CN104742117B - A kind of self-reorganization robot unit module with self-movement - Google Patents
A kind of self-reorganization robot unit module with self-movement Download PDFInfo
- Publication number
- CN104742117B CN104742117B CN201510113235.6A CN201510113235A CN104742117B CN 104742117 B CN104742117 B CN 104742117B CN 201510113235 A CN201510113235 A CN 201510113235A CN 104742117 B CN104742117 B CN 104742117B
- Authority
- CN
- China
- Prior art keywords
- plate
- interior
- internal frame
- shaped
- connecting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
Abstract
The self-reorganization robot unit module with self-movement a kind of of robotics, including: U-shaped outrigger, U-shaped internal frame, an active bindiny mechanism, five passive bindiny mechanisms, a drive mechanism；One base rotates stepping reducing motor, and internal frame is connected assembly (including interior active side plate, interior passive side plate) and rotating base assembly (including a rotating base substrate, the second connecting plate, a motor mounting rack) with outrigger.Rotating base substrate can be around central shaft 360 ° rotation, it is achieved the divertical motion of robot；Actively bindiny mechanism can realize the alignment leading passive face and be connected, and improves the ability to work of modularized self-reorganization robot.360 ° of rotations can be carried out between the outrigger of individual module and internal frame, there is linear motion function, in conjunction with rotating freely of rotating base substrate, individual module can be realized and independently and move flexibly.Multimode can carry out well-regulated assembling.
Description
Technical field
The invention belongs to robotics, specifically robot field can self-movement Alcula type modularity deadweight
Structure robot.
Technical background
Self-reorganization robot is consisted of, between adjusting module identical attachment means connection multiple basic modules
Connected mode adjust the configuration of robot, thus meet the demand of varying environment, different task, or reject and be subject to
Damage module, make robot recover from compromise state.According to robot morphologic change mode can be divided into chain type robot,
Crystal lattice type robot, mobile robot.
Chain type robot forms chain type or tree, representative chain type machine by the connection between multiple modules
People has PolyBot, CKbot, CONRO etc..Wherein, PolyBot comprises active module and node module two kinds is basic
Module, the former has two interfaces；The latter is the cube of rigidity, six faces all possess can linkage function, but self is not
Possesses motor capacity.
Crystal lattice type modularization robot has regular distribution in three dimensions, by changing module position in virtual grid
Put the deformation realizing robot.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.Japan Nagoya university
The CEBOT robot developed and exploitation SWARM-bot robot of the Institute of Technology of Lausanne, SUI federation (EPFL) are mobile
The representative of formula modularization robot.
Cao Qixin of Shanghai Communications University et al. proposed connecing based on CORBA of a kind of robotics in 2009
The modularization robot of mouth, including: mobile module, mechanical arm module, vision sensor module, power module, control
Molding block, wireless network module.
Fei Yanqiong of Shanghai Communications University et al. proposed a kind of master-slave modular robot in 2010, including some machines
Device people's unit, each robot cell is connected with four adjacent robot cells respectively, and each robot cell includes:
Triangular prism primary module, triangular prism are from module and two link blocks.
Wei Hongxing of BJ University of Aeronautics & Astronautics et al. proposed in 2012 a kind of has distributed and self-assembly characteristic group
Body flying robot, is made up of at least three robot monomer, and to include Zheng Jiang robot in robot monomer simultaneously
Monomer and anti-oar robot monomer, described robot monomer is polygonal hollow cylinder structure, each robot monomer
By ground motion module, active mating module, passively to connection module, sensing locating module, flying power module and control
Module forms.
Ge Weimin of Institutes Of Technology Of Tianjin et al. proposed the removable moduleization of a kind of robotics certainly in 2013
Reconstruct robot, including: U-shaped outrigger, U-shaped internal frame, motor rack, motor, internal frame connecting shaft part, main by the machine of being dynamically connected
Structure, driving leg mechanism.
Fei Yanqiong of Shanghai Communications University et al. proposed a kind of double columnar form Self-Reconfigurable Modular Robot in 2014, including
Several robot cells, each described robot cell includes that triangular prism primary module, triangular prism are from module, the first hook
Formula link block and the second Alcula type link block.
In sum, self-reorganization robot is technically achieved with bigger progress, but in the reliability side of bindiny mechanism
Face and individual module self-movement aspect are still two key technologies of modularized self-reorganization robot structure design.
