CN104742117A - Self-reconfigurable robot unit module having independent movement function - Google Patents
Self-reconfigurable robot unit module having independent movement function Download PDFInfo
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Abstract
The invention relates to a self-reconfigurable robot unit module having an independent movement function. The self-reconfigurable robot unit module comprises a U-shaped outer frame, a U-shaped inner frame, a driving connecting mechanism, five driven connecting mechanisms, a drive mechanism, a base rotation stepping gear motor, an inner frame and outer frame connecting assembly and a rotating base assembly; the inner frame and outer frame connecting assembly comprises an inner driving side plate and an inner driven side plate; the rotating base assembly comprises a rotating base substrate, a second connecting plate and a motor mounting frame. The rotating base substrate can rotate by 360 degrees around a central axis so that a robot can turn. The driving connecting mechanism can be aligned and connected with driving and driven surfaces, so the working capability of the modularized self-reconfigurable robot is improved. The outer frame and the inner frame of the single module can rotate by 360 degrees relative to each other, the self-reconfigurable robot unit module has the linear motion function, and in combination with free rotation of the rotating base substrate, independent and flexible motion of the single module can be achieved. Multiple modules can be assembled regularly.
Description
Technical field
The invention belongs to robotics, specifically robot field can the Alcula type modularized self-reorganization robot of self-movement.
Technical background
Self-reorganization robot is connected to form by identical jockey by multiple basic module, the configuration of robot is adjusted by the connected mode between adjusting module, thus meet the demand of varying environment, different task, or reject impaired module, robot is recovered from compromise state.Chain type robot, crystal lattice type robot, mobile robot can be divided into according to robot morphologic change mode.
Chain type robot is by connecting to form chain type or tree between multiple module, and there are PolyBot, CKbot, CONRO etc. in representative chain type robot.Wherein, PolyBot comprises initiatively module and node module two kinds of basic modules, and the former has two interfaces; The latter is the cube of rigidity, and six faces all possess can linkage function, but self does not possess locomitivity.
Crystal lattice type modularization robot has regular distribution in three dimensions, realizes the distortion of robot by changing the position of module in virtual grid.The representative of this type of robot has Miche, Catoms, I-Cube.
Each module of mobile modularized robot be all one can the robot of self-movement.The CEBOT robot of Japan Nagoya university development and the federal Institute of Technology (EPFL) of Lausanne, SUI develop the representative that SWARM-bot robot is mobile modularized robot.
The people such as the Cao Qixin of Shanghai Communications University proposed the modularization robot based on corba interface of a kind of robotics in 2009, comprising: mobile module, mechanical arm module, vision sensor module, power module, control module, wireless network module.
The people such as the Fei Yanqiong of Shanghai Communications University proposed a kind of master-slave modular robot in 2010, comprise some robot cells, each robot cell is connected with adjacent four robot cells respectively, and each robot cell comprises: triangular prism primary module, triangular prism are from module and two link blocks.
The people such as the Wei Hongxing of BJ University of Aeronautics & Astronautics proposed a kind of distributed and group flying robot that is self-assembly characteristic of having in 2012, be made up of at least three robot monomer, and positive oar robot monomer and anti-oar robot monomer will be comprised in robot monomer simultaneously, described robot monomer is polygonal hollow cylinder structure, each robot monomer by ground motion module, active mating module, passive connection module, sensing locating module, flying power module and control module to be formed.
The people such as the Ge Weimin of Institutes Of Technology Of Tianjin proposed the removable module self-reorganization robot of a kind of robotics in 2013, comprising: U-shaped outrigger, U-shaped internal frame, motor rack, motor, internal frame connecting shaft part, main passive bindiny mechanism, driving leg mechanism.
The people such as the Fei Yanqiong of Shanghai Communications University proposed a kind of double columnar form Self-Reconfigurable Modular Robot in 2014, comprise several robot cells, each described robot cell comprises triangular prism primary module, triangular prism from module, the first Alcula type link block and the second Alcula type link block.
In sum, self-reorganization robot has achieved larger progress technically, but is still two key technologies of modularized self-reorganization robot structural design in the reliability of bindiny mechanism and in individual module self-movement.
