CN104326031A - Cell robot - Google Patents
Cell robot Download PDFInfo
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- CN104326031A CN104326031A CN201410594033.3A CN201410594033A CN104326031A CN 104326031 A CN104326031 A CN 104326031A CN 201410594033 A CN201410594033 A CN 201410594033A CN 104326031 A CN104326031 A CN 104326031A
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- cellular machineries
- machineries people
- hemisphere
- cellular
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention provides a cell robot. The cell robot is formed by adopting spherical cell robot single bodies, wherein a shell of each spherical cell robot single body comprises an upper hemisphere and a lower hemisphere with the same shape; , the bottom surfaces of the two hemispheres of each spherical cell robot single body are assembled in a coinciding manner, and the centrosymmetric axes are mutually coincided; four connecting surfaces are uniformly arranged in the peripheral direction of each hemisphere. A sphere formed by the two hemispheres of each spherical cell robot single body is cut by two identical regular octahedrons formed by regular square pyramids with equal side edge length and bottom-surface edge length; each side surface of the regular octahedron and the sphere are cut to obtain one connecting surface. A connecting device is arranged on the connecting surface, and forward and backward connection modes between the two connecting surfaces are realized. Eight connecting surfaces of each single body can be connected with any connecting surface of the other cell robot single bodies, so that the plurality of cell robot single bodies form a variety of cell robots which can finish different tasks of assembling, welding and the like in different environments such as earthquake relief work, underground operation and space exploration.
Description
Technical field
The invention belongs to intelligent robot technology field, be specifically related to a kind of cellular machineries people.
Background technology
Along with socioeconomic development, robot has been widely used in the every field of society, as industry, medical treatment, agricultural, military affairs and the disaster relief etc.Some operating environment is narrow, changeable and there is various unknown obstacle, realizes relative difficulty for the conventional machines people autonomous and obstacle detouring adopting the type of drive such as wheeled, leg formula.It is also proposed a kind of ball shape robot in prior art, provide mobile propulsive effort by changing inner center-of-gravity position, direction-agile is good, can at mud, sand, avenge and even take action in water, also can be movable under some hazardous environments.
Modularization robot was also studied by some prominent university and scientific research institution both at home and abroad at present, such as CONRO and SUPERBOT of U.S. USC, the assembly robot etc. of Tsing-Hua University, but each monomer of above-mentioned robot only have two joint faces and also robot monomer angle range limited.
Summary of the invention
The invention provides a kind of cellular machineries people, this cellular machineries people adopts modular design, comprises the identical sphaerocyst robot monomer of N number of structure.Each cellular machineries people monomer has eight joint faces, and has positive and negative two kinds of connection modes between every two joint faces, and this just makes multiple cellular machineries people monomer can reconstruct varied cellular machineries people.By being reconstructed by several cellular machineries people monomer, robot motion's form of Various Complex configuration can be realized, thus applicable different application environment carries out operation.
The invention provides a kind of sphaerocyst robot monomer, shell comprises the identical hemisphere of upper and lower two shapes, and overlap assembling and central symmetry axis of two hemispheroidal bottom surfaces overlaps.Each hemispheroidal circumference is evenly provided with four joint faces.The obtain manner of described joint face is: the spheroid formed by two hemispheres, cut mutually with the regular octahedron that the long positive rectangular pyramid equal with the bottom surface length of side of two identical inclines is formed, the geometric centre of regular octahedron overlaps with the centre of sphere of spheroid, and the bottom surface of positive rectangular pyramid overlaps with hemispheroidal bottom surface, each side and the spheroid of regular octahedron intercept a joint face mutually.
Joint face is provided with connecting device, for realizing the connection between two cellular machineries people monomers.Each joint face can and any joint face of other cellular machineries people monomer between form positive and negative two kinds of connection modes.Under positive connection mode, the axis of two cellular machineries people monomers is parallel to each other, and is called for short " the parallel connection of axle "; Under anti-connection mode, the axes intersect of two cellular machineries people monomers, is called for short " axle intersects and connects ".
A kind of cellular machineries people, comprise the cellular machineries people monomer described in two or more, the connecting device arranged by joint face between every two cellular machineries people monomers is assembled mutually.
Be provided with moment of torsion generator in described hemisphere, upper and lower two hemispheres are rotated relatively around central symmetry axis.