Summary of the invention
The present invention seeks to overcome bindiny mechanism present on the design of modularization robot individual module in prior art not may be used
The problem that not there is motor capacity by stable and individual module, it is provided that a kind of self-reorganization robot unit with self-movement
Module.The pattern of modular structure is fixed to rectangular shape, has spatial symmetry, it is possible to complete the need of multiple chain type deformation
, 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 specifically includes that a U-shaped outrigger, and one U-shaped
Internal frame, an active bindiny mechanism, five passive bindiny mechanisms, a drive mechanism；One base rotates stepping and slows down
Motor, and internal frame is connected assembly and rotating base assembly with outrigger；
Wherein, U-shaped outrigger includes: outer actively side plate, outer passive side plate, intermediate plate, two blocks of side plates are connected to centre
The both sides of plate, form U-shaped outrigger；
U-shaped internal frame includes: an interior L-type plate (side plate and intermediate plate by interior L-type plate are constituted) and an interior I template,
Interior L-type plate is connected with interior I template the U-shaped internal frame of formation；
Internal frame is connected assembly with outrigger and includes: interior active side plate, interior passive side plate, and two blocks of side plates are separately mounted to U-shaped interior
Frame both sides, form the internal frame cube of a uncovered, and described internal frame cube opening part is rounded；Described interior passive side
Plate outer panel is provided with round boss, has one for the square hole installing the first connecting plate, described circle in the middle of round boss
Shape 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 and installs
Groove, installs in gear mounting groove and drives gear pair, drives the driving pinion in gear pair to be arranged on the interior of interior active side plate
On main shaft upset stepping reducing motor axle fixing on side plate, drive driving outside gear wheel and U-shaped outrigger in gear pair
Actively side plate interior plate is fixing connects, and constitutes drive mechanism, so makes U-shaped internal frame be assembled on U-shaped outrigger, and U-shaped
Internal frame coordinates with U-shaped outrigger can carry out 360 ° of rotations, it is provided that the rotational freedom of the most U-shaped outrigger of U-shaped internal frame；
Rotating base assembly includes a rotating base substrate, the second connecting plate, a motor mounting rack；Described rotation
The interior plate turning base substrate is provided with round boss, and round boss circular open cubical with described internal frame coordinates, institute
Stating the square hole having in the middle of round boss for installing the second connecting plate, described second connecting plate is inlaid in rotating base substrate
On square hole in；Described base is rotated stepping reducing motor and is arranged on the interior plate of interior active side plate by motor mounting rack,
Described base rotates stepping reducing motor axle and the medium pore secure fit on described second connecting plate, by the second connecting plate
It is rotated on the internal frame cube that base substrate is configured in U-shaped and rotates, it is achieved the rotary motion of unit module；
It is provided with a passive bindiny mechanism on described rotating base substrate, can be connected with active bindiny mechanism；
Actively bindiny mechanism includes: four hooks, gear drive and direct current generator and fixed mount thereof；Its middle gear passes
Motivation structure is arranged on the 3rd connecting plate, and the 3rd connecting plate is inlaid in the square hole in the middle of the interior I template of U-shaped internal frame, directly
Stream motor is fixedly mounted on the 3rd connecting plate by two motor fixing frames, the output shaft driven gear transmission of direct current generator
Mechanism drives four hooks to rotate protruding 3rd connecting plate surface and is attached action；The distribution of four hooks is arranged,
The direction of rotation having three hooks is same direction, and last hook is reversely to install and rotate relative to other three, this
The hook structure design of sample, when realizing normally docking with other modules, also completes the position and attitude of two connecting plates simultaneously
The function corrected；
Gear drive in described active bindiny mechanism includes: bevel gear wheel, three bevel pinions, companies
Connect large straight gear, a connection small Spur gear, two short connecting shafts and a long connecting shaft；Described bevel gear wheel and company
Connecing large straight gear to be consolidated, connection large straight gear, in lower section, connects large straight gear and connection small Spur gear engages each other
And be installed in the respective slot on the 3rd connecting plate interior plate, long connecting shaft is fixed pedestal by hook and is arranged on the 3rd even
On fishplate bar, fixing with a bevel pinion and be connected in the middle part of long connecting shaft, this bevel pinion engages with bevel gear wheel, long connection
A hook is respectively installed at the two ends of axle, and the direction of hook is identical；Two short connecting shafts fix pedestal peace again by hook
Being contained on the 3rd connecting plate, two short connecting shafts are coaxial and vertical with long connecting shaft, in two short connecting shafts respectively with one
Bevel pinion is fixing to be connected, and respectively installs a hook, and hook is in opposite direction, the small bevel gear in two short connecting shafts
Wheel engages with bevel gear wheel；Direct current generator output shaft is driven on the 3rd connecting plate by connection small Spur gear fixed thereto
Connection large straight gear and bevel gear wheel rotate, then driven other three bevel pinions to rotate by bevel gear wheel, complete direct current
The motor transmission to hook；
Five passive bindiny mechanisms be respectively provided at the intermediate plate of U-shaped outrigger outer surface, exposed U-shaped outrigger outer passively
The outer surface of the first connecting plate on interior passive side plate outside circular hole on side plate, U-shaped internal frame interior L-type plate side plate and
The outer surface of the second connecting plate in rotating base substrate in two outer surfaces of intermediate plate and rotating base assembly, often
Individual connecting plate is provided with eight rectangular through holes, owing to active bindiny mechanism is the connected mode of Alcula type, and four hooks
Having three in pawl is the motion of same direction, and another hook is adverse movement, thus eight rectangular through holes be divided into four groups in
Symmetrical expression is distributed in each connecting plate surrounding two-by-two, and the most corresponding with the position of four hooks in active bindiny mechanism, makes
Freely can dock in 360 ° of directions between the connecting plate of unit module and connecting plate；
Described self-reorganization robot unit module has 2 degree of freedom, between the most U-shaped internal frame and U-shaped outrigger
360 ° of rotary freedoms, and whole unit module rotates against the planar degrees of freedom of 360 ° of base substrate rotations, with
Meet the conversion between various configuration.