Summary of the invention
The present invention seeks to overcome the problem that the reliable and stable not and individual module of the upper bindiny mechanism existed of the design of modularization robot individual module in prior art does not have locomitivity, a kind of self-reorganization robot unit module with self-movement is provided.The pattern of modular structure is fixed to rectangular shape, has spatial symmetry, and can complete the needs of multiple chain type distortion, its structural style reality is simple and practical.
The present invention is achieved through the following technical solutions:
The described self-reorganization robot unit module with self-movement mainly comprises: a U-shaped outrigger, a U-shaped internal frame, an active bindiny mechanism, five passive bindiny mechanisms, a driving mechanism; Base rotates stepping reducing motor, and internal frame and outrigger coupling assembling and rotating base assembly;
Wherein, U-shaped outrigger comprises: outer initiatively side plate, outer passive side plate, intermediate plate, and two blocks of side plates are connected to the both sides of intermediate plate, form U-shaped outrigger;
U-shaped internal frame comprises: interior L-type plate (being made up of the side plate of interior L-type plate and intermediate plate) and an interior I template, be connected to form U-shaped internal frame by interior L-type plate and interior I template;
Internal frame and outrigger coupling assembling comprise: interior active side plate, interior passive side plate, and two blocks of side plates are arranged on U-shaped internal frame both sides respectively, and form the internal frame cube of a uncovered, described internal frame cube opening part is rounded; Described interior passive side plate outer panel is provided with round boss, and have one for installing the square hole of the first connecting plate in the middle of round boss, described round boss coordinates with the circular hole on the outer passive side plate of U-shaped outrigger; The outside of described interior active side plate has gear mounting groove, in gear mounting groove, driving gear wheel set is installed, driving pinion in driving gear wheel set is arranged on main shaft upset stepping reducing motor axle fixing on the interior plate of interior active side plate, driving gear wheel in driving gear wheel set is fixedly connected with the outer active side plate interior plate of U-shaped outrigger, form driving mechanism, U-shaped internal frame is made to be assembled on U-shaped outrigger like this, and U-shaped internal frame coordinates with U-shaped outrigger and can carry out 360 ° and rotate, provide the rotational freedom of the relatively U-shaped outrigger of U-shaped internal frame;
Rotating base assembly comprises a rotating base substrate, the second connecting plate, a motor mounting rack; The interior plate of described rotating base substrate is provided with round boss, round boss coordinates with the cubical circular open of described internal frame, have the square hole for installing the second connecting plate in the middle of described round boss, described second connecting plate is inlaid in the square hole on rotating base substrate; Described base is rotated stepping reducing motor and is arranged on by motor mounting rack on the interior plate of interior active side plate, described base rotates the medium pore secure fit on stepping reducing motor axle and described second connecting plate, the internal frame cube be configured in U-shaped by the second connecting plate driven rotary base substrate rotates, realizes the rotary motion of unit module; Described rotating base substrate is provided with a passive bindiny mechanism, can be connected with active bindiny mechanism;
Initiatively bindiny mechanism comprises: four hooks, gear drive and direct current generators and fixed mount thereof; Wherein gear drive is arranged on the 3rd connecting plate, 3rd connecting plate is inlaid in the square hole of interior I template centre of U-shaped internal frame, direct current generator is fixedly mounted on the 3rd connecting plate by two motor fixing frames, and the output shaft driven gear transmission mechanism of direct current generator drives four protruding 3rd connecting plate surfaces of hooks rotation to carry out connecting moves; The distribution of four hooks is arranged, the direction of rotation of three hooks is had to be same directions, last hook is oppositely install and rotate relative to other three, such hook structural design, when realizing normally docking with other modules, also completes the function of the position and attitude rectification of two connecting plates simultaneously;
Gear drive in described active bindiny mechanism comprises: a bevel gear wheel, three bevel pinions, a connection large straight gear, connection small Spur gear, two short connecting axles and a long connecting axle; Described bevel gear wheel be connected large straight gear and be consolidated, connect large straight gear in below, connect large straight gear and be connected small Spur gear and engage each other and be installed in the respective slot on the 3rd connecting plate interior plate, long connecting axle is fixed pedestal by hook and is arranged on the 3rd connecting plate, be fixedly connected with a bevel pinion in the middle part of long connecting axle, this bevel pinion engages with bevel gear wheel, and a hook is respectively installed at the two ends of long connecting axle, and the direction of hook is identical; Two short connecting axles are fixed pedestal by hook equally and are arranged on the 3rd connecting plate, two short connecting axles are coaxial and vertical with long connecting axle, two short connecting axles are fixedly connected with a bevel pinion respectively, and each installation hook, and the direction of hook is contrary, the bevel pinion on two short connecting axles engages with bevel gear wheel; Direct current generator output shaft drives the connection large straight gear on the 3rd connecting plate and bevel gear wheel to rotate by connection small Spur gear fixing with it, then drives other three bevel pinions to rotate by bevel gear wheel, completes the transmission of direct current generator to hook;