Especially, cellular machineries people monomer inside of the present invention provides a kind of moment of torsion generator, and this moment of torsion generator comprises motor, sun gear and three peripheral gears.Three peripheral gears are meshed with sun gear, and the position of three peripheral gears is in three summits place of an equilateral triangle.Motor output power passes to sun gear, sun gear drives three peripheral gears be engaged with to rotate, three peripheral gears are all meshed with the inner gear that a hemisphere housing is arranged, thus drive inner gear to rotate, make one of them hemisphere another hemisphere generation relative rotary motion relatively.
Especially, cellular machineries people monomer inside of the present invention provides a kind of improved type four-way and taps slip-ring device, described cellular machineries people monomer inside comprises improved type four-way and taps slip-ring device, this taps slip-ring device and comprises slip ring and play pin, wherein slip ring is fixedly connected with a hemisphere, plays pin and is fixedly connected with another hemisphere; The annular slide track of multiple concentric is dispersed with above slip ring; Play to be dispersed with above pin and play pin one to one with concentric annular slide track on slip ring; When slip ring and bullet pin produce relative rotation under two hemispheroidal drives, the bullet pin contact played on pin withstands on the annular slide track slide inside on slip ring, slip ring is energized all the time with bullet pin and is connected.
Advantage of the present invention and good effect are:
(1) cellular machineries people monomer provided by the present invention is easy to assembly, and can be assembled into robot as required, and assembling flexible form is various.Cellular machineries people monomer of the present invention has eight joint faces, and each joint face can with form positive and negative two kinds of connection modes (the parallel connection of axle is crossing with axle to be connected) between any joint face of other cellular machineries people monomer.This just makes M cellular machineries people monomer can reconstruct diversified cellular machineries people, can at different environment, as completed the different task such as assembling, welding in earthquake relief work, borehole operation, space probation.
(2) three miniature gearss of the inner driving device provided of cellular machineries people monomer of the present invention are positioned at three summits of equilateral triangle, the diametral load that equilateral triangle distribution form can make three miniature gearss act on motor output center gear is cancelled out each other, simultaneously three miniature gearss act on the diametral load of big internal gear on shell and also cancel out each other, uniform force, can bear larger load.
Accompanying drawing explanation
Fig. 1 is the front view of cellular machineries people monomer of the present invention;
Fig. 2 is the birds-eye view of cellular machineries people monomer of the present invention;
Fig. 3 is the spherical and regular octahedron position and the relative size instruction diagram that form cellular machineries people monomer of the present invention; A () is the instruction diagram of the general size cases of spheroid, (b) be spheroid minimum relative to regular octahedron time instruction diagram, (c) be spheroid maximum relative to regular octahedron time instruction diagram;
Fig. 4 is the schematic diagram of two positive and negative two kinds of connection modes of cellular machineries people monomer of the present invention; A () is the schematic diagram of " the parallel connection of axle ", (b) is the schematic diagram of " axle intersects and connects ";
Fig. 5 is the schematic diagram realizing cellular machineries people monomer driving device of the present invention;
Fig. 6 is the inside drive mechanism figure realizing cellular machineries people monomer driving device of the present invention;
Fig. 7 is the constructional drawing that a kind of improved type four-way adopted in the present invention taps slip-ring device;
Fig. 8 is the slip ring schematic diagram that a kind of improved type four-way adopted in the present invention taps slip-ring device;
Fig. 9 is the bullet pin schematic diagram that a kind of improved type four-way adopted in the present invention taps slip-ring device;
Figure 10 is the various combination configuration schematic diagram of cellular machineries people monomer of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
Cell is the base unit of vital movement, by dividing and being differentiated to form different tissues, and then forms life entity.Inspire by this, the invention provides a kind of cellular machineries people, different robots can be formed, such as worm anthropomorphic robot, biped robot, quadruped robot and mechanical arm etc. by sphaerocyst robot monomer in the mode of reconstruct.So cellular machineries people of the present invention can at different environment, as completed the different task such as assembling, welding in earthquake relief work, borehole operation, space probation.
As illustrated in fig. 1 and 2, a kind of cellular machineries people monomer provided by the invention, shell comprises the identical hemisphere of upper and lower two shapes, and overlap assembling and central symmetry axis of two hemispheroidal bottom surfaces overlaps, and two hemisphere entirety form a spheroid.Each hemispheroidal circumference is evenly provided with four joint faces.
