CN103538064A - Magic stick robot - Google Patents
Magic stick robot Download PDFInfo
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- CN103538064A CN103538064A CN201310511677.7A CN201310511677A CN103538064A CN 103538064 A CN103538064 A CN 103538064A CN 201310511677 A CN201310511677 A CN 201310511677A CN 103538064 A CN103538064 A CN 103538064A
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- gear
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- steering wheel
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Abstract
The invention provides a magic stick robot comprising a plurality of groups of drive units. The drive units are wedge-shaped and are in series connection with each other. Each of the drive units comprises a controller, a steering engine supplying driving force, a support for the steering engine and a gear connected with the steering engine and driven to rotate by the steering engine. The adjacent drive units can be driven by the gear to rotate. The magic stick robot is good in stability, can bear heavy load, and can be used as a special type mechanical arm and an intelligent support; after attachments such as a micro camera and a moving tool are mounted, the magic stick robot has good geography adaptive capacity and monitoring capacity, can be operated in radiating, dust and toxic environment, and can be operated in earthquake collapsed ruins to monitor.
Description
Technical field
The present invention relates to mechanical manufacturing field, and be particularly related to a kind of Mo Bang robot.
Background technology
Prior art is very many about the research of snake-shaped robot, the patent that for example application number is 02109369.5 discloses a kind of snake-shaped robot, and this snake-shaped robot is to consist of snakehead, ophiruid, several joint ends, ordinary steel wire spring, marmem (SMA) spring and sufficient critical piece.Between joint end and joint end, with being fixed on the upper ordinary steel wire spring of joint end and four marmems (SMA) spring, link up, on other each joint ends, all install and can control the mechanism that foot stretches out, regains.This controlling organization forms by being contained in marmem (SMA) spring, connecting rod, the spring leaf of joint end and slipping, and foot, according to creeping ground feature, can be equipped with rubber blanket or metal tines.Its operation principle is: during marmem (SMA) spring energising heating, shrink, draw connecting rod to move inward, drive link outwards moves along slideway, make foot protruding, now spring leaf also moves inward, when power-off, under the effect of spring leaf bounce, connecting rod is outwards retracted to original position, make sufficient withdrawal.This snake-shaped robot not only can advance, retreat, but also can move around cylinder, such as climbing tree etc.But the snake-shaped robot of this structure, because structure is limit, does not possess load capacity, cannot carry heavier load on snake-shaped robot, this limitations restrict the use of snake-shaped robot.
Summary of the invention
In order to overcome at least one problem existing in prior art, it is good and can bear more heavy duty Mo Bang robot that the present invention proposes a kind of stability.
To achieve these goals, the present invention proposes a kind of Mo Bang robot, comprise many group driver elements, described driver element is wedge shape and series connection mutually, described driver element comprises controller, the steering wheel of driving force is provided, carries the support of described steering wheel and the gear that is connected and is rotated by described servo driving with described steering wheel, and adjacent driver element can rotate under the driving of described gear.
Optionally, described driver element comprises housing and housing capping, and described controller, described steering wheel, described support and described gear are all positioned at described housing, by described housing capping, is sealed.
Optionally, described controller is a control panel, and described control panel is positioned at the housing of described driver element.
Optionally, described gear comprises the first gear and the second gear meshing with the first gear, and described steering wheel directly drives described the first gear.
Optionally, adjacent driver element can rotate under the driving of described the second gear.
Optionally, also comprise the first wall being oppositely arranged and the second wall that are positioned at two adjacent driver elements, the ball that has track, track packing ring and be positioned at described track in one of them of the face between the first wall and the second wall, another face is pressed on described ball.
Optionally, also comprise center rotating body, described center rotating body has axle, and described the first wall and described the second wall are provided with concentric centre bore, and described axle is through the described centre bore of described the first wall and described the second wall.
Optionally, in a side of described centre bore, support copper sheathing is set, described support copper sheathing is screwed.
The beneficial effect of Mo Bang of the present invention robot is mainly manifested in: the excellent robot stabilization of the present invention's evil spirit is good, can bear heavier load, can do special mechanical arm, Intelligent Supports Made use, after the annexes such as microcamera and Move tool are installed, can there is good landform adaptive capacity and monitoring capability, can be there being radiation, have dust, work under poisonous environment, also can in the ruins of earthquake landslide, work, carry out reconnaissance mission.
Accompanying drawing explanation
Fig. 1 is the structural representation of Mo Bang of the present invention robot.
Fig. 2 is the partial enlarged drawing of Fig. 1.
Fig. 3 is the structural representation of the tumbler of Mo Bang of the present invention robot.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing 1 to 3, the invention will be further described.