Five passive bindiny mechanisms are located at the outer surface of the intermediate plate of U-shaped outrigger respectively, the outer surface of the first connecting plate in outside exposed circular hole on the outer passive side plate of U-shaped outrigger on passive side plate, the outer surface of the second connecting plate in the rotating base substrate in the side plate of the interior L-type plate of U-shaped internal frame and two outer surfaces of intermediate plate and rotating base assembly, each connecting plate is provided with eight rectangular through holes, due to the connected mode that automatic connecting mechanism is Alcula type, and there are three to be the motion of same direction in four hooks, another hook is counter motion, so eight rectangular through holes are divided into four groups to be distributed in each connecting plate surrounding in symmetrical expression between two, and it is corresponding respectively with the position of the hook of four in active bindiny mechanism, the connecting plate of unit module freely can be docked in 360 ° of directions with between connecting plate,
Described self-reorganization robot unit module has 2 frees degree, be respectively 360 ° of rotary freedoms between U-shaped internal frame and U-shaped outrigger, and whole unit module is relative to 360 ° of planar degrees of freedom rotated of rotating base substrate, with the conversion between satisfied different configuration.
Advantage of the present invention and beneficial effect:
The present invention is most important is exactly that individual module has flexibility and the very high motor function of reliability.Realize individual module reliably keep straight on the ground and rotate.Before making to execute the task multiple module can separately or combination of two arrive target location, then reconstruct required configuration and finish the work.
Because U-shaped outrigger and internal frame 360 ° rotate and the continuous rotation of the 3rd passive bindiny mechanism and multiple connected mode, make the combination variety of multiple module more, for multiple different occasion and the task of completing various complexity.
Because U-shaped internal frame is on the ground as special wheel type movement, the requirement of motion process to ground is lower, and as long as no very large obstacle, some little gentle slopes, sand ground, little broken terrain can be stablized and moves ahead, and has certain full landform adaptive capacity.
Due to the U-shaped outrigger of module and the relative continuous rotation of U-shaped internal frame and multiple connected mode, make the combination variety of multiple module more, for multiple different occasion and the task of completing various complexity.
Due to the continuous rotation of the 3rd passive bindiny mechanism of module, substantially increase the expanded application scope of module, such as can as the camera The Cloud Terrace of 360 ° of continuous rotations.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing of the self-reorganization robot unit module with self-movement;
Fig. 2 be on Fig. 1 basis internal frame around the schematic diagram of U-shaped outrigger half-twist;
Fig. 3 is U-shaped outrigger schematic diagram;
Fig. 4 is U-shaped internal frame schematic diagram;
Fig. 5 is interior passive side plate schematic diagram;
Fig. 6 is interior active side plate schematic diagram;
Fig. 7 is rotating base substrate schematic diagram;
Fig. 8 is long connecting axle structure schematic diagram in active bindiny mechanism;
Fig. 9 is the short-and-medium connecting axle structure schematic diagram of active bindiny mechanism;
Figure 10 connects small Spur gear structural representation in active bindiny mechanism;
Figure 11 is bevel pinion structural representation in active bindiny mechanism;
Figure 12 is bevel gear wheel structural representation in active bindiny mechanism;
Figure 13 connects large straight gear structural representation in active bindiny mechanism;
Figure 14 is hook structural representation in active bindiny mechanism;
Figure 15 is the 3rd connecting board structure schematic diagram of initiatively bindiny mechanism;
Figure 16 is driving pinion structural representation in driving mechanism;
Figure 17 drives gear wheel structural representation in driving mechanism;
Figure 18 is connecting board structure schematic diagram; For simplifying processing parts quantity, structure and the shape of the first to the 3rd connecting plate are identical;
Figure 19 is active bindiny mechanism schematic diagram;
Figure 20 is driving mechanism schematic diagram;
Figure 21 is the motor mounting rack schematic diagram in rotating base assembly;
Figure 22, Figure 23 are that cameras people that three via Self-reconfiguration unit modules are combined into works process schematic;
Figure 24 is internal frame cube schematic diagram.