The obtain manner of joint face is: the spheroid formed by two hemispheres, cut mutually with the regular octahedron that the long positive rectangular pyramid equal with the bottom surface length of side of two identical inclines is formed, the geometric centre of regular octahedron overlaps with the centre of sphere of spheroid, and the bottom surface of positive rectangular pyramid overlaps with hemispheroidal bottom surface, each side and the spheroid of regular octahedron intercept a joint face mutually.
As shown in (a), (b) and (c) of Fig. 3, the centre of sphere of cellular machineries people monomer spheroid is positioned at positive rectangular pyramid bottom center position.If the incline of positive rectangular pyramid is long be a with the bottom surface length of side, namely the rib of regular octahedron is long is a, and the diameter of spheroid is d.In order to ensure spheroid eight joint faces intercepting cellular machineries people monomer crossing with eight sides of regular octahedron, the diameter d of spheroid and the long a of the rib of regular octahedron should meet following relational expression:
Situation when (a) of Fig. 3 is spheroid general size, wherein A and B is spheroid two points crossing with a side of regular octahedron, (b) be spheroid minimum relative to regular octahedron time situation, now the diameter d of spheroid is
(c) be spheroid maximum relative to regular octahedron time situation, now the diameter d of spheroid is a.Because needs regular octahedron and spheroid intercept a face mutually, therefore relational expression above the diameter d of spheroid and the long a demand fulfillment of the rib of regular octahedron.
Each side of positive rectangular pyramid intercepts a joint face mutually with spherical, and each joint face is all configured with connecting device, can produce machinery be connected with electrical connection or simple mechanical with other cellular machineries people monomer.The regular octahedron structure that in cellular machineries people monomer, eight joint faces are formed can ensure that cellular machineries people monomer can produce with other cellular machineries people monomer in all joint faces simultaneously and be connected, and each cellular machineries people monomer can produce with eight cellular machineries people monomers at most and be connected.
As shown in Figure 4, be schematic diagram under two positive and negative two kinds of connection modes of cellular machineries people monomer., under positive connection mode, as shown in (a) in Fig. 4, the axis of two organelle people monomers is parallel to each other between two cellular machineries people monomers by the connecting device assembly connection of joint face together, is called for short " the parallel connection of axle "; Under anti-connection mode, as shown in (b) in Fig. 4, the axes intersect of two cellular machineries people monomers, is called for short " axle intersects and connects ".The axis of cellular machineries people monomer is exactly the central symmetry axis of cellular machineries people monomer.
As shown in Figure 5 and Figure 6, containing moment of torsion generator in cellular machineries people monomer, this moment of torsion generator can provide torsion to produce relative rotary motion to drive two hemispheres of cellular machineries people monomer around its central symmetry axis.
Implementation one: cellular machineries people monomer inside of the present invention provides a kind of moment of torsion generator, this moment of torsion generator is embodied in a kind of based on the distributed gear system of equilateral triangle.This device comprises motor 10, sun gear 11 and three miniature gearss 12,13,14.Motor 10 outputting power passes to sun gear 11, and sun gear 11 drives the miniature gears 12 being positioned at equilateral triangle three summits, miniature gears 13 and the miniature gears 14 be engaged with to rotate again respectively.Three miniature gearss 12,13 and 14 are all meshed with the big internal gear 15 on one of them hemisphere shell, thus drive big internal gear 15 to rotate, and make one of them hemisphere another hemisphere generation relative rotary motion relatively.Under this implementation, three miniature gearss are positioned at equilateral triangle three summits, the diametral load that such equilateral triangle distribution form can make three miniature gearss act on motor output center gear 11 is cancelled out each other, the diametral load that simultaneously three miniature gearss act on big internal gear 15 on body skin is also cancelled out each other, uniform force, can bear larger load.
Bearing when wherein relatively rotating between two hemispheres, can adopt a kind of secondary bearing bearing.Wherein, the outer ring of secondary bearing is one of them hemisphere housing, and inner ring is another hemisphere housing, and K little bearing circumference is arranged between outer ring and inner ring equably, the inner ring of little bearing and the inner ring of secondary bearing fix, and the outer ring of little bearing contacts with inside the outer ring of secondary bearing.
Implementation two: adopt turbine and worm slowing-down structure, specific implementation is: motor by a pair gear pair by power transmission on worm screw, again by the effect of worm couple, drive worm gear to rotate, and worm gear is fixedly connected with one of them half housing of cellular machineries people monomer.Thus make one and half housings another the half housing generation relative rotary motion relatively in cellular machineries people monomer.The self-locking property of worm and gear, can not only reduce Systematical control difficulty, and can keep robot modeling under powering-off state, economize energy.
