CN103522293B - Robot and the reconstructed module for mounter people - Google Patents
Robot and the reconstructed module for mounter people Download PDFInfo
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- CN103522293B CN103522293B CN201310440176.4A CN201310440176A CN103522293B CN 103522293 B CN103522293 B CN 103522293B CN 201310440176 A CN201310440176 A CN 201310440176A CN 103522293 B CN103522293 B CN 103522293B
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- 238000009434 installation Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 238000001338 self-assembly Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 108010022579 ATP dependent 26S protease Proteins 0.000 description 1
- 241000219098 Parthenocissus Species 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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Abstract
The invention provides a kind of reconstructed module, for mounter people, comprising: locking device, for installing or offloading functions plate, comprising fixed part and tight lock part; Rotary joint, for making this locking device rotate, one end of this locking device fixed part is fixed on this rotary joint, and the other end of this fixed part is connected with this tight lock part.At least one paw, is arranged on this rotary joint, for object of holding with a firm grip, another reconstructed module or assembleability object.The present invention also provides a kind of robot, comprising: at least two above-mentioned reconstructed module; Reconstructed module grasps another reconstructed module by this paw and completes connection each other.The single reconfiguration mechanism of the present invention has better flexibility, relatively can realize the more complicated function of more existing modular unit when mounter people.
Description
Technical field
The present invention relates to robotics, particularly a kind of robot and the reconstructed module for mounter people.
Background technology
Along with the development of Robotics, robot has been applied to the fields such as industry, military affairs, medical treatment, education and home services, but is subject to the restriction of the factor such as versatility and cost, and universal fail of desired robot in all trades and professions realizes well.Robot all develops according to specific task substantially, has fixing 26S Proteasome Structure and Function, and the working environment used also is limited in, in certain scope, virtually adding use cost, hinders its popularization in application.
The basic method solved the problem is the design philosophy changing conventional machines people, modularization as a kind of new method for designing and method of thinking, in the research and development being widely used in product and design.Modularization robot platform is made up of multiple module, goes out to be best suited for the robot of Given task by these module energy quick assembling.When assembling, module can utilize paw itself that design and specific grasping face to carry out assembly and connection.Because the connection between module and module must adopt default grasping face, therefore limit to modular modules in the practicality realizing high-order function, considerably increased complexity during application simultaneously.
At present, to the exploitation of module machine robot system, mainly concentrate on the improvement in the self assembly of robot, as patent 200710066827.2 and 201110237418.0, adopt screw fixing method to carry out self assembly; Or adopt hook mode to carry out self assembly, as patent 201210142511.8.In addition, also there is the flexibility adopting different movement technique elevator system, as patent 200880102914.1, adopt creeper truck mode to realize the motion of modular unit.Adopt above method, although the self assembly performance of modularization robot is optimized, the application of modularization robot is still confined to the self-assembled structures of module.
Summary of the invention
The features and advantages of the present invention are partly stated in the following description, or can be apparent from this description, or learn by putting into practice the present invention.
For overcoming the problem of prior art, the invention provides a kind of robot and the reconstructed module for mounter people, adopt the combination of locking device, rotary joint and paw, this paw can be held with a firm grip another reconstructed module, complete the connection between at least two reconstructed module, thus strengthen the function of assembling, improve the practical application of modularization robot entirety.
It is as follows that the present invention solves the problems of the technologies described above adopted technical scheme:
According to an aspect of the present invention, provide a kind of reconstructed module, for mounter people, comprising: locking device, for installing or unload the feature board assembled by through-hole structure, comprise fixed part and tight lock part; Rotary joint, for making this locking device rotate, one end of this locking device fixed part is fixed on this rotary joint, and the other end of this fixed part is connected with this tight lock part.At least one paw, is arranged on this rotary joint, for object of holding with a firm grip, another reconstructed module or assembleability object.
According to one embodiment of present invention, also comprise feature board, the through-hole structure by it is arranged on this feature board coordinates with this locking device; The fixed part of this locking device is used for the through-hole structure through this feature board, and prevents this feature board from moving up and down, and the tight lock part of this locking device is used for preventing this feature board from coming off.
According to one embodiment of present invention, this feature board is circular or polygon.
According to one embodiment of present invention, this fixed part is identical with the cross section of this tight lock part; This tight lock part can rotate to an angle around this fixed part, and this fixed part is not overlapped with the cross section of this tight lock part, comes off for preventing this feature board.