In figure, 1 is U-shaped outrigger, comprises three parts, respectively: the outer initiatively side plate of 1-1,1-2 outer passive side plate, 1-3 intermediate plate; 2 is U-shaped internal frames, comprises two parts, respectively: the interior I template of 2-1 mono-, an interior L-type plate (being made up of L-type plate intermediate plate in L-type plate side plate in 2-2 and 2-3); 3 is connecting plates, comprises three, respectively: 3-1 first connecting plate, is arranged in the square hole of interior passive side plate, corresponding with the outer passive side plate of U-shaped outrigger; 3-2 is the second connecting plate, is arranged in the square hole of rotating base substrate; 3-3 is the 3rd connecting plate, is arranged in the square hole of interior I template of U-shaped internal frame; 4 is interior passive side plates, and have the one side of boss to be connected with the outer passive side plate of U-shaped outrigger and coordinate, another side is connected with U-shaped internal frame; 5 is rotating base substrates, is arranged on the side of U-shaped internal frame cube uncovered; 6 is hooks; 7 is active bindiny mechanisms, corresponding with I type side plate in U-shaped internal frame; 8 is first passive bindiny mechanisms, corresponding with the intermediate plate of L-type plate in U-shaped internal frame; 9 is second passive bindiny mechanisms, corresponding with the rotating base substrate of U-shaped internal frame; 10 is the 3rd passive bindiny mechanisms, corresponding with the side plate of L-type plate in U-shaped internal frame; 11 is the 4th passive bindiny mechanisms, corresponding with the intermediate plate of U-shaped outrigger; 12 is the 5th passive bindiny mechanisms, with outside exposed circular hole on the outer passive side plate of U-shaped outrigger in the outer surface of the first connecting plate on passive side plate corresponding; 13 is direct current generators; 14 is main shaft upset stepping reducing motors; 15 is that base rotates stepping reducing motor; 16 is short connecting axles; 17 is bevel pinions, and 18 is bevel gear wheels; 19 and 21 is motor fixing frames; 20 is connect small Spur gear, and 25 is connect large straight gear; 22 is drive gear wheel, and 23 is driving pinions; 24 is that pedestal fixed by hook.
Detailed description of the invention
As shown in Figure 1 and Figure 2, described unit module mainly comprises: a U-shaped outrigger 1, U-shaped internal frame 2, is bindiny mechanism initiatively, five passive bindiny mechanisms, a driving mechanism; Main shaft upset stepping reducing motor 14, and internal frame and outrigger coupling assembling and rotating base assembly; Wherein, U-shaped outrigger 1 comprises: outer initiatively side plate 1-1, outer passive side plate 1-2, intermediate plate 1-3, and two blocks of side plates are connected to the both sides of intermediate plate, form U-shaped outrigger (see Fig. 3); U-shaped internal frame 2 comprises: interior L-type plate (in 2-2 in L-type plate side plate, 2-3 L-type plate intermediate plate) and an interior I template 2-1, be connected to form U-shaped internal frame (see Fig. 4) by interior L-type plate and interior I template.
