CN105015287A - Mobile self-reconfigurable micro robot - Google Patents
Mobile self-reconfigurable micro robot Download PDFInfo
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- CN105015287A CN105015287A CN201510392847.3A CN201510392847A CN105015287A CN 105015287 A CN105015287 A CN 105015287A CN 201510392847 A CN201510392847 A CN 201510392847A CN 105015287 A CN105015287 A CN 105015287A
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Abstract
The invention relates to a mobile self-reconfigurable micro robot. The mobile self-reconfigurable micro robot comprises an alignment unit, a moving unit and a positioning unit. A circle of internally concave annular clamping slot is formed in the circumferential side surface of an annular chuck of the alignment unit; and an electromagnet placed in the annular chuck is connected with staggered clamping claws through a flexible rope. The moving unit is positioned at the lower part of the alignment unit; and two sets of moving mechanisms are mounted in a carrier housing of the moving unit, wherein each moving mechanism comprises a direct current motor, a worm gear and a synchronous belt. The positioning unit is positioned at the upper part of the alignment unit and comprises infrared transmitters and infrared receivers as well as one set of panoramic camera device, wherein the infrared transmitters and the infrared receivers are uniformly distributed in a circumferential direction of a circular bracket; and the panoramic camera device is used for reflecting through a convex lens and imaging through a camera. The clamping claws of the robot can be aligned and locked with the annular chuck of the robot, which is to be aligned, in any position of the circumferential direction of the annular chuck of the robot, which is to be aligned. Therefore, the alignment efficiency is high, a plurality of reconfigured shapes are available, and a small space is occupied in the alignment process.
Description
Technical field
The present invention relates to a kind of robotics, specifically a kind of portable via Self-reconfiguration micro robot.
Background technology
Self-reorganization robot is made up of the basic module that many functions are identical, goes out different shapes, thus complete corresponding operation task by the coupled condition restructural changing each intermodule.But the unit module of existing portable via Self-reconfiguration micro robot, before docking, all needs its pose adjustment to the position guarantee butt-joint locking needed.The unit module of the pedrail type self-reconstruction mini robot announced as Chinese patent 200710144620.2 can autonomous, independently execute the task, but before docking is reconstructed into overall robot, each module need be done along same path and move in the same way.Chinese patent 201320260889.8 relate to a kind of can the self-reorganization robot unit module of omnidirectional moving, this module has 1 active mating face and 5 passive interfaces, such active module can be docked to five positions of passive module, but before docking, initiatively module also needs to move to a certain position, to ensure that active mating face is parallel with passive interface.The pose adjustment process of self-reorganization robot before docking not only can consume the long period, takies larger physical space, also seriously reduces the shape quantity that restructural goes out, this greatly reduces the function of microminiature self-reorganization robot.
Summary of the invention
Technical matters to be solved by this invention be overcome above-mentioned prior art docking before need pose adjust deficiency, provide a kind of simple and compact for structure, volume is little, allow unit module docking groove circumference any position dock portable via Self-reconfiguration micro robot.
The technical scheme that the present invention solves the problems of the technologies described above employing is: a kind of portable via Self-reconfiguration micro robot, it includes docking unit, mobile unit and positioning unit, it is characterized in that: described docking unit includes annular chuck, electromagnet, soft rope, torsion spring, claw, claw permanent seat, described annular chuck circumference has the annular slot of a circle indent; Described claw is two, and two claws are installed on claw permanent seat by docking rotating shaft, and in intersecting arrangement states, the grab of claw front end is positioned at annular chuck outside; Described claw permanent seat is arranged on annular chuck by screw; It is inner that described electromagnet is arranged on annular chuck, and its shifting axle is connected with soft middle part of restricting; Described soft rope two ends are connected and fixed with the afterbody of two claws respectively; Described torsion spring is arranged between the back vent of two claws; Electromagnet pulls back soft rope by shifting axle, and the front end of two claws is drawn close mutually, and the claw of active mating robot is inserted into front fork closure state in the annular slot of passive docking robot; Electromagnet unclamps soft rope, under torsion spring effect, the front end of two claws mutually away from, annularly chuck rip cutting direction is opened, and grab hooks the outside of annular slot, realizes the butt-joint locking of two robots; Described mobile unit contains the travel mechanism that two covers are made up of DC machine, turbine and worm, imput shaft, driven shaft, permanent seat, chassis shell, belt wheel and Timing Belt; Described worm screw is fixed on direct current (DC) arbor, turbine is fixed on imput shaft front portion, described imput shaft is connected with driving pulley through after permanent seat, chassis shell corresponding aperture successively, described driven shaft is connected with driven pulley through after permanent seat, chassis shell corresponding aperture successively, described permanent seat is connected on the shell of chassis, and described Timing Belt is enclosed within driving pulley and driven pulley; Described positioning unit is positioned at above docking unit, containing the some cover infrared transmitters be distributed in circular support circumference and infrared remote receiver, and a set ofly to be reflected by convex lens, the panorama camera device of camera imaging.