The present invention proposes a kind of Mo Bang robot, comprise many group driver elements 40, described driver element 40 is wedge shape and series connection mutually, Fig. 2 is the partial enlarged drawing of Fig. 1, comprise the first driver element 1, the second driver element 2 and center rotating body in Fig. 1, first driver element 1 of take is example, driver element 1 comprises controller, the steering wheel 11 of driving force is provided, carries the support 18 of steering wheel 11 and be connected with steering wheel 11 and drive by steering wheel 11 gear 13,14 rotating, and adjacent driver element can rotate under the driving of the second gear 13.
Driver element 1 also comprises housing 15,16 and housing capping, controller, steering wheel 11, center rotating body 19, center rotating body fixed head 12, support 18 and gear 13,14 are all positioned at housing 15,16, by housing capping, sealed, controller is a control panel, controller is positioned at housing, gear 13,14 comprises the first gear 14 and the second gear 13 meshing with the first gear 14, described steering wheel 11 directly drives the first gear 14, and adjacent driver element 2 can rotate under the driving of the second gear 13.
Driver element 2 has equally controller, the steering wheel 21 of driving force is provided, the support 28 of center rotating body 29, center rotating body fixed head 22, carrying steering wheel 21 and be connected with steering wheel 21 and driven the gear 23,24 of rotation by steering wheel 21, and driver element 2 also comprises housing 25,26 and housing capping.
Wherein the housing 15 of driver element 1 and the housing 26 of driver element 2 are near setting, as shown in Figure 3, the ball 32 that has track 31, track packing ring 33 and be positioned at track 31 in one of them of the first wall relative between housing 15 and housing 26 and the second wall, another face is pressed on ball 32.In the present embodiment, be arranged on the wall of housing 15.Center rotating body 19 has axle, and housing 15 and housing 26 are provided with concentric centre bore 34, and axle is through the centre bore 34 on housing 15 and housing 26, in a side of housing 15, arranges and supports copper sheathing 17, supports copper sheathing 17 and is screwed.Identical with driver element 1, on driver element 2, be also provided with center rotating body and support copper sheathing.
Generally speaking, Mo Bang provided by the invention robot is composed in series by a plurality of wedge shape modules (driver element).Each driver element is inner containing a control module, and control module is containing the function of communication, the function of control.Its communication be and other modules between exchanges data, controlling function has been to control steering wheel to be rotated with certain direction and angle.Control module is connected to power line, data wire, order wire, and its central through hole by center rotating body passes, thereby extends through each sequent modular in robot, the effect of playing power supply, communication and controlling.By controller, drive steering wheel to rotate by certain direction and angle, drive after the corresponding rotation of steering wheel gear, drive center rotating body gear to rotate.After center rotating body rotates, drive its next fixing module to rotate certain angle.Modules rotates after corresponding angle, is combined into certain space structure, to complete robot predetermined function.
In actual mechanical process, first several balls 32 are placed in the track 31 of shell 15, and in adjacent ball 32, insert track packing ring 33, the face of another driver element 2 shells 26 is pressed on ball 32, two shells 15,26 are concentric, then by the axle of center rotating body 19 through this two shell 15,26(containing ball orbit) the concentric centre bore 34 of face, then with fixed screw, be fixed on the inner bottom plating of shell 26.In the respective center position of shell 15, settle supporting copper sheathing 17, be then screwed.A side (correspondence position of center rotating body 19) at copper sheathing 17 is placed with gear 13,14, inserts respectively key and is screwed.The center rotating body 19(that support 28 is fixed on to shell 26 fixes) on face, then steering wheel 21(steering wheel gear is fixed) be fixed on support 28, center rotating body stator 22 is also fixed on support 28, to limit center rotating body 29 positions.Control panel is suitably placed, and tie is connected to the EBI through each module centers rotor.Thereby complete successively installation and the connection of each order serial module structure.
Although the present invention discloses as above with preferred embodiment, so its also non-limiting the present invention.Persond having ordinary knowledge in the technical field of the present invention, without departing from the spirit and scope of the present invention, when being used for a variety of modifications and variations.Therefore, protection scope of the present invention is when being as the criterion depending on claims person of defining.
Claims (8)
1. Yi Zhongmobang robot, it is characterized in that, comprise many group driver elements, described driver element is wedge shape and series connection mutually, described driver element comprises controller, the steering wheel of driving force is provided, carries the support of described steering wheel and the gear that is connected and is rotated by described servo driving with described steering wheel, and adjacent driver element can rotate under the driving of described gear.
2. Mo Bang according to claim 1 robot, is characterized in that: described driver element comprises housing and housing capping, and described controller, described steering wheel, described support and described gear are all positioned at described housing, by described housing capping, are sealed.
