor, the first electromagnetic clutch outer rotor and the first electromagnetic clutch annular wheel are separately fixed at the two ends of the central shaft of first electromagnetic clutch, first motor gear and the engagement of the first electromagnetic clutch outer rotor are to transfer to first motor power on the first electromagnetic clutch annular wheel, the second axis gear wheel and the first axis gear wheel are separately fixed at joint face dwang and plane of rotation dwang, the second axis gear wheel and the first axis gear wheel mesh the second electromagnetic clutch annular wheel and the first electromagnetic clutch annular wheel respectively, the second axis gear wheel and the first axis gear wheel are sent to the rotating torque on the electromagnetic clutch joint face dwang and plane of rotation dwang respectively, the joint face dwang is fixed on the right side wall of main body pair, the plane of rotation dwang is fixed on the left side wall of main body pair, the first electromagnetic clutch outer rotor and the second electromagnetic clutch outer rotor mesh two wheel gears that are fixed on the sidewall of the main body master left and right sides respectively.
4. according to the educational robot of the described a kind of modularized reconfigurable multifunctional of claim 1, it is characterized in that described direct current generator is three direct current generators, second motor and first motor are separately fixed at left side and the right side on main body master's the ∏ type wall, the 3rd motor is fixedly mounted on main body master's the back side by motor, second motor gear is fixed on the output shaft of second motor, the second electromagnetic clutch outer rotor and the second electromagnetic clutch annular wheel are separately fixed at the two ends of the central shaft of second electromagnetic clutch, second motor gear and the engagement of the second electromagnetic clutch outer rotor are with transfer motion power to the second electromagnetic clutch annular wheel, first motor gear is fixed on the output shaft of first motor, the first electromagnetic clutch outer rotor and the first electromagnetic clutch annular wheel are separately fixed at the two ends of the central shaft of first electromagnetic clutch, first motor gear and the engagement of the first electromagnetic clutch outer rotor are to transfer to first motor power on the first electromagnetic clutch annular wheel, the second axis gear wheel and the first axis gear wheel are separately fixed at joint face dwang and plane of rotation dwang, the second axis gear wheel and the first axis gear wheel mesh the second electromagnetic clutch annular wheel and the first electromagnetic clutch annular wheel respectively, the second axis gear wheel and the first axis gear wheel are sent to the rotating torque on the electromagnetic clutch joint face dwang and plane of rotation dwang respectively, the joint face dwang is fixed on the right side wall of main body pair, the plane of rotation dwang is fixed on the left side wall of main body pair, the first electromagnetic clutch outer rotor and the second electromagnetic clutch outer rotor mesh two wheel gears that are fixed on the sidewall of the main body master left and right sides respectively.
5. according to the educational robot of the described a kind of modularized reconfigurable multifunctional of claim 1, it is characterized in that described link block provides two kinds of schemes, a kind of is manual link block, this link block is installed on four joint faces of core servo module, two modules are manually put together work good, manually utilize screw to connect then; Equally, separation also needs manually screw disassembling to be separated; Another is automatic link block, adopts the buckle mode to connect between two link blocks, and a direct current flat electric machine is arranged in the link block, and the motion that promotes butt hook by the rotation of control flat electric machine realizes being dynamically connected certainly of two interfaces and separates.
6. according to the educational robot of the described a kind of modularized reconfigurable multifunctional of claim 1, it is characterized in that described annex is a wheel, single core servo module and wheel are formed the differential driving dolly, two direct current generators are adorned in core servo module bottom, the middle body of core servo module is provided with motion control card and lithium battery, the front and back of core servo module are provided with the infrared sensor interface, on the main body pair camera are installed.
7. according to the educational robot of the described a kind of modularized reconfigurable multifunctional of claim 1, it is characterized in that described annex is extension type inverted pendulum annex or club balance annex or line slideway annex, wherein extension type inverted pendulum annex is fork linking, fork axle, adapter and fork and incremental optical-electricity encoder.
8. according to claim 1 described modular multi-function educational robot, it is characterized in that being combined into reconstruction robot by link block between the described core servo module, utilize a plurality of core servo modules to form snake-shaped robot, can select is that front and back are linked in sequence or hand-deliver fork connection all around, the snake-shaped robot of many difference in functionalitys can be designed, wheel can be installed on each module; Utilize 6 core servo modules to form the six degree of freedom mechanical arm, 16 core servo modules are formed quadruped robot, utilize 18 core servo modules to form robot dog.
9. according to the educational robot of the described a kind of modularized reconfigurable multifunctional of claim 1, it is characterized in that installing on the described core servocontrol module motion control card, on PC, programme, download on the motion control card of controlled device by serial ports, network interface mode then and control in real time.
10. according to the educational robot of the described a kind of modularized reconfigurable multifunctional of claim 9, it is characterized in that described motion control card, employing is based on the embedded Control structure of DSP, peripheral circuit comprises wireless communication module, infrared sensor, acceleration transducer and power management functional module, also comprise other functional modules of expansion excuse expansion, support USB, serial ports and JTAG communication interface, connect driving circuit at last motor is controlled in real time.
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| CN200810012935A CN100590679C (en) | 2008-08-26 | 2008-08-26 | Modular reconfigurable multifunctional teaching robot |
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| CN200810012935A CN100590679C (en) | 2008-08-26 | 2008-08-26 | Modular reconfigurable multifunctional teaching robot |
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| CN102727144A (en) * | 2011-03-31 | 2012-10-17 | 泰怡凯电器(苏州)有限公司 | Multifunctional robot and control device and method of automatically-separated functional module of multifunctional robot |
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