Internal frame and outrigger coupling assembling comprise: interior active side plate is (see Fig. 6, in figure square boss be used for fixed electrical machinery installing rack), interior passive side plate 4, two blocks of side plates are arranged on U-shaped internal frame both sides respectively, form the internal frame cube (see Figure 24) of a uncovered, described internal frame cube opening part is rounded, described interior passive side plate outer panel is provided with round boss (see Fig. 5, in figure, the periphery of two boss at interval forms a circle), have one for installing the square hole of the first connecting plate in the middle of round boss, described round boss coordinates with the circular hole on the outer passive side plate of U-shaped outrigger, the outside of described interior active side plate has gear mounting groove (see Figure 20), in gear mounting groove, driving gear wheel set is installed, driving pinion 23 (see Figure 16) in driving gear wheel set is arranged on the motor shaft of main shaft upset stepping reducing motor 14 fixing on the interior plate of interior active side plate, driving gear wheel 22 (see Figure 17) in driving gear wheel set is fixedly connected with the outer active side plate interior plate of U-shaped outrigger, form driving mechanism, U-shaped internal frame is made to be assembled on U-shaped outrigger like this, and U-shaped internal frame coordinates with U-shaped outrigger and can carry out 360 ° and rotate, the rotational freedom of the relatively U-shaped outrigger of U-shaped internal frame is provided.
Rotating base assembly comprises a rotating base substrate (see Fig. 7), second connecting plate, a motor mounting rack (see Figure 21); The interior plate of described rotating base substrate is provided with round boss, round boss coordinates with the cubical circular open of described internal frame, have the square hole for installing the second connecting plate (see Figure 15) in the middle of described round boss, described second connecting plate is inlaid in the square hole on rotating base substrate; Described base rotates on stepping reducing motor 15 is arranged on interior active side plate interior plate by motor mounting rack (see Figure 20), described base rotates the medium pore secure fit on stepping reducing motor axle and described second connecting plate, the internal frame cube be configured in U-shaped by the second connecting plate driven rotary base substrate rotates, realizes the rotary motion of unit module; Described rotating base substrate is provided with a passive bindiny mechanism, can be connected with active bindiny mechanism.
The fuselage entirety of unit module is class rectangular structure, and U-shaped internal frame 2 overturns stepping reducing motor 14 and internal frame and outrigger coupling assembling with U-shaped outrigger 1 by main shaft and links together, rotating base assembly is arranged on the side of U-shaped internal frame cube uncovered by rotating base substrate 5, and base is rotated stepping reducing motor 15 and to be arranged in U-shaped internal frame initiatively on side plate by motor mounting rack, rotates for driving rotating base assembly, initiatively bindiny mechanism is arranged on the interior I template of U-shaped internal frame, five passive bindiny mechanisms, i.e. the first passive bindiny mechanism 8, corresponding with L-type plate intermediate plate 2-3 in U-shaped internal frame, second passive bindiny mechanism 9, corresponding with the rotating base substrate of U-shaped internal frame, 3rd passive bindiny mechanism 10, corresponding with the side plate 2-2 of L-type plate in U-shaped internal frame, 4th passive bindiny mechanism 11, corresponding with the intermediate plate 1-3 of U-shaped outrigger, 5th passive bindiny mechanism 12, with outside exposed circular hole on the outer passive side plate of U-shaped outrigger in the outer surface of the first connecting plate on passive side plate corresponding, passive bindiny mechanism is arranged in obverse square hole respectively.This robot cell's module is under main shaft upset stepping reducing motor 14 rotates continuously, rely on the friction with ground, drive unit module to seesaw, rotating base substrate is under base rotation stepping reducing motor 15 rotates continuously, rely on the friction with ground, drive unit module divertical motion.
This unit module can overturn under stepping reducing motor 14 drives at main shaft and realize relative rotating 360 degrees between U-shaped outrigger 1 with U-shaped internal frame 2, as shown in Figure 2, on Fig. 1 basis main shaft upset stepping reducing motor 14 drive U-shaped internal frame 2 to turn clockwise 90 ° of gained around U-shaped outrigger 1.