Above two kinds of implementations are citing just, does not illustrate that this patent is confined to above two kinds of implementations.
Containing rotating relative angle detecting device in cellular machineries people monomer, this device can detect two hemispheroidal relative rotation angle in cellular machineries people monomer.By measuring two hemispheroidal relative rotation angle, the rotary angle signal recorded being fed back in controller, forming closed loop, realizing the servocontrol of cellular machineries people monomer.Any angle measurement unit that can realize measuring the cellular machineries people monomer anglec of rotation all can use.
As Fig. 7, shown in Fig. 8 and Fig. 9, owing to there is relative rotary motion between two hemispheres in cellular machineries people monomer, time between two hemispheres by the contact of cable direct-electrifying, so cable can be intertwined along with two hemispheroidal rotations, and rotary motion cannot be proceeded.To this, present invention employs a kind of follow-on four-way and tap slip-ring device and replace the contact of traditional electrical cable direct-electrifying, ensure two hemispheres realize rotary motion while electrical contact all the time.
Specific implementation shows as: a kind of improved type four-way taps slip-ring device, and comprise slip ring 20 and play pin 21, wherein slip ring 20 is fixedly connected with one of them hemisphere, and slip ring 20 is dispersed with the annular slide track of multiple concentric above; Play pin 21 to be fixedly connected with another hemisphere, play to be dispersed with above pin 21 and play pin one to one with concentric annular slide track on slip ring 20.When slip ring 20 and bullet pin 21 produce relative rotation under two hemispheroidal drives, the bullet pin contact played on pin 21 withstands on the annular slide track slide inside on slip ring 20, ensure slip ring 20 and play pin 21 to be energized all the time and to be connected, namely can electrical contact all the time while relative rotation between two hemispheres.
As shown in Figure 10, the various combination configuration schematic diagram for being connected by some cellular machineries people monomers.Between each cellular machineries people monomer by the connecting device assembly connection of joint face together.Based on cellular machineries people monomer of the present invention, be connected to form a kind of cellular machineries people by some cellular machineries people monomers.In cellular machineries people, every two cellular machineries people monomers are connected by the connecting device of joint face.Each cellular machineries people monomer has a rotary freedom, and the cellular machineries people be made up of M cellular machineries people monomer, just there is M degree of freedom, wherein M=1,2 ... N.So cellular machineries people is different according to its compositing monomer number, conformational differences, such as worm anthropomorphic robot, biped robot, quadruped robot and mechanical arm etc., be just provided with different mode of motion.Cellular machineries people mode of motion is versatile and flexible, can carry out different reconstruct to realize different FMs according to different mission requirementses.
Claims (7)
1. a cellular machineries people monomer, is characterized in that, shell comprises the identical hemisphere of upper and lower two shapes, and overlap assembling and central symmetry axis of two hemispheroidal bottom surfaces overlaps; Each hemispheroidal circumference is evenly provided with four joint faces; The obtain manner of described joint face is: the spheroid formed by two hemispheres, cut mutually with the regular octahedron that the long positive rectangular pyramid equal with the bottom surface length of side of two identical inclines is formed, the geometric centre of regular octahedron overlaps with the centre of sphere of spheroid, and the bottom surface of positive rectangular pyramid overlaps with hemispheroidal bottom surface, each side and the spheroid of regular octahedron intercept a joint face mutually.
2. cellular machineries people monomer according to claim 1, is characterized in that, described joint face is when obtaining, and the diameter d of the long a of rib and spheroid that arrange regular octahedron meets following relational expression:
3. cellular machineries people monomer according to claim 1, it is characterized in that, described joint face is provided with connecting device, for connecting between two cellular machineries people monomers, have positive and negative two kinds of connection modes between two joint faces, under positive connection mode, the axis of two cellular machineries people monomers is parallel to each other, under anti-connection mode, the axes intersect of two cellular machineries people monomers.
4. cellular machineries people monomer according to claim 1, is characterized in that, be provided with moment of torsion generator in described hemisphere, and upper and lower two hemispheres are rotated relatively around central symmetry axis.