Advantages of the present invention and beneficial effect:
The present invention is most important is exactly that individual module has motility and the highest motor function of reliability.Realize single mould
Block is the most reliably kept straight on and rotates.Before making execution task multiple modules can each or combination of two arrive target position
Put, then reconstruct required configuration and complete task.
Due to U-shaped outrigger and 360 ° of rotations of internal frame and rotating continuously and multiple connected mode of the 3rd passive bindiny mechanism,
The combination variety making multiple module is more, for multiple different occasion and the task of completing various complexity.
Due to U-shaped internal frame on the ground such as special wheel type movement, motor process is relatively low to the requirement ratio on ground, as long as not having
Having the biggest obstacle, some little gentle slopes, sand ground, little broken terrain can stably move ahead, and has certain
Full landform adapt to ability.
Due to module U-shaped outrigger and U-shaped internal frame relative to rotating and multiple connected mode continuously so that multiple modules
Combination variety is 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 be as the photographic head 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 the basis of Fig. 1 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 active bindiny mechanism short-and-medium connecting axle structure schematic diagram；
Figure 10 is to connect 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 is to connect 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 actively bindiny mechanism；
Figure 16 is driving pinion structural representation in drive mechanism；
Figure 17 is driving gear wheel structural representation in drive mechanism；
Figure 18 is connecting board structure schematic diagram；For simplifying processing number of parts, the structure of the first to the 3rd connecting plate and shape
Identical；
Figure 19 is active bindiny mechanism schematic diagram；
Figure 20 is drive mechanism schematic diagram；
Figure 21 is the motor mounting rack schematic diagram in rotating base assembly；
Figure 22, Figure 23 are that the 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: actively passive side plate, 1-3 outside side plate, 1-2 outside 1-1
Intermediate plate；2 is U-shaped internal frame, comprises two parts, respectively: the interior I template of 2-1 mono-, interior L-type plate (by
In 2-2, in L-type plate side plate and 2-3, L-type plate intermediate plate is constituted)；3 is connecting plate, comprises three, respectively: 3-1
A 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 company
Fishplate bar, is arranged in the square hole of rotating base substrate；3-3 is the 3rd connecting plate, is arranged on the interior I template of U-shaped internal frame
In square hole；4 is interior passive side plate, has the one side of boss to be connected cooperation with the outer passive side plate of U-shaped outrigger, another side with
U-shaped internal frame connects；5 is rotating base substrate, is arranged on the side of U-shaped internal frame cube uncovered；6 is hook；7 are
Actively bindiny mechanism, corresponding with the interior I type side plate of U-shaped internal frame；8 is the first passive bindiny mechanism, with U-shaped internal frame
The intermediate plate of interior L-type plate is corresponding；9 is the second passive bindiny mechanism, corresponding with the rotating base substrate of U-shaped internal frame；10
It is the 3rd passive bindiny mechanism, corresponding with the side plate of the interior L-type plate of U-shaped internal frame；11 is the 4th passive bindiny mechanism, with
The intermediate plate of U-shaped outrigger is corresponding；12 is the 5th passive bindiny mechanism, with exposed on the outer passive side plate of U-shaped outrigger
The outer surface of the first connecting plate on interior passive side plate outside circular hole is corresponding；13 is direct current generator；14 is that main shaft overturns stepping
Reducing motor；15 is that base rotates stepping reducing motor；16 is short connecting shaft；17 is bevel pinion, and 18 is auger tooth
Wheel；19 and 21 is motor fixing frame；20 is to connect small Spur gear, and 25 is to connect large straight gear；22 is to drive canine tooth
Wheel, 23 is driving pinion；24 is that pedestal fixed by hook.
