CN105034017A - Reconfigurable modularized robot unit structure - Google Patents
Reconfigurable modularized robot unit structure Download PDFInfo
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- CN105034017A CN105034017A CN201510490051.1A CN201510490051A CN105034017A CN 105034017 A CN105034017 A CN 105034017A CN 201510490051 A CN201510490051 A CN 201510490051A CN 105034017 A CN105034017 A CN 105034017A
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Abstract
The invention provides a reconfigurable modularized robot unit structure. The reconfigurable modularized robot unit structure comprises a robot machine body. The robot machine body is provided with linear telescopic joints which are connected with rotating joints. The tail ends of the rotating joints are connected with butting devices. The robot machine body is a polygon prism frame. Lead screw motors are arranged on the inner wall of the polygon prism frame. At least three arms which are distributed in a regular polygon shape are connected to the outer wall of the polygon prism frame. Each arm is formed by the corresponding linear telescopic joint, the corresponding rotating joint and the corresponding butting device. By means of the telescopic joints, the movement range of the butting devices is widened, and the practical value of a modularized robot is improved; and the unit structure is concise and reasonable, convenient and reliable to control and high in movement accuracy and reliability.
Description
Technical field
The present invention relates to robotics, particularly, relate to a kind of reconfigurable modularization robot cellular construction.
Background technology
Along with the progress of society and the development of science and technology, the application of robot is more and more extensive, and the research of robot is more and more subject to the attention of Chinese scholars.There is numerous species in robot, but in the ordinary course of things, various robot is limited to the factors such as its structural design, can only complete certain specific task.The proposition of modularization robot adapts to different working environments and the theory of task based on robot by the structure changing itself, in order to reach this object, modularization robot, by some identical module compositions, is connected by docking mechanism between module with module.The object changing robot modeling is reached by the annexation changed between modules.
For the maintenance of implementation space solar power station, propose and carry solar power station with modular robot.Each modular robot has carried one piece of solar panel, by having the docking combination of mutually isostructural modular robot in a large number, thus obtains the array of a bulk of space solar cell plate.Wherein each modular robot is an independently logical AND moving cell, can autonomous perception judge the working condition of self and environment, can realize between module with module communicating mutually, rely on collaborative work each other can complete reconstruct, the replacement of intermodule, to adapt to the requirement of work at present.
Through finding the literature search of prior art, the research group of current foreign study modularization robot mainly concentrates on two countries of America and Japan, typically has the Superbot self-reorganization robot that the people such as M-TRAN series self-reorganization robot module and American South University of California Wei-MinShen etc. of the people such as Tokyo technical research institute SatoshiMurata design in " A3-Dself-reconfigurablestructure " proposes in " MultimodelocomotionviaSuperBotreconfigurablerobots ".Domestic Shanghai Communications University's expense Yan Qiong " structural design of mixed type self-reorganization robot and sports immunology " proposes Double-pillar Self-Reconfigurable Modular Robot.This kind of robot architecture is compact, but because docking facilities and robot module's body are integral type, docking facilities does not have autokinetic movement ability, causes its range of movement limited like this, reconstitution time is long, and in actual application, there is the problem such as movement interference, control complexity.Simultaneously, the people such as Fu Zhuan devise a kind of high strength docking facilities that can be used for reconfigurable modular robot in patent " docking mechanism based on pin-shaft wedging for Self-Reconfigurable Module robot " (CN200910308439.X), but lacking one can make the paleocinetic modularization robot cellular construction of docking facilities as its carrier, is difficult to be applied in existing modularization robot.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of reconfigurable modularization robot cellular construction, its design is succinct, reasonable, mechanical movement parts are few, reliability is high, and docking facilities scope of activities is large, can realize via Self-reconfiguration rapidly and accurately by help module robot.
For realizing above object, the invention provides a kind of reconfigurable modularization robot cellular construction, comprising: robot fuselage body, described robot fuselage body is provided with linear telescopic joint, described linear telescopic joint connects rotary joint, and described rotary joint end connects docking facilities;
Described robot fuselage body is polygon prism framework, the inwall of polygon prism framework is provided with lead screw motor, be connected with at least three arm at the outer wall of polygon prism framework, and described arm is regular polygon distribution, every arm is made up of linear telescopic joint, rotary joint and docking facilities;
Described linear telescopic joint comprises connector, guide rail, slide block, guideway support, T-nut, optoelectronic switch support, optoelectronic switch baffle plate and optoelectronic switch, wherein: guideway support is connected on the outer wall of polygon prism framework, another side support rails, and slide block set is on guide rail; Connector is U-shaped or quadrilateral frame, the bottom surface of connector is fixedly connected on slide block, one side of connector is connected with the steering wheel of rotary joint, another side is connected with T-nut, T-nut is enclosed within the screw mandrel of lead screw motor, and lead screw motor rotary screw rod drives T-nut and connector to do rectilinear motion; Optoelectronic switch support is while be fixed on the outer wall of polygon prism framework, another side installs optoelectronic switch, and optoelectronic switch baffle plate to be arranged on connector and to do rectilinear motion with connector;
Described rotary joint comprises flat U-shaped connector and steering wheel, and wherein: steering wheel is connected with flat U-shaped connector, flat U-shaped connector is connected with U-shaped connector;
Described docking facilities is connected with the steering wheel in rotary joint;
Straight line back and forth movement is done along guide rail direction in linear telescopic joint under the drive of lead screw motor, and rotary joint realizes rotary motion and drives docking facilities along the output shaft rotation of steering wheel under the driving of steering wheel.
Preferably, the length that described lead screw motor exposes screw mandrel equals length and the T-nut rectilinear motion stroke sum of T-nut.
Preferably, the motion of described connector is subject to the restriction of guide rail and slide block, can only carry out straight reciprocating motion.
Preferably, the distance between the two sides of described connector is greater than the stroke of T-nut rectilinear motion.
Preferably, described guideway support is T-shaped or L-type, and guideway support minor face is connected on the outer wall of polygon prism framework, and guide rail is connected on the long limit of guideway support.
Preferably, the long limit of described guideway support is wider than other parts near the part of polygon prism framework, thus ensures the strength and stiffness of supporting member; Part away from polygon prism framework is narrower than other parts, thus ensures to produce interference to the motion of optoelectronic switch baffle plate.
Preferably, described optoelectronic switch support is T-shaped or L-type, and the minor face of optoelectronic switch support is fixed on the outer wall of polygon prism framework, on long limit installs optoelectronic switch, and the mounting distance of described optoelectronic switch equals the stroke of T-nut rectilinear motion.
Preferably, two optoelectronic switches can be passed through smoothly to meet in described optoelectronic switch baffle plate installation site, and when T-nut is in two extreme positions of rectilinear motion, optoelectronic switch baffle