According to one embodiment of present invention, the fixed part of this locking device is connected by screw thread or snap fit with tight lock part, and the cross-sectional area of this tight lock part is greater than the through-hole structure on this feature board.
According to one embodiment of present invention, this rotary joint comprises reducing motor, and this reducing motor rotates for making the motor output shaft on it, and one end of this locking device fixed part is fixed on this motor output shaft.
According to one embodiment of present invention, this rotary joint comprises rotary joint frame, and for fixing this reducing motor, the outer surface of this rotary joint frame has at least one for installing the paw installation portion of this paw.
According to one embodiment of present invention, this paw comprises parallel relative the first paw and the second paw, this first paw and this second paw to adjust the distance between them, thus grasp this object, this another reconstructed module or this assembleability object by the mode that rotates or move in parallel.
According to one embodiment of present invention, this paw is provided with groove or Skidproof soft cushion for the contact surface of this object of holding with a firm grip, this another reconstructed module or this assembleability object.
According to another aspect of the present invention, a kind of robot is provided, comprises: at least two any reconstructed module above-mentioned; Reconstructed module grasps another reconstructed module by this paw and completes connection each other.
According to one embodiment of present invention, also comprise assembleability object, for being become parts of robot by the grasping of this reconstructed module paw.
According to one embodiment of present invention, also comprise both hands pawl attaching parts, being connected to form for the contact surface be connected with rotary joint in described reconstructed module by two paws.
The invention provides a kind of robot and the reconstructed module for mounter people, this reconstructed module comprises locking device, rotary joint and paw, also comprise the feature board coordinated with this locking device, due to the existence of locking device, this feature board is detachable, improves the flexibility of single reconstructed module.When utilizing above-mentioned reconstructed module mounter people, the paw of this reconstructed module can be held with a firm grip object, another reconstructed module of can holding with a firm grip realizes the connection of intermodule, can also to hold with a firm grip assembleability object, become parts of robot, substantially increase the diversity of assembling, optimize the practicality of modularization robot; And based on the unique design of paw, improve the effect of holding with a firm grip, a feature board or assembleability object can be grasped by multiple paw simultaneously simultaneously, so relatively can realize the more complicated function of more existing modular unit when self assembly, are combined into the robot of more diversification and high-order.
By reading description, those of ordinary skill in the art will understand the characteristic sum content of these technical schemes better.
Accompanying drawing explanation
Below by with reference to accompanying drawing describe the present invention particularly in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in accompanying drawing is only for explanation of the present invention, and does not form restriction of going up in all senses of the present invention, in the accompanying drawings:
Fig. 1 is the structural representation of the reconstructed module of the embodiment of the present invention.
Fig. 2 is the schematic diagram of the feature board installation method of the embodiment of the present invention.
Fig. 3 is the structural representation of the paw installation position of the embodiment of the present invention.
Fig. 4 is the paw structural representation of the embodiment of the present invention.
Fig. 5 is the view of the paw Unscrew of the embodiment of the present invention.
Fig. 6 is the parallel view opened of the paw of the embodiment of the present invention.
Fig. 7 is the paw grasping column type object of the embodiment of the present invention or the structural representation of assembleability object.
Fig. 8 is the paw grasping cuboid object of the embodiment of the present invention or the structural representation of assembleability object.
Fig. 9 is the paw grasping template object of the embodiment of the present invention or the structural representation of assembleability object.
Figure 10 is the robot architecture of first embodiment of the invention.
Figure 11 is the robot architecture of second embodiment of the invention.
Figure 12 is the robot architecture of third embodiment of the invention.
Detailed description of the invention
As shown in Figure 1, the invention provides a kind of reconstructed module, for mounter people, comprising: locking device 30, for installing or offloading functions plate, comprising fixed part 32 and tight lock part 31; Rotary joint 10, for making locking device 30 rotate, one end of this locking device fixed part 32 is fixed on this rotary joint 10, and the other end of this fixed part 32 is connected with tight lock part 31.At least one paw 40, is arranged on rotary joint 10, for object of holding with a firm grip, another reconstructed module or assembleability object.Above-mentioned object refers to the object that will capture according to task setting, and assembleability object refers to column, plate object or the first-class object that can carry out work as of a robot parts of making a video recording.
In the present embodiment, this rotary joint 10 comprises reducing motor 12, rotates for making the motor output shaft on it; Now, one end of locking device fixed part 32 is just fixed on this motor output shaft, makes locking device 30 follow motor output shaft and rotates.