Further, the shifting axle of electromagnet of the present invention is connected with soft middle part of restricting by contiguous block, and described shifting axle end has groove and through hole, and contiguous block rear portion is inserted in described groove, and tightens with bolts and nuts cooperation, realizes the connection of contiguous block and electromagnet; Described contiguous block front end is provided with soft rope insertion groove and backing pin, and described soft rope is through insertion groove, and two ends are separately fixed in the soft rope fixed orifice of claw afterbody.
Further, toward the outer side, the square opening of claw permanent seat is passed at the rear portion of claw to the grab of claw front end of the present invention; Described docking rotating shaft, through the through hole on claw permanent seat and two claws, is blocked docking roller end by back-up ring, is attached the claw grip on claw permanent seat.
Further, mobile unit of the present invention is positioned at docking unit bottom, and its cross-sectional area is less than the cross-sectional area of docking unit.Which avoid Timing Belt in multirobot docking operation mutually to collide.
Further, positioning unit of the present invention adopts infrared and panoramic imagery compound locate mode work.Described positioning unit is made up of circular support, infrared remote receiver, infrared transmitter, convex lens, glass tube, glass tube permanent seat and camera; Described infrared remote receiver is totally eight covers, is distributed on circular support upper surface edge; Described infrared transmitter is totally ten six covers, is distributed in circular support peripheral side; Described convex lens is fixed in the middle part of circular support lower end; Described glass tube upper end is entangled convex lens and is connected in circular support, and lower end is stuck in the through hole of glass tube permanent seat, and described camera is placed in glass tube permanent seat through hole.When convex lens is by after in external light reflection to camera, camera just can obtain outdoor scene image.
The present invention adopts above-mentioned composition structure, and when particularly the electromagnet of described docking unit pulls back soft rope, the front end of two claws will be drawn close mutually, thus it is closed to realize claw; When electromagnet unclamps soft rope, under the effect of torsion spring restoring force, the front end of two claws will mutually away from, thus realize claw and open.Under the composite flooding of electromagnet and torsion spring, two claws can annularly chuck rip cutting direction opening and closing.Two claws open or closed direction is parallel to annular chuck rip cutting direction.The claw of active mating robot is deep in the annular slot of passive docking robot with closed manners, and after opening, its grab just can hook the outside of annular slot, thus realizes the butt-joint locking of two robots.Against existing technologies, annular chuck of the present invention is a ring discoid structure, allows claw to dock with it in any position of its circumferential annular slot.Such the present invention can provide a unlimited docking location, can reconstruct more shape.In addition, in docking operation, robot does not need to carry out pose adjustment, as long as ensure that claw stretches in annular slot, greatly improves docking efficiency.It is simple and compact for structure, volume is little, allow unit module docking groove circumference any position docking.Add restructural shape, reduce the requirement to physical space.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention will be further described.
Fig. 1 is that the present invention's entirety forms schematic diagram.
Fig. 2 is the housing parts decomposing schematic representation docking unit in the present invention.
Fig. 3 is the docking facilities decomposing schematic representation docking unit in the present invention.
Fig. 4 is mobile unit decomposing schematic representation in the present invention.
Fig. 5 is positioning unit decomposing schematic representation in the present invention.