Detailed description of the invention
As shown in Figure 1 and Figure 2, described unit module specifically includes that a U-shaped outrigger 1, a U-shaped internal frame 2,
One active bindiny mechanism, five passive bindiny mechanisms, a drive mechanism；One main shaft upset stepping reducing motor 14,
And internal frame is connected assembly and rotating base assembly with outrigger；Wherein, U-shaped outrigger 1 includes: outer actively side plate 1-1, outer quilt
Dynamic side plate 1-2, intermediate plate 1-3, two blocks of side plates are connected to the both sides of intermediate plate, form U-shaped outrigger (seeing Fig. 3)；
U-shaped internal frame 2 includes: an interior L-type plate (L-type plate intermediate plate in L-type plate side plate, 2-3 in 2-2) and an interior I
Template 2-1, is connected the U-shaped internal frame of formation (seeing Fig. 4) by interior L-type plate with interior I template.
Internal frame is connected assembly with outrigger and includes: (seeing Fig. 6, in figure, square boss is used for fixing motor installation interior active side plate
Frame), interior passive side plate 4, two blocks of side plates are separately mounted to U-shaped internal frame both sides, form the internal frame cube (ginseng of a uncovered
See Figure 24), described internal frame cube opening part is rounded；Described interior passive side plate outer panel is provided with round boss (ginseng
Seeing Fig. 5, in figure, the periphery of two boss at interval forms a circle), have one in the middle of round boss for installing first
The square hole of connecting plate, described round boss coordinates with the circular hole on the outer passive side plate of U-shaped outrigger；Described interior master end
The outside of plate has gear mounting groove (seeing Figure 20), installs and drives gear pair, drive in gear pair in gear mounting groove
Driving pinion 23 (seeing Figure 16) be arranged on the interior plate of interior active side plate fixing main shaft upset stepping and slow down electricity
On the motor shaft of machine 14, drive the outer master end of the driving gear wheel 22 (seeing Figure 17) in gear pair and U-shaped outrigger
Plate interior plate is fixing to be connected, and constitutes drive mechanism, so makes U-shaped internal frame be assembled on U-shaped outrigger, and U-shaped internal frame with
U-shaped outrigger coordinates can carry out 360 ° of rotations, it is provided that the rotational freedom of the most U-shaped outrigger of U-shaped internal frame.
Rotating base assembly includes that a rotating base substrate (seeing Fig. 7), the second connecting plate, a motor are installed
Frame (sees Figure 21)；The interior plate of described rotating base substrate is provided with round boss, round boss and described interior erection
The circular open of cube coordinates, and has the square hole for installing the second connecting plate (seeing 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 stepping reducing motor 15 by electricity
Machine installing rack is arranged on the interior plate of interior active side plate (seeing Figure 20), described base rotate stepping reducing motor axle with
Medium pore secure fit on described second connecting plate, is rotated base substrate at U-shaped interior framework by the second connecting plate
Rotate on the internal frame cube become, it is achieved the rotary motion of unit module；It is provided with one on described rotating base substrate
Individual passive bindiny mechanism, can be connected with active bindiny mechanism.
The fuselage of unit module generally class rectangular structure, U-shaped internal frame 2 overturns stepping with U-shaped outrigger 1 by main shaft
Reducing motor 14 and internal frame are connected assembly with outrigger and link together；Rotating base assembly is installed by rotating base substrate 5
In the side of U-shaped internal frame cube uncovered, base is rotated stepping reducing motor 15 and is arranged on by motor mounting rack U-shaped
On the interior active side plate of internal frame, it is used for driving rotating base assembly to rotate；Actively bindiny mechanism is arranged on the interior of U-shaped internal frame
On I template；Five passive bindiny mechanisms, the i.e. first passive bindiny mechanism 8, with the interior L-type plate intermediate plate of U-shaped internal frame
2-3 is corresponding, and the second passive bindiny mechanism 9 is corresponding with the rotating base substrate of U-shaped internal frame, the 3rd passive bindiny mechanism
10, corresponding with the side plate 2-2 of the interior L-type plate of U-shaped internal frame, the 4th passive bindiny mechanism 11, with the centre of U-shaped outrigger
Plate 1-3 is corresponding, and the 5th passive bindiny mechanism 12, with the interior quilt outside exposed circular hole on the outer passive side plate of U-shaped outrigger
The outer surface of the first connecting plate on dynamic side plate is corresponding, and passive bindiny mechanism is separately mounted in obverse square hole.This machine
Device people's unit module, under main shaft upset stepping reducing motor 14 rotates continuously, relies on the friction with ground, band moving cell mould
Block seesaws, and rotating base substrate, under base rotation stepping reducing motor 15 rotates continuously, relies on the friction with ground,
Drive unit module divertical motion.