Initiatively bindiny mechanism is arranged on the interior I template square hole of U-shaped internal frame by the 3rd connecting plate (see Figure 15), and the side at hook place outwardly.As shown in figure 19, described active bindiny mechanism comprises: four hooks 6 (see Figure 14), gear drive and direct current generators 13 and motor fixing frame 19 and 21 thereof; Wherein gear drive is installed in the groove of the 3rd connecting plate, by two motor fixing frames 19 and 21, direct current generator 13 is fixed on motor fixing frame 19 and 21 central authorities, motor fixing frame 19 is fixed on the geometric center of the 3rd connecting plate, and motor fixing frame 21 is fixed on the 3rd connecting plate near the turning connecting small Spur gear.Hook 6 is fixed pedestal by the hook that the 3rd connecting plate designs and is fixed and the directionality problem limiting the rotation sideslip of hook 6, makes hook 6 realize the effect of accurately docking.Here regulation hook is just inwardly rotating to be, and protruding is negative.Connecting moves is carried out on the surface that the output shaft driven gear transmission mechanism of direct current generator 13 drives four hooks to rotate protruding module.Arrange in the distribution of hook 6, the direction of rotation of three hooks is had to be same directions, last hook is oppositely install and rotate relative to other three, such hook structural design, when realizing normally docking with other unit modules, also completes the function of the position and attitude rectification of two connecting plates simultaneously.In addition active bindiny mechanism is not when working, hook parts turn is made to be recovered to position within the 3rd connecting plate by rotating forward of direct current generator, now hook structure does not work, but its active connecting plate can be connected by other unit modules, this connecting plate method for designing is equivalent to the passive connecting plate adding unit module, enrich the mode of unit module combined deformation, improve the ability to work of modularization from restructuring robot.
As shown in figure 19, the described gear drive be arranged in the 3rd connecting plate groove comprises: a bevel gear wheel 18 (see Figure 12), three bevel pinions 17 (see Figure 11), connection large straight gear 25 (see Figure 13), connection small Spur gear 20 (see Figure 10), two short connecting axles 16 (see Fig. 9), a long connecting axle (see Fig. 8); Wherein bevel gear wheel 18 be connected large straight gear 25 and be consolidated, be installed on the bottom surface of the 3rd connecting plate, connect small Spur gear 20 and be arranged on the output shaft end of direct current generator 13 and engage with the connection large straight gear on bottom surface.Long connecting axle is fixed pedestal 24 by hook and is arranged on the 3rd connecting plate, and long connecting axle fixedly mounts a bevel pinion 17, and this bevel pinion engages with bevel gear wheel, and a hook 6 is respectively installed at long connecting axle two ends, and the direction of hook 6 is identical.Two short connecting axles 16 are fixed pedestal by hook equally and to be coaxially arranged on the 3rd connecting plate and vertical with long connecting axle, the inner opposite end of two short connecting axles is fixedly connected with a bevel pinion 17 respectively, the lateral ends of two short connecting axles respectively installs a hook 6, and the direction of hook 6 is contrary, three bevel pinions 17 engage with bevel gear wheel 18 respectively.Direct current generator output shaft drives the connection large straight gear 25 on bottom surface and bevel gear wheel 18 to rotate by connection small Spur gear 20 fixing with it, then drives other three bevel pinion 17 rotating Vortexes by bevel gear wheel 18, completes the transmission of direct current generator to hook 6.
As depicted in figs. 1 and 2, five described passive bindiny mechanisms are located at the outer surface of the intermediate plate of U-shaped outrigger respectively, the outer surface of the first connecting plate in outside exposed circular hole on the outer passive side plate of U-shaped outrigger on passive side plate, the outer surface of the second connecting plate in the rotating base substrate in the side plate of the interior L-type plate of U-shaped internal frame and two outer surfaces of intermediate plate and rotating base assembly, each connecting plate there are eight rectangular through holes, due to the connected mode that automatic connecting mechanism is Alcula type, and 6 li, four hooks have three to be the motion of same direction, another hook 6 is counter motions, so eight rectangular through holes are divided into four groups to be distributed in connecting plate surrounding in symmetrical expression between two, and it is corresponding respectively with the position of the hook of four in active bindiny mechanism, the connecting plate of unit module freely can be docked in 360 ° of directions with between connecting plate, expand the combination between its unit module.