Fig. 6 is that effect schematic diagram is docked in the present invention.
Number in the figure is: docking unit, 2. mobile unit, 3. positioning unit.1-1. upper cover, 1-2. annular chuck, 1-3. lower cover, 1-4. electromagnet, 1-5. electromagnet permanent seat, 1-6. screw, 1-7. bolt, 1-8. bolt, the soft rope of 1-9., 1-10. torsion spring, 1-11. back-up ring, 1-12. packing ring, 1-13. claw, 1-14. screw, 1-15. docks rotating shaft, 1-16. claw permanent seat, 1-17. nut, 1-18. nut, 1-19. contiguous block; 2-1. Timing Belt, 2-2. synchronous pulley, 2-3. chassis shell, 2-4. driven shaft, 2-5. driven shaft bearing, 2-6. motor, 2-7 worm screw, 2-8. fixed plate, 2-9. turbine, 2-10. imput shaft, 2-11. imput shaft bearing; 3-1. circular support, 3-2. infrared remote receiver, 3-3. infrared transmitter, 3-4. convex lens, 3-5. glass tube, 3-6. glass tube permanent seat, 3-7. camera.1-1-1. tapped bore, 1-1-2. through hole, 1-1-3. chimb, 1-1-4. through hole; 1-2-1. tapped bore, 1-2-2. annular slot, 1-2-3. groove, concave edge under 1-2-4., the upper concave edge of 1-2-5., 1-2-6. through hole, 1-2-7. electric wire via hole; 1-3-1. through hole, 1-3-2. concave edge, 1-3-3. through hole, 1-3-4. through hole; 1-4-1. groove, 1-4-2. through hole; 1-5-1. through hole, 1-13-1. torsion spring via hole, 1-13-2. through hole, 1-13-3. grab, the soft rope fixed orifice of 1-13-4., 1-16-1. through hole, 1-16-2. square opening, 1-16-3. through hole, 1-19-1. through hole, 1-19-2. groove, 1-19-3. through hole; 2-3-1. tapped bore, 2-3-2. through hole, 2-3-3. through hole, 2-3-4 through hole, 2-3-5. through hole, 2-3-6 tapped bore, 2-3-7. through hole, 2-5-1. tapped bore, 2-11-1. tapped bore, 2-11-2. through hole; 3-5-1. through hole, 3-6-1. through hole, 3-6-2. through hole.
Detailed description of the invention
As shown in Figure 1, a kind of portable via Self-reconfiguration micro robot, includes docking unit 1, mobile unit 2 and positioning unit 3.
As shown in Figure 2 and Figure 3, docking unit 1 of the present invention is made up of housing parts and docking facilities.Housing parts includes upper cover 1-1, annular chuck 1-2 and lower cover 1-3.The annular slot 1-2-2 being circumferentially with a circle indent of described annular chuck 1-2, its upper surface is provided with groove 1-2-3 and upper concave edge 1-2-4, when the chimb 1-1-3 of upper cover 1-1 inserts above-mentioned groove 1-2-3, and after being tightened by through hole 1-1-4 with screw, upper cover 1-1 can be fixed on annular chuck 1-2 top.When lower cover 1-3 fastens to annular chuck 1-2 bottom, and when ensureing that concave edge 1-3-2 and lower concave edge 1-2-4 overlaps, after tightening with screw via through holes 1-3-3 and tapped bore 1-2-1, lower cover 1-3 can be fixed on annular chuck 1-2 bottom.