This unit module can realize U-shaped outrigger 1 and U-shaped internal frame 2 under main shaft upset stepping reducing motor 14 drives
Between rotate against 360 °, as in figure 2 it is shown, on the basis of Fig. 1 main shaft upset stepping reducing motor 14 drive U-shaped
Internal frame 2 turns clockwise 90 ° of gained around U-shaped outrigger 1.
Actively bindiny mechanism is arranged on the interior I template square hole of U-shaped internal frame by the 3rd connecting plate (seeing Figure 15), hook
The side at pawl place is outwardly.As shown in figure 19, described active bindiny mechanism includes: four hooks 6 (seeing Figure 14),
Gear drive and direct current generator 13 and motor fixing frame 19 and 21 thereof；Wherein gear drive is installed to the 3rd
In the groove of connecting plate, by two motor fixing frames 19 and 21, direct current generator 13 is fixed on motor fixing frame 19 He
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 connection
Near the turning connecting small Spur gear on plate.Hook 6 is fixed pedestal by the hook of design on the 3rd connecting plate and is fixed also
Limit the directionality problem rotating sideslip of hook 6, make hook 6 realize the effect accurately docked.Here regulation hook is inside
Just rotating to be, protruding is negative.The output shaft driven gear drive mechanism of direct current generator 13 drive four hooks rotate to
The surface overhanging module is attached action.Arranging in the distribution of hook 6, the direction of rotation having three hooks is same
One direction, last hook is reversely to install and rotates relative to other three, the design of such hook structure realizing and
When other unit modules normally dock, also complete the function that the position and attitude of two connecting plates is corrected simultaneously.In addition actively
Bindiny mechanism is not when working, by within the rotating forward and make hook parts turn be recovered to the 3rd connecting plate of direct current generator
Position, now hook structure does not works, but its actively connecting plate can be attached by other unit modules, this
Connecting plate method for designing is equivalent to add the passive connecting plate of unit module, enriches the mode of unit module combined deformation,
Improve the modularity ability to work from the robot that recombinates.
As shown in figure 19, the described gear drive being arranged in the 3rd connecting plate groove includes: a bevel gear wheel
18 (seeing Figure 12), three bevel pinions 17 (seeing Figure 11), one connect large straight gear 25 (seeing Figure 13), one
Individual connection small Spur gear 20 (seeing Figure 10), two short connecting shafts 16 (seeing Fig. 9), long connecting shafts (see figure
8)；Wherein bevel gear wheel 18 is consolidated with being connected large straight gear 25, is installed on the bottom surface of the 3rd connecting plate, even
Connect small Spur gear 20 be arranged on the output shaft end of direct current generator 13 and engage with the connection large straight gear on bottom surface.Length is even
Spindle is fixed pedestal 24 by hook and is arranged on the 3rd connecting plate, and long connecting shaft fixedly mounts a bevel pinion 17,
This bevel pinion engages with bevel gear wheel, and a hook 6 is respectively installed at long connecting shaft two ends, and the direction of hook 6 is identical.Two
Individual short connecting shaft 16 is fixed pedestal again by hook and is coaxially mounted on the 3rd connecting plate and vertical with long connecting shaft, two
The inner opposite end of short connecting shaft is fixing with a bevel pinion 17 respectively to be connected, and the lateral ends of two short connecting shafts is respectively installed
One hook 6, and hook 6 is in opposite direction, 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 by the fixed thereto small Spur gear 20 that connects
Rotate, then driven other three bevel pinion 17 rotating Vortexes by bevel gear wheel 18, complete direct current generator to hook 6
Transmission.