5. cellular machineries people monomer according to claim 1, is characterized in that, described cellular machineries people monomer comprises moment of torsion generator, and this moment of torsion generator comprises motor, sun gear and phase matching three peripheral gears; Three peripheral gears are meshed with sun gear, and the position of three peripheral gears is in three summits place of an equilateral triangle; Motor output power passes to sun gear, sun gear drives three peripheral gears be engaged with to rotate, three peripheral gears are all meshed with the inner gear that a hemisphere housing is arranged, thus drive inner gear to rotate, make one of them hemisphere another hemisphere generation relative rotary motion relatively.
6. cellular machineries people monomer according to claim 1, it is characterized in that, described cellular machineries people monomer inside comprises improved type four-way and taps slip-ring device, this taps slip-ring device and comprises slip ring and play pin, wherein slip ring is fixedly connected with a hemisphere, plays pin and is fixedly connected with another hemisphere; The annular slide track of multiple concentric is dispersed with above slip ring; Play to be dispersed with above pin and play pin one to one with concentric annular slide track on slip ring; When slip ring and bullet pin produce relative rotation under two hemispheroidal drives, the bullet pin contact played on pin withstands on the annular slide track slide inside on slip ring, slip ring is energized all the time with bullet pin and is connected.
7. a cellular machineries people, comprise two or more as arbitrary in claim 1 ~ 6 as described in cellular machineries people monomer, the connecting device arranged by joint face between every two cellular machineries people monomers is assembled mutually.
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| CN201410594033.3A CN104326031B (en) | 2014-10-29 | 2014-10-29 | Cellular machineries people |
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| CN201410594033.3A CN104326031B (en) | 2014-10-29 | 2014-10-29 | Cellular machineries people |
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Cited By (8)
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| CN105172932A (en) * | 2015-10-12 | 2015-12-23 | 北京可以科技有限公司 | Quadruped robot based on cell robot units |
| CN105171720A (en) * | 2015-10-12 | 2015-12-23 | 北京可以科技有限公司 | Multi-freedom-degree mechanical arm based on cell robot monomers |
| CN107351119A (en) * | 2017-09-15 | 2017-11-17 | 福州大学 | The joint module structure and its movement technique of reconfigurable modular robot |
| CN108356806A (en) * | 2017-12-19 | 2018-08-03 | 北京可以科技有限公司 | Modularization robot control method and system |
| WO2019120152A1 (en) * | 2017-12-19 | 2019-06-27 | 北京可以科技有限公司 | Correction method and system for constructing modular robot and control method for modular robot |
| CN111216111A (en) * | 2020-01-07 | 2020-06-02 | 北京可以科技有限公司 | Module unit and modular robot |
| CN112296991A (en) * | 2020-06-04 | 2021-02-02 | 北京空间飞行器总体设计部 | Cell robot capable of realizing idea of group effect and topological structure self-adaptation |
| CN114029937A (en) * | 2021-11-23 | 2022-02-11 | 北京邮电大学 | Three-degree-of-freedom reconstruction robot module and reconstruction robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105172932B (en) * | 2015-10-12 | 2018-08-10 | 北京可以科技有限公司 | A kind of quadruped robot based on cellular machineries people's monomer |
| CN105171720A (en) * | 2015-10-12 | 2015-12-23 | 北京可以科技有限公司 | Multi-freedom-degree mechanical arm based on cell robot monomers |
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| CN107351119A (en) * | 2017-09-15 | 2017-11-17 | 福州大学 | The joint module structure and its movement technique of reconfigurable modular robot |
| WO2019120152A1 (en) * | 2017-12-19 | 2019-06-27 | 北京可以科技有限公司 | Correction method and system for constructing modular robot and control method for modular robot |
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| CN108356806A (en) * | 2017-12-19 | 2018-08-03 | 北京可以科技有限公司 | Modularization robot control method and system |
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| US11458620B2 (en) | 2017-12-19 | 2022-10-04 | Beijing Keyi Technology Co., Ltd. | Correction method and system for constructing modular robot and control method for modular robot |
| CN111216111A (en) * | 2020-01-07 | 2020-06-02 | 北京可以科技有限公司 | Module unit and modular robot |
| CN111216111B (en) * | 2020-01-07 | 2023-02-10 | 北京可以科技有限公司 | Module unit and modular robot |
| CN112296991A (en) * | 2020-06-04 | 2021-02-02 | 北京空间飞行器总体设计部 | Cell robot capable of realizing idea of group effect and topological structure self-adaptation |
| CN114029937A (en) * | 2021-11-23 | 2022-02-11 | 北京邮电大学 | Three-degree-of-freedom reconstruction robot module and reconstruction robot |
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