As shown in Figure 22 and Figure 23, it is the course of work of the cameras people that three via Self-reconfiguration unit modules I, II, III are combined into, the active bindiny mechanism of reconfiguration unit module I is fixedly connected with the 4th of reconfiguration unit module II the passive bindiny mechanism 11, the active bindiny mechanism of reconfiguration unit module II is connected with the 4th of reconfiguration unit module III the passive bindiny mechanism 11, at median surface dress vision camera (not shown in FIG.) of the U-shaped outrigger 1 of reconfiguration unit module I.Under Figure 22 state, robot is in finds the target phase, the rotating base of reconfiguration unit module III rotates, the overall divertical motion of robot can be made, reconfiguration unit module III driver element module is rotated, robot entirety can be made to advance or setback, to reach near target location, the reconfiguration unit module III of Figure 22 turns to 90 ° to obtain Figure 23, Figure 23 is for preparing the shooting stage, U-shaped outrigger 1 half-twist under the second stepping driven by motor of reconfiguration unit module II, the reconfiguration unit module I with vision camera is driven to erect, 4th passive bindiny mechanism 11 of reconfiguration unit module I can rotate 180 ° around reconfiguration unit module I, pass through the coordinated movement of various economic factors, make vision camera can collect the image of optional position, space, to present the comprehensive information of circumstances not known.
Claims (1)
1. there is a self-reorganization robot unit module for self-movement, it is characterized in that described unit module mainly comprises: a U-shaped outrigger, a U-shaped internal frame, an active bindiny mechanism, five passive bindiny mechanisms, a driving mechanism; Base rotates stepping reducing motor, and internal frame and outrigger coupling assembling and rotating base assembly;
Wherein, U-shaped outrigger comprises: outer initiatively side plate, outer passive side plate, intermediate plate, and two blocks of side plates are connected to the both sides of intermediate plate, form U-shaped outrigger;
U-shaped internal frame comprises: an interior L-type plate and an interior I template, be connected to form U-shaped internal frame by interior L-type plate and interior I template;
Internal frame and outrigger coupling assembling comprise: interior active side plate, interior passive side plate, and two blocks of side plates are arranged on U-shaped internal frame both sides respectively, and form the internal frame cube of a uncovered, described internal frame cube opening part is rounded; Described interior passive side plate outer panel is provided with round boss, and have one for installing the square hole of the first connecting plate in the middle of round boss, described round boss coordinates with the circular hole on the outer passive side plate of U-shaped outrigger; The outside of described interior active side plate has gear mounting groove, in gear mounting groove, driving gear wheel set is installed, driving pinion in driving gear wheel set is arranged on main shaft upset stepping reducing motor axle fixing on the interior plate of interior active side plate, driving gear wheel in driving gear wheel set is fixedly connected with the outer active side plate interior plate of U-shaped outrigger, form driving mechanism, U-shaped internal frame is made to be assembled on U-shaped outrigger like this, and U-shaped internal frame coordinates with U-shaped outrigger and can carry out 360 ° and rotate, provide the rotational freedom of the relatively U-shaped outrigger of U-shaped internal frame;
Rotating base assembly comprises a rotating base substrate, the second connecting plate, a motor mounting rack; The interior plate of described rotating base substrate is provided with round boss, round boss coordinates with the cubical circular open of described internal frame, have the square hole for installing the second connecting plate in the middle of described round boss, described second connecting plate is inlaid in the square hole on rotating base substrate; Described base is rotated stepping reducing motor and is arranged on by motor mounting rack on the interior plate of interior active side plate, described base rotates the medium pore secure fit on stepping reducing motor axle and described second connecting plate, the internal frame cube be configured in U-shaped by the second connecting plate driven rotary base substrate rotates, realizes the rotary motion of unit module; Described rotating base substrate is provided with a passive bindiny mechanism, can be connected with active bindiny mechanism;