Except reducing motor 12, this rotary joint 10 can also comprise rotary joint frame 11, and for fixing reducing motor 12, and the outer surface of rotary joint frame 11 has at least one for installing the paw installation portion of paw 40.
Referring to Fig. 2, in the present embodiment, reconstructed module also comprises circular or polygonal feature board 50, and this feature board 50 is provided with the through-hole structure for coordinating with locking device 30.In the present embodiment, the fixed part 32 of locking device 30 is identical with the cross section of tight lock part 31, such as, be square shown in figure, and the through-hole structure on feature board 50 is also square.When locking device 30 coordinates with feature board 50, first, the fixed part 32 of locking device 30 is overlapped with the cross section of tight lock part 31, the through-hole structure 51 of feature board 50 like this is just through this tight lock part 31, and closely cooperated with fixed part 32, fixed part 32 can prevent feature board 50 from moving up and down; Then, rotation lock portion 31, makes tight lock part 31 not overlap with the cross section of fixed part 32, thus prevents feature board 50 from coming off, and so just completes the installation of feature board 50; To offloading functions plate 50, then first the fixed part 32 of locking device 30 is overlapped with the cross section of tight lock part 31, then feature board 50 is shifted out.
Although do not show in figure, but in actual applications, the fixed part 32 of this locking device 30 also can be connected by the mode of screw thread or engaging with tight lock part 31, and now the cross-sectional area of tight lock part 31 must be greater than the through-hole structure 51 on feature board 50, comes off to prevent feature board 50.Now, if desired installation function plate, then first take off tight lock part 31, by the through-hole structure 51 of fixed part 32 through feature board 50, is then connected with fixed part 32 by tight lock part 31; If desired removal feature board 50, then take off tight lock part 31, shifted out by feature board 50.
Please refer to Fig. 3, in the present embodiment, this rotary joint frame 11 is equipped with except the paw installation portion of paw 40 except being provided with on the face parallel with feature board 50, the face vertical with feature board 50 is also provided with a paw installation portion 112, this paw installation portion 112 can install paw 40 equally, in the specific implementation, the installation site of paw 40 on rotary joint frame 11 and number can be set as required.
Please refer to Fig. 4, paw 40 in the present invention comprises parallel the first paw 41 and the second paw 42 relatively, this first paw 41 and this second paw 42 to adjust the distance between them, thus grasp object, another reconstructed module or assembleability object by the mode that rotates or move in parallel.The mode of above-mentioned rotation refers to that the first paw 41 can rotate to close or away from the second paw 42 direction for the parts grasped, and same second paw 42 also can rotate to close or away from the first paw 41 direction for the parts grasped; Shown in Fig. 5 is exactly that paw 40 is in rotary manner in the state opened.Referring to Fig. 6, the above-mentioned mode moved in parallel refers to that the first paw 41 can move integrally to close or away from the second paw 42 direction for the parts grasped, and same second paw 42 also can move integrally to close or away from the first paw 41 direction for the parts grasped; Shown in Fig. 6 be exactly paw 40 in the mode moved in parallel in the state opened.
Please continue with reference to Fig. 4, in order to make paw 40 have better grippable effect, the first paw 41 and the second paw 42 are provided with groove 47 or Skidproof soft cushion 48 for the contact surface of object of holding with a firm grip, another reconstructed module or assembleability object.Above-mentioned groove 47 can be V-type or U-shaped, can arrange intersect vertically two grooves as shown in the figure when specifically arranging.Above-mentioned Skidproof soft cushion 48 can be arranged in all planes except groove, although do not show in certain figure, in groove, can arrange Skidproof soft cushion 48 equally.
Please refer to Fig. 7, Fig. 8, Fig. 9, what paw grasped in the figure 7 is object or the assembleability object 61 of column type; What in Fig. 8, paw grasped is object or the assembleability object 62 of cuboid; What in Fig. 9, paw grasped is object or the assembleability object 63 of template; Visible, paw of the present invention all has good grasping effect to above-mentioned object, especially the object of cuboid or assembleability object, and when the groove on paw can be worked in coordination with cuboid, effect is better.As can be seen here, the direction of installing according to paw and the effect of object or assembleability object, a paw can carry out multi-angle grasping.
Present invention also offers a kind of robot, comprising: the reconstructed module at least two above-mentioned any embodiment; Reconstructed module grasps the paw of another reconstructed module, rotary joint frame, locking device or feature board by this paw and completes connection each other.