As depicted in figs. 1 and 2, five described passive bindiny mechanisms be respectively provided at the intermediate plate of U-shaped outrigger outer surface,
The outer surface of the first connecting plate on passive side plate in outside exposed circular hole on the outer passive side plate of U-shaped outrigger, U-shaped
In rotating base substrate in the side plate of the interior L-type plate of internal frame and two outer surfaces of intermediate plate and rotating base assembly
The outer surface of the second connecting plate, each connecting plate has eight rectangular through holes, owing to active bindiny mechanism is Alcula type
Having three in connected mode, and four hooks 6 is the motion of same direction, and another hook 6 is adverse movement, so
Eight rectangular through holes are divided into four groups to be distributed in connecting plate surrounding in symmetrical expression two-by-two, and with four in active bindiny mechanism
The position of hook correspondence respectively, makes freely to dock in 360 ° of directions between the connecting plate of unit module and connecting plate, expands
Fill the compound mode between its unit module.
As shown in Figure 22 and Figure 23, it is the work of the cameras people that three via Self-reconfiguration unit modules I, II, III are combined into
Making process, the active bindiny mechanism of reconfiguration unit module I is fixed with the 4th of reconfiguration unit module II the passive bindiny mechanism 11
Connecting, the active bindiny mechanism of reconfiguration unit module II is connected with the 4th of reconfiguration unit module III the passive bindiny mechanism 11,
Median surface dress vision camera (being not drawn in figure) at the U-shaped outrigger 1 of reconfiguration unit module I.Under Figure 22 state,
Robot is in the searching target phase, and the rotating base of reconfiguration unit module III rotates, and can make robot entirety divertical motion,
Reconfiguration unit module III driver element module rotates, and robot entirety can be made to advance or setback, to reach target location
Near, the reconfiguration unit module III of Figure 22 turns to 90 ° to obtain Figure 23, Figure 23 for preparing shooting stage, reconfiguration unit mould
The U-shaped outrigger 1 of block II is half-twist under the second stepping driven by motor, drives the reconfiguration unit mould with vision camera
Block I erects, and the passive bindiny mechanism 11 of the 4th of reconfiguration unit module I can rotate 180 ° around reconfiguration unit module I, passes through
Coordination exercise so that vision camera can collect the image of optional position, space, to present the comprehensive information of circumstances not known.
Claims (1)
1. a self-reorganization robot unit module with self-movement, it is characterised in that described unit module mainly wraps
Include: a U-shaped outrigger, a U-shaped internal frame, an active bindiny mechanism, five passive bindiny mechanisms, a driving machine
Structure；One base rotates stepping reducing motor, and internal frame is connected assembly and rotating base assembly with outrigger；
Wherein, U-shaped outrigger includes: outer actively side plate, outer passive side plate, intermediate plate, two blocks of side plates are connected to centre
The both sides of plate, form U-shaped outrigger；
U-shaped internal frame includes: an interior L-type plate and an interior I template, interior L-type plate is connected formation with interior I template U-shaped
Internal frame；
Internal frame is connected assembly with outrigger and includes: interior active side plate, interior passive side plate, and two blocks of side plates are separately mounted to U-shaped internal frame
Both sides, form the internal frame cube of a uncovered, and described internal frame cube opening part is rounded；Outside described interior passive side plate
Side plate is provided with round boss, has one for the square hole installing the first connecting plate, described round boss in the middle of round boss
Coordinate 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, gear
Install in mounting groove and drive gear pair, drive the driving pinion in gear pair to be arranged on the interior plate of interior active side plate fixing
Main shaft upset stepping reducing motor axle on, drive the outer active side plate interior sides driving gear wheel and U-shaped outrigger in gear pair
Plate is fixing to be connected, and constitutes drive mechanism, so makes U-shaped internal frame be assembled on U-shaped outrigger, and U-shaped internal frame and U-shaped outrigger
Cooperation can carry out 360 ° of rotations, it is provided that the rotational freedom of the most U-shaped outrigger of U-shaped internal frame；
Rotating base assembly includes a rotating base substrate, the second connecting plate, a motor mounting rack；Described rotation
The interior plate of base substrate is provided with round boss, and round boss circular open cubical with described internal frame coordinates, described circle
Having the square hole for installing the second connecting plate in the middle of shape boss, described second connecting plate is inlaid in the side on rotating base substrate