Initiatively bindiny mechanism comprises: four hooks, gear drive and direct current generators and fixed mount thereof; Wherein gear drive is arranged on the 3rd connecting plate, 3rd connecting plate is inlaid in the square hole of interior I template centre of U-shaped internal frame, direct current generator is fixedly mounted on the 3rd connecting plate by two motor fixing frames, and the output shaft driven gear transmission mechanism of direct current generator drives four protruding 3rd connecting plate surfaces of hooks rotation to carry out connecting moves; The distribution of four hooks is arranged, the direction of rotation of three hooks is had to be same directions, last hook is oppositely install and rotate relative to other three, such hook structural design, when realizing normally docking with other modules, also completes the function of the position and attitude rectification of two connecting plates simultaneously;
Gear drive in described active bindiny mechanism comprises: a bevel gear wheel, three bevel pinions, a connection large straight gear, connection small Spur gear, two short connecting axles and a long connecting axle; Described bevel gear wheel be connected large straight gear and be consolidated, connect large straight gear in below, connect large straight gear and be connected small Spur gear and engage each other and be installed in the respective slot on the 3rd connecting plate interior plate, long connecting axle is fixed pedestal by hook and is arranged on the 3rd connecting plate, be fixedly connected with a bevel pinion in the middle part of long connecting axle, this bevel pinion engages with bevel gear wheel, and a hook is respectively installed at the two ends of long connecting axle, and the direction of hook is identical; Two short connecting axles are arranged on the 3rd connecting plate by pedestal equally, two short connecting axles are coaxial and vertical with long connecting axle, two short connecting axles are fixedly connected with a bevel pinion respectively, and each installation hook, and the direction of hook is contrary, the bevel pinion on two short connecting axles engages with bevel gear wheel; Direct current generator output shaft drives the connection large straight gear on the 3rd connecting plate and bevel gear wheel to rotate by connection small Spur gear fixing with it, then drives other three bevel pinions to rotate by bevel gear wheel, completes the transmission of direct current generator to hook;
Five passive bindiny mechanisms are located at the outer surface of the intermediate plate of U-shaped outrigger respectively, the outer surface of the first connecting plate in outside exposed circular hole on the outer passive side plate of U-shaped outrigger on passive side plate, the outer surface of the second connecting plate in the rotating base substrate in two outer surfaces of the interior L-type plate of U-shaped internal frame and rotating base assembly, each connecting plate is provided with eight rectangular through holes, due to the connected mode that automatic connecting mechanism is Alcula type, and there are three to be the motion of same direction in four hooks, another hook is counter motion, so eight rectangular through holes are divided into four groups to be distributed in each connecting plate surrounding in symmetrical expression between two, and it is corresponding respectively with the position of the hook of four in active bindiny mechanism, the connecting plate of unit module freely can be docked in 360 ° of directions with between connecting plate,
Described self-reorganization robot unit module has 2 frees degree, be respectively 360 ° of rotary freedoms between U-shaped internal frame and U-shaped outrigger, and whole unit module is relative to 360 ° of planar degrees of freedom rotated of rotating base substrate, with the conversion between satisfied different configuration.
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| CN107363808A (en) * | 2017-06-15 | 2017-11-21 | 华东理工大学 | A kind of modularization drive lacking spring-go robot cell's module |
| WO2018053914A1 (en) * | 2016-09-20 | 2018-03-29 | 上海未来伙伴机器人有限公司 | Steering assembly and building block |
| CN108372499A (en) * | 2018-05-15 | 2018-08-07 | 哈尔滨理工大学 | Spatial cell robot via Self-reconfiguration cradle head module |
| CN108381540A (en) * | 2018-05-15 | 2018-08-10 | 哈尔滨理工大学 | A kind of space self-reorganization robot elbow turns cell |
| CN109015618A (en) * | 2018-09-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of interstitial cell for spatial cell robot |
| CN109153116A (en) * | 2016-03-07 | 2019-01-04 | 软银机器人欧洲公司 | The modular manufacturing of robot |
| CN112550505A (en) * | 2020-12-18 | 2021-03-26 | 航天恒星科技有限公司 | Modular robot suitable for narrow and small space operation |
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