Please refer to Figure 10, in the present embodiment, this robot is made up of three reconstructed module, specifically, reconstructed module 101 is grasped on the feature board of reconstructed module 102 with the paw of reconstructed module 103, when reconstructed module 101 adopts circular configuration with the feature board of reconstructed module 103, just as wheel, thus one two mobile platform of taking turns differential and driving can be formed.For as pedestal reconstructed module 102, its paw can catch other sensors even to make a video recording first-class assembleability object, also can capture object by setting, this two moving direction of taking turns the mobile platform that differential drives also can be controlled by reconstructed module 102 equally.
Please refer to Figure 11, in the present embodiment, this robot is made up of four reconstructed module and a template assembleability object, specifically, the paw of reconstructed module 201,202,203,204 catches an angle of template assembleability object 205 respectively, recycles circular feature board in above-mentioned reconstructed module as driving wheel, is assembled into the mobile platform of four-wheel drive, for when needing in daily life to carry some weights, the platform of this type can play a role.
Please refer to Figure 12, in the present embodiment, robot also comprises the both hands pawl attaching parts 308,309 be connected to form for the contact surface be connected with rotary joint in this reconstructed module by two paws except comprising assembleability object, form because both hands pawl attaching parts are connected by two paws, now in paw for the contact surface that is connected with rotary joint in this reconstructed module without the need to being connected with rotary joint again, so this contact surface can be made full use of.Robot in the present embodiment is except reconstructed module 301, other reconstructed module does not all have installation function plate, specifically, the paw of reconstructed module 301 is held with a firm grip the locking device of reconstructed module 302, and the feature board of reconstructed module 301 can be fixed on support or ground by various mode, the paw of reconstructed module 302 is held with a firm grip one end of assembleability object 306 of cylindrical or square column type, one of them paw of both hands pawl attaching parts 308 holds the other end of above-mentioned assembleability object 306, a paw of both hands pawl attaching parts 308 holds the locking device of reconstructed module 303, the paw of reconstructed module 303 is held with a firm grip one end of assembleability object 307 of cylindrical or cuboid, the other end of assembleability object 307 is then held with a firm grip by the paw of reconstructed module 304, the paw that the locking device of reconstructed module 304 is then reconstructed module 305 is held with a firm grip, one of them paw of last both hands pawl attaching parts 309 holds the locking device of reconstructed module 305, another paw is then for grasping the assembleability object of object or such as camera and so on.
Reconstructed module provided by the invention comprises reducing motor, locking device, rotary joint frame and paw, also comprises the feature board coordinated with this locking device, and due to the existence of locking device, this feature board is detachable, improves the flexibility of single reconstructed module.The paw of this reconstructed module can be held with a firm grip object, another reconstructed module of can holding with a firm grip realizes the connection of intermodule, assembleability object of can also holding with a firm grip, becomes parts of robot, substantially increase the diversity of assembling, optimize the practicality of modularization robot; And based on the unique design of paw, improving the effect of holding with a firm grip, a feature board or assembleability object can be grasped by multiple paw simultaneously simultaneously.When mounter people, reconstructed module of the present invention can be utilized in conjunction with assembleability object or both hands pawl attaching parts, by different teaming methods, build the robot that there is difference in functionality, be applicable to different application occasion; When adopting circular feature board, wheel more can be it can be used as to use, the robot allomeric function assembling out is promoted greatly, and finishes the work with high-order, diversification, powerful function.
Above with reference to the accompanying drawings of the preferred embodiments of the present invention, those skilled in the art do not depart from the scope and spirit of the present invention, and multiple flexible program can be had to realize the present invention.For example, to illustrate as the part of an embodiment or the feature that describes can be used for another embodiment to obtain another embodiment.These are only the better feasible embodiment of the present invention, not thereby limit to interest field of the present invention that the equivalence change that all utilizations description of the present invention and accompanying drawing content are done all is contained within interest field of the present invention.
Claims (12)
1. a reconstructed module, for mounter people, is characterized in that, comprising:
Locking device, for installing or unload the feature board assembled by through-hole structure, comprises fixed part and tight lock part;
Rotary joint, for making described locking device rotate, one end of described locking device fixed part is fixed on described rotary joint, and the other end of described fixed part is connected with described tight lock part;
At least one paw, is arranged on described rotary joint, for object of holding with a firm grip, another reconstructed module or assembleability object.