As shown in Figure 3, docking facilities is formed primarily of electromagnet 1-4, electromagnet permanent seat 1-5, soft rope 1-9, torsion spring 1-10, claw 1-13, contiguous block 1-19 and associated fasteners.The top and bottom of described electromagnet permanent seat 1-5 all have through hole 1-5-1, pass through hole 1-2-6, through hole 1-5-1 successively and be screwed into after in electromagnet 1-4 lower thread hole as screw 1-6, electromagnet 1-4 can be fixed on the inner corresponding position of annular chuck 1-2.Described electromagnet 1-4 shifting axle end has groove 1-4-1 and through hole 1-4-2, contiguous block 1-19 inserts at rear portion in above-mentioned groove 1-4-1, and with bolt 1-7 successively through after through hole 1-4-2 and through hole 1-19-3, tighten with nut 1-18, thus realize the connection of contiguous block 1-19 and electromagnet 1-4.Described soft rope 1-9 is through after groove 1-19-2, after bolt 1-8 via through holes 1-19-1, tighten with nut 1-17, soft rope 1-9 two ends are bundled in the soft rope fixed orifice 1-13-4 of claw 1-13 afterbody respectively, like this, the connection of contiguous block 1-19 and claw 1-13 is achieved by soft rope 1-9.Described torsion spring 1-10 two ends are inserted in the torsion spring via hole 1-13-1 of claw 1-13 rear end respectively.
Described claw 1-13 is two, and two claws are installed on claw permanent seat 1-16 by docking rotating shaft 1-15, and in intersecting arrangement states, two claws of docking rotating shaft 1-15 front portion form front fork, and two claws at docking rotating shaft 1-15 rear portion form back vent.Described claw 1-13 front end is grab 1-13-3, front end grab 1-13-3 can hook the outside of annular slot 1-2-2, after its afterbody inserts the square opening 1-16-2 of claw permanent seat 1-16, docking rotating shaft 1-15 is successively through after packing ring 1-12, through hole 1-16-1, through hole 1-13-2, be stuck in the groove of its rear end with back-up ring 1-11, thus claw 1-13 is connected in claw permanent seat 1-16.Four through hole 1-16-3 of described claw permanent seat 1-16 coordinate with the tapped bore of the upper concave edge 1-2-5 of annular chuck 1-2 and lower concave edge 1-2-4, thus are installed on annular chuck 1-2 by claw permanent seat 1-16.When electromagnet 1-4 pulls back contiguous block 1-19, can move backward in the middle part of soft rope 1-9, its opening angle diminishes, and causes two claw 1-13 mutually to draw close thereupon, under mobile unit 2 drives, after in the annular slot 1-2-2 that the grab 1-13-3 of claw 1-13 moves to another robot module, electromagnet 1-4 replys, under the effect of torsion spring 1-10 restoring force, claw 1-13 opens, now, grab 1-13-3 will be clamped in annular slot 1-2-2, thus realize the docking of robot module.
As shown in Figure 4, mobile unit 2 of the present invention is formed primarily of Timing Belt 2-1, synchronous pulley 2-2, chassis shell 2-3, driven shaft 2-4 and driven shaft bearing 2-5, DC machine 2-6, worm screw 2-7, turbine 2-8, imput shaft 2-10 and imput shaft bearing 2-11.Described worm screw 2-7 is fixed on DC machine 2-6 axle head, and DC machine 2-6 axle, through after through hole 2-11-2, is screwed on imput shaft bearing 2-11; Imput shaft 2-10 one end is fixed with turbine through after the bearing in imput shaft bearing 2-11, and the other end is fixed with synchronous pulley 2-2 through after through hole 2-3-2; Tapped bore on imput shaft bearing 2-11 uses screw-driving after aliging with the through hole 2-3-3 on the shell 2-3 of chassis.In like manner, driven shaft 2-3 one end is through the bearing in driven shaft bearing 2-5, and the other end is connected with synchronous pulley 2-2 through after through hole 2-3-4, and the tapped bore 2-5-1 of driven shaft bearing 2-5 aligns with the through hole 2-3-5 of chassis shell 2-3, and uses screw-driving.Described Timing Belt 2-1 is enclosed within two synchronous pulley 2-2.When two cover said mechanism are docking together, and with fixed plate 2-8 after tapped bore 2-3-1 is fixing, just obtain mobile unit 2 of the present invention.When two cover Timing Belt 2-1 of mobile unit 2 move under respective DC machine 2-6 drives, the control to robot motion just can be realized.When both sides Timing Belt moves with certain speed under respective DC motor Driver, just can the action such as control advance, retrogressing, turning.In addition, described mobile unit is positioned at docking unit bottom, and its cross-sectional area is less than the cross-sectional area of docking unit, which avoid Timing Belt in multirobot docking operation and mutually collides.