In hole；Described base is rotated stepping reducing motor and is arranged on the interior plate of interior active side plate by motor mounting rack, the described end
Seat rotates stepping reducing motor axle and the medium pore secure fit on described second connecting plate, is rotated by the second connecting plate
Rotate on the internal frame cube that base substrate is configured in U-shaped, it is achieved the rotary motion of unit module；Described rotation
It is provided with a passive bindiny mechanism on base substrate, can be connected with active bindiny mechanism；
Actively bindiny mechanism includes: four hooks, gear drive and direct current generator and fixed mount thereof；Wherein gear drive
Mechanism is arranged on the 3rd connecting plate, and the 3rd connecting plate is inlaid in the square hole in the middle of the interior I template of U-shaped internal frame, unidirectional current
Machine is fixedly mounted on the 3rd connecting plate by two motor fixing frames, and the output shaft driven gear drive mechanism of direct current generator drives
Dynamic four hooks rotate protruding 3rd connecting plate surface and are attached action；The distribution of four hooks is arranged, and has three
The direction of rotation of hook is same direction, and last hook is reversely to install and rotate, such hook relative to other three
Structure design, when realizing normally docking with other modules, also completes the function that the position and attitude of two connecting plates is corrected simultaneously；
Gear drive in described active bindiny mechanism includes: bevel gear wheel, three bevel pinions, connections
Large straight gear, a connection small Spur gear, two short connecting shafts and a long connecting shaft；Described bevel gear wheel be connected big
Spur gear is consolidated, and connection large straight gear, in lower section, connects large straight gear and connection small Spur gear engages each other and installs
In respective slot on the 3rd connecting plate interior plate, long connecting shaft is fixed pedestal by hook and is arranged on the 3rd connecting plate,
Fixing with a bevel pinion in the middle part of long connecting shaft and be connected, this bevel pinion engages with bevel gear wheel, and the two ends of long connecting shaft are each
One hook is installed, and the direction of hook is identical；Two short connecting shafts are arranged on the 3rd connecting plate again by pedestal, and two
Individual short connecting shaft is coaxial and vertical with long connecting shaft, two short connecting shafts is fixed with a bevel pinion respectively and is connected, and respectively
Installing a hook, and hook is in opposite direction, the bevel pinion in two short connecting shafts engages with bevel gear wheel；Unidirectional current
Machine output shaft drives the connection large straight gear on the 3rd connecting plate and bevel gear wheel to turn by the fixed thereto small Spur gear that connects
Dynamic, then driven other three bevel pinions to rotate by bevel gear wheel, complete the direct current generator transmission to hook；
Five passive bindiny mechanisms are respectively provided at the outer surface of intermediate plate of U-shaped outrigger, the exposed outer passive side at U-shaped outrigger
The outer surface of the first connecting plate on interior passive side plate outside circular hole on plate, two outer surfaces of interior L-type plate of U-shaped internal frame
And the outer surface of the second connecting plate in the rotating base substrate in rotating base assembly, each connecting plate be provided with eight long
Square through hole, owing to active bindiny mechanism is the connected mode of Alcula type, and have in four hooks three be same direction fortune
Dynamic, another hook is adverse movement, so eight rectangular through holes are divided into four groups to be distributed in each connecting plate in symmetrical expression two-by-two
Surrounding, and respectively the most corresponding with the position of four hooks in active bindiny mechanism, make the connecting plate of unit module and connecting plate it
Between freely can dock in 360 ° of directions；
Described self-reorganization robot unit module has 2 degree of freedom, between the most U-shaped internal frame and U-shaped outrigger 360 °
Rotary freedom, and whole unit module rotates against the planar degrees of freedom of 360 ° of base substrate rotations, to meet not
Conversion between isomorphism type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510113235.6A CN104742117B (en) | 2015-03-16 | 2015-03-16 | A kind of self-reorganization robot unit module with self-movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510113235.6A CN104742117B (en) | 2015-03-16 | 2015-03-16 | A kind of self-reorganization robot unit module with self-movement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104742117A CN104742117A (en) | 2015-07-01 |
| CN104742117B true CN104742117B (en) | 2016-08-24 |
Family
ID=53582661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510113235.6A Expired - Fee Related CN104742117B (en) | 2015-03-16 | 2015-03-16 | A kind of self-reorganization robot unit module with self-movement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104742117B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3216569A1 (en) * | 2016-03-07 | 2017-09-13 | Aldebaran Robotics | Modular manufacturing of a robot |