2. reconstructed module according to claim 1, is characterized in that, also comprises described feature board, and described feature board is coordinated with described locking device by the through-hole structure that it is arranged; The fixed part of described locking device is used for the through-hole structure through described feature board, and prevents described feature board from moving up and down, and the tight lock part of described locking device is used for preventing described feature board from coming off.
3. reconstructed module according to claim 2, is characterized in that, described feature board is circular or polygon.
4. reconstructed module according to claim 2, is characterized in that, described fixed part is identical with the cross section of described tight lock part; Described tight lock part can rotate to an angle around described fixed part, and described fixed part is not overlapped with the cross section of described tight lock part, comes off for preventing described feature board.
5. reconstructed module according to claim 2, is characterized in that, the fixed part of described locking device is connected by screw thread or snap fit with tight lock part, and the cross-sectional area of described tight lock part is greater than the through-hole structure on described feature board.
6. reconstructed module according to claim 1, is characterized in that, described rotary joint comprises reducing motor, and described reducing motor rotates for making the motor output shaft on it, and one end of described locking device fixed part is fixed on described motor output shaft.
7. reconstructed module according to claim 6, is characterized in that, described rotary joint comprises rotary joint frame, and for fixing described reducing motor, the outer surface of described rotary joint frame has at least one for installing the paw installation portion of described paw.
8. the reconstructed module according to claim 1-7 any one claim, it is characterized in that, described paw comprises parallel relative the first paw and the second paw, described first paw and described second paw to adjust the distance between them, thus grasp described object, another reconstructed module described or described assembleability object by the mode that rotates or move in parallel.
9. the reconstructed module according to claim 1-7 any one claim, is characterized in that, described paw is provided with groove or Skidproof soft cushion for the contact surface of described object of holding with a firm grip, another reconstructed module described or described assembleability object.
10. a robot, is characterized in that, comprising:
At least two arbitrary reconstructed module as described in claim 1 to 9;
Reconstructed module grasps another reconstructed module by described paw and completes connection each other.
11. robots according to claim 10, is characterized in that, also comprise assembleability object, for being become parts of robot by the grasping of described reconstructed module paw.
12. robots according to claim 10 or 11, is characterized in that, also comprise both hands pawl attaching parts, being connected to form for the contact surface be connected with rotary joint in described reconstructed module by two paws.
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| CN201310440176.4A CN103522293B (en) | 2013-09-24 | 2013-09-24 | Robot and the reconstructed module for mounter people |
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| CN201310440176.4A CN103522293B (en) | 2013-09-24 | 2013-09-24 | Robot and the reconstructed module for mounter people |
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| CN103522293B true CN103522293B (en) | 2015-12-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104249368B (en) * | 2014-09-09 | 2016-06-01 | 上海交通大学 | Double columnar form Self-Reconfigurable Modular Robot |
| CN104626139A (en) * | 2014-12-22 | 2015-05-20 | 湖南省金函数科技有限公司 | Configured robot |
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| CN201500976U (en) * | 2009-09-15 | 2010-06-09 | 华南理工大学 | Modular bionic climbing robot |
| CN201511369U (en) * | 2009-09-11 | 2010-06-23 | 华南理工大学 | Modular robot motion arm |
| CN201552574U (en) * | 2009-12-18 | 2010-08-18 | 中国科学院沈阳自动化研究所 | Modularized reconfigurable robot |
| TW201217125A (en) * | 2010-10-29 | 2012-05-01 | Hon Hai Prec Ind Co Ltd | Robotic joint |
| KR101179816B1 (en) * | 2010-05-12 | 2012-09-04 | 한양대학교 에리카산학협력단 | Joint module for robot and joint system for robot having the same |
| CN202878325U (en) * | 2012-10-26 | 2013-04-17 | 上海未来伙伴机器人有限公司 | Small modularization mechanical arm |
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- 2013-09-24 CN CN201310440176.4A patent/CN103522293B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201511369U (en) * | 2009-09-11 | 2010-06-23 | 华南理工大学 | Modular robot motion arm |
| CN201500976U (en) * | 2009-09-15 | 2010-06-09 | 华南理工大学 | Modular bionic climbing robot |
| CN201552574U (en) * | 2009-12-18 | 2010-08-18 | 中国科学院沈阳自动化研究所 | Modularized reconfigurable robot |
| KR101179816B1 (en) * | 2010-05-12 | 2012-09-04 | 한양대학교 에리카산학협력단 | Joint module for robot and joint system for robot having the same |
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