Positioning unit 3 of the present invention adopts the compound locate mode of infrared location and panoramic imagery, accurately can judge the position of waiting to dock robot module.Many covers infrared transmitter of described positioning unit and infrared remote receiver are distributed on circular support circumference; Described convex lens is fixed in the middle part of circular support lower surface; Described glass tube upper end is entangled convex lens and is connected with circular support, and bottom is arranged on docking unit upper surface by permanent seat; Described camera is placed in glass tube bottom.Specifically as shown in Figure 5, described positioning unit 3 is made up of circular support 3-1, infrared remote receiver 3-2, infrared transmitter 3-3, convex lens 3-4, glass tube 3-5, glass tube permanent seat 3-6 and camera 3-7.Described infrared remote receiver 3-2 is totally 8 covers, is distributed on circular support 3-1 upper surface edge.Described infrared transmitter 3-3 is totally 16 covers, is distributed in circular support 3-1 peripheral side.Like this, after infrared remote receiver 3-3 receives the infrared signal that other robot module sends, the position of the other side robot module can just be determined.Described convex lens 3-4 is fixed in the middle part of circular support 3-1 lower end.Described glass tube 3-5 upper end is entangled convex lens 3-4 and is connected in circular support 3-1, and lower end is stuck in the through hole 3-6-2 of glass tube permanent seat 3-6.Described camera 3-7 is placed in through hole 3-6-2.Glass tube is used for supporting and adjustment light distance.Like this, when exterior light reflexes to after on camera 3-7 through convex lens 3-4, positioning unit 3 just can obtain outdoor scene image.
As shown in Fig. 2, Fig. 4, Fig. 5, tighten with screw via through holes 1-3-1 and tapped bore 2-3-6, mobile unit 2 can be fixed to below docking unit 1; Tighten with after screw via through holes 3-6-1 and tapped bore 1-1-1, positioning unit 3 can be fixed to the top of docking unit 2; Through hole 1-1-2, through hole 1-3-4 and through hole 2-3-7 are wire via hole.The final like this robot obtained as shown in Figure 1.
As shown in Figure 6, in docking operation, the claw 1-13 of a certain robot module can stretch into any position of waiting to dock robot module annular slot 1-2-2 and lock, and which greatly increases restructural shape, improve docking efficiency, also reduce docking operation to the requirement to physical space.
Claims (5)
1. a portable via Self-reconfiguration micro robot, it includes docking unit, mobile unit and positioning unit, it is characterized in that: described docking unit includes annular chuck, electromagnet, soft rope, torsion spring, claw, claw permanent seat, described annular chuck circumference has the annular slot of a circle indent; Described claw is two, and two claws are installed on claw permanent seat by docking rotating shaft, and in intersecting arrangement states, the grab of claw front end is positioned at annular chuck outside; Described claw permanent seat is arranged on annular chuck by screw; It is inner that described electromagnet is arranged on annular chuck, and its shifting axle is connected with soft middle part of restricting; Described soft rope two ends are connected and fixed with the afterbody of two claws respectively; Described torsion spring is arranged between the back vent of two claws; Electromagnet pulls back soft rope by shifting axle, and the front end of two claws is drawn close mutually, and the claw of active mating robot is inserted into front fork closure state in the annular slot of passive docking robot; Electromagnet unclamps soft rope, under torsion spring effect, the front end of two claws mutually away from, annularly chuck rip cutting direction is opened, and grab hooks the outside of annular slot, realizes the butt-joint locking of two robots; Described mobile unit contains the travel mechanism that two covers are made up of DC machine, turbine and worm, imput shaft, driven shaft, permanent seat, chassis shell, belt wheel and Timing Belt; Described worm screw is fixed on direct current (DC) arbor, turbine is fixed on imput shaft front portion, described imput shaft is connected with driving pulley through after permanent seat, chassis shell corresponding aperture successively, described driven shaft is connected with driven pulley through after permanent seat, chassis shell corresponding aperture successively, described permanent seat is connected on the shell of chassis, and described Timing Belt is enclosed within driving pulley and driven pulley; Described positioning unit is positioned at above docking unit, containing the some cover infrared transmitters be distributed in circular support circumference and infrared remote receiver, and a set ofly to be reflected by convex lens, the panorama camera device of camera imaging.