3. Mo Bang according to claim 1 robot, is characterized in that: described controller is a control panel, and described control panel is positioned at the housing of described driver element.
4. Mo Bang according to claim 1 robot, is characterized in that: described gear comprise the first gear and with the second gear of the first gear engagement, described steering wheel directly drives described the first gear.
5. Mo Bang according to claim 4 robot, is characterized in that: adjacent driver element can rotate under the driving of described the second gear.
6. Mo Bang according to claim 1 robot, it is characterized in that: also comprise the first wall being oppositely arranged and the second wall that are positioned at two adjacent driver elements, the ball that has track, track packing ring and be positioned at described track in one of them of the face between the first wall and the second wall, another face is pressed on described ball.
7. Mo Bang according to claim 6 robot, it is characterized in that: also comprise center rotating body, described center rotating body has axle, and described the first wall and described the second wall are provided with concentric centre bore, and described axle is through the described centre bore of described the first wall and described the second wall.
8. Mo Bang according to claim 7 robot, is characterized in that: the side at described centre bore arranges support copper sheathing, and described support copper sheathing is screwed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310511677.7A CN103538064B (en) | 2013-10-24 | 2013-10-24 | Mo Bang robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310511677.7A CN103538064B (en) | 2013-10-24 | 2013-10-24 | Mo Bang robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103538064A true CN103538064A (en) | 2014-01-29 |
| CN103538064B CN103538064B (en) | 2016-08-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310511677.7A Expired - Fee Related CN103538064B (en) | 2013-10-24 | 2013-10-24 | Mo Bang robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103538064B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108747A (en) * | 2015-08-04 | 2015-12-02 | 深圳市金刚蚁机器人技术有限公司 | Device for achieving seamless motion of head and neck of robot and method for device |
| CN112720442A (en) * | 2020-12-21 | 2021-04-30 | 广州大学 | Unit module of reconfigurable mechanical arm |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5428713A (en) * | 1991-11-25 | 1995-06-27 | Kabushiki Kaisha Toshiba | Compound module type manipulator apparatus |
| CN1373029A (en) * | 2002-03-27 | 2002-10-09 | 辽宁工程技术大学 | Snake-shaped robot |
| JP2004216535A (en) * | 2003-01-17 | 2004-08-05 | Toyota Motor Corp | Multi-articulated robot |
| WO2008136405A1 (en) * | 2007-04-27 | 2008-11-13 | Thk Co., Ltd. | Rotary drive, joint structure of robot and robot arm |
| CN201342916Y (en) * | 2008-12-19 | 2009-11-11 | 中国科学院沈阳自动化研究所 | Amphibious snake-shaped robot |
| CN101844348A (en) * | 2010-06-22 | 2010-09-29 | 上海交通大学 | Master-slave modular robot |
| CN102416626A (en) * | 2011-12-13 | 2012-04-18 | 东南大学 | Unit module for modular self-reconstruction robot |
| CN103009379A (en) * | 2012-12-24 | 2013-04-03 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
-
2013
- 2013-10-24 CN CN201310511677.7A patent/CN103538064B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5428713A (en) * | 1991-11-25 | 1995-06-27 | Kabushiki Kaisha Toshiba | Compound module type manipulator apparatus |
| CN1373029A (en) * | 2002-03-27 | 2002-10-09 | 辽宁工程技术大学 | Snake-shaped robot |
| JP2004216535A (en) * | 2003-01-17 | 2004-08-05 | Toyota Motor Corp | Multi-articulated robot |
| WO2008136405A1 (en) * | 2007-04-27 | 2008-11-13 | Thk Co., Ltd. | Rotary drive, joint structure of robot and robot arm |
| CN201342916Y (en) * | 2008-12-19 | 2009-11-11 | 中国科学院沈阳自动化研究所 | Amphibious snake-shaped robot |
| CN101844348A (en) * | 2010-06-22 | 2010-09-29 | 上海交通大学 | Master-slave modular robot |
| CN102416626A (en) * | 2011-12-13 | 2012-04-18 | 东南大学 | Unit module for modular self-reconstruction robot |
| CN103009379A (en) * | 2012-12-24 | 2013-04-03 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108747A (en) * | 2015-08-04 | 2015-12-02 | 深圳市金刚蚁机器人技术有限公司 | Device for achieving seamless motion of head and neck of robot and method for device |
| CN112720442A (en) * | 2020-12-21 | 2021-04-30 | 广州大学 | Unit module of reconfigurable mechanical arm |
| CN112720442B (en) * | 2020-12-21 | 2022-05-24 | 广州大学 | Unit module of reconfigurable mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103538064B (en) | 2016-08-17 |
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