| CN106512438A (en) * | 2016-09-20 | 2017-03-22 | 上海未来伙伴机器人有限公司 | Steering module and building block |
| 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 |
| CN108372499B (en) * | 2018-05-15 | 2024-02-27 | 哈尔滨理工大学 | Space cell robot self-reconstruction rotary joint 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 |
| CN109015618B (en) * | 2018-09-20 | 2021-06-11 | 哈尔滨理工大学 | Interstitial cells for space cell robot |
| CN112550505B (en) * | 2020-12-18 | 2022-04-22 | 航天恒星科技有限公司 | Modular robot suitable for narrow and small space operation |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101288951A (en) * | 2008-03-10 | 2008-10-22 | 哈尔滨工业大学 | Double L-shaped cubic modularized self-reconstruction robot based on rotary hook hole |
| CN101314226A (en) * | 2008-06-13 | 2008-12-03 | 哈尔滨工业大学 | Universal modularized self-reorganization robot based on dual-rotational freedom |
| CN102381378A (en) * | 2011-08-18 | 2012-03-21 | 天津理工大学 | Reconfigurable modular robot |
| CN102699931A (en) * | 2012-05-09 | 2012-10-03 | 东南大学 | Connecting mechanism used between unit modules of modular self-reconfigurable robot |
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| CN104401415A (en) * | 2014-10-23 | 2015-03-11 | 天津理工大学 | Knuckle reconfigurable robot unit module |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9358687B2 (en) * | 2013-01-24 | 2016-06-07 | Mohammad Reza Emami | System, method and computer program for autonomously emulating robot manipulators of continuously-varying configurations |
| EP2964426A4 (en) * | 2013-03-04 | 2017-08-02 | Barobo, Inc. | Modular robot system |
-
2015
- 2015-03-16 CN CN201510113235.6A patent/CN104742117B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101288951A (en) * | 2008-03-10 | 2008-10-22 | 哈尔滨工业大学 | Double L-shaped cubic modularized self-reconstruction robot based on rotary hook hole |
| CN101314226A (en) * | 2008-06-13 | 2008-12-03 | 哈尔滨工业大学 | Universal modularized self-reorganization robot based on dual-rotational freedom |
| CN102381378A (en) * | 2011-08-18 | 2012-03-21 | 天津理工大学 | Reconfigurable modular robot |
| CN102699931A (en) * | 2012-05-09 | 2012-10-03 | 东南大学 | Connecting mechanism used between unit modules of modular self-reconfigurable robot |
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| CN104401415A (en) * | 2014-10-23 | 2015-03-11 | 天津理工大学 | Knuckle reconfigurable robot unit module |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104742117A (en) | 2015-07-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104742117B (en) | A kind of self-reorganization robot unit module with self-movement | |
| CN104401415B (en) | Knuckle reconfigurable robot unit module | |
| CN103332231B (en) | Removable module self-reorganization robot | |
| CN108818551B (en) | Bionic ant six-foot detection robot | |
| CN111687821B (en) | Rotary parallel flying mechanical arm system and expected rotation angle calculating method | |
| CN102039589B (en) | Modularized disaster rescue robot | |
| CN107416195A (en) | A kind of imitative hawk grasping system of aerial operation multi-rotor aerocraft | |
| CN102556341A (en) | Group flying robot with distribution and self-assembly characteristics | |
| CN102381378B (en) | Reconfigurable modular robot | |
| CN103192987A (en) | Amphibious robot capable of flying and climbing wall and control method of amphibious robot | |
| CN109434815B (en) | CPG model-based snake-shaped robot and joint track/rigidity control method thereof | |
| CN108583182B (en) | Air-land amphibious spherical robot | |
| CN101288951A (en) | Double L-shaped cubic modularized self-reconstruction robot based on rotary hook hole | |
| CN108748124A (en) | Snake-shaped robot | |
| CN108382608A (en) | It is a kind of freely to reconstruct and the earth observation Nano satellite group system of synergistic observation | |
| CN101369385A (en) | Modularized reconfigurable multifunctional education robot | |
| CN102897245A (en) | Robot body modularization linkage device for single-drive multi-legged robot | |
| CN201881377U (en) | Five-degree of freedom twelve-rod welded robot mechanism with controllable space | |
| CN103737582A (en) | High-precision advanced welding robot mechanism with six degrees of freedom | |
| CN102849140A (en) | Multi-moving-mode bionic moving robot | |
| CN103009376B (en) | Spatial three-dimensional rotation parallel mechanism | |
| CN105843166A (en) | Special-type multi-degree-of-freedom automatic docking device and working method thereof | |
| CN103008232A (en) | Variable-input three-dimensional spatial motion vibrating screen mechanism | |
| CN113492397B (en) | Modular detachable wheel type snake-shaped robot | |
| CN202622805U (en) | Simulated three-axis movement platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Ge Weimin Inventor after: Wang Xiaofeng Inventor after: Liu Zhenmin Inventor after: Gou Yuekai Inventor after: Lai Shaoyu Inventor after: Huang Jie Inventor before: Ge Weimin Inventor before: Wang Xiaofeng Inventor before: Liu Zhenmin Inventor before: Gou Yuekai Inventor before: Lai Shaoyu Inventor before: Huang Jie |
|
| COR | Change of bibliographic data | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160824 Termination date: 20170316 |