2. portable via Self-reconfiguration micro robot according to claim 1, it is characterized in that: the shifting axle of described electromagnet is connected with soft middle part of restricting by contiguous block, described shifting axle end has groove and through hole, contiguous block rear portion is inserted in described groove, and tighten with bolts and nuts cooperation, realize the connection of contiguous block and electromagnet; Described contiguous block front end is provided with soft rope insertion groove and backing pin, and described soft rope is through insertion groove, and two ends are separately fixed in the soft rope fixed orifice of claw afterbody.
3. portable via Self-reconfiguration micro robot according to claim 1, is characterized in that: toward the outer side, the square opening of claw permanent seat is passed at the rear portion of claw to the grab of described claw front end; Described docking rotating shaft, through the through hole on claw permanent seat and two claws, is blocked docking roller end by back-up ring, is attached the claw grip on claw permanent seat.
4. portable via Self-reconfiguration micro robot according to claim 1, is characterized in that: described mobile unit is positioned at docking unit bottom, and its cross-sectional area is less than the cross-sectional area of docking unit.
5. portable via Self-reconfiguration micro robot according to claim 1, is characterized in that: described positioning unit is made up of circular support, infrared remote receiver, infrared transmitter, convex lens, glass tube, glass tube permanent seat and camera; Described infrared remote receiver is totally eight covers, is distributed on circular support upper surface edge; Described infrared transmitter is totally ten six covers, is distributed in circular support peripheral side; Described convex lens is fixed in the middle part of circular support lower end; Described glass tube upper end is entangled convex lens and is connected in circular support, and lower end is stuck in the through hole of glass tube permanent seat, and described camera is placed in glass tube permanent seat through hole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510392847.3A CN105015287A (en) | 2015-07-07 | 2015-07-07 | Mobile self-reconfigurable micro robot |
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| CN201510392847.3A CN105015287A (en) | 2015-07-07 | 2015-07-07 | Mobile self-reconfigurable micro robot |
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| CN201510392847.3A Pending CN105015287A (en) | 2015-07-07 | 2015-07-07 | Mobile self-reconfigurable micro robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107914290A (en) * | 2016-10-11 | 2018-04-17 | 张家港市博雅文化传播有限公司 | One kind delivery robot pulling device |
| CN108436912A (en) * | 2018-03-27 | 2018-08-24 | 山东大学 | A kind of control system and its control method of reconstruction robot docking mechanism |
| TWI752506B (en) * | 2020-05-22 | 2022-01-11 | 新加坡商可褒可企業有限公司 | Carrier attachment structure for towing mobile devices |
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| CN101168371A (en) * | 2007-11-16 | 2008-04-30 | 哈尔滨工业大学 | Pedrail type self-reconstruction mini robot |
| CN102189554A (en) * | 2011-04-20 | 2011-09-21 | 上海交通大学 | Self-reconfiguration mobile microrobot |
| CN203266645U (en) * | 2013-05-14 | 2013-11-06 | 东南大学 | Unit module structure of modularized self-reconstructing robot capable of moving in all directions |
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| US20060101547A1 (en) * | 2004-10-29 | 2006-05-11 | Neil Desmond | Modular self structuring and computing system |
| CN101121266A (en) * | 2007-09-14 | 2008-02-13 | 哈尔滨工业大学 | Miniature self-correcting reconfiguration device |
| CN101168371A (en) * | 2007-11-16 | 2008-04-30 | 哈尔滨工业大学 | Pedrail type self-reconstruction mini robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107914290A (en) * | 2016-10-11 | 2018-04-17 | 张家港市博雅文化传播有限公司 | One kind delivery robot pulling device |
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| CN108436912B (en) * | 2018-03-27 | 2021-04-20 | 山东大学 | Control system and control method for reconfigurable robot docking mechanism |
| TWI752506B (en) * | 2020-05-22 | 2022-01-11 | 新加坡商可褒可企業有限公司 | Carrier attachment structure for towing mobile devices |
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Application publication date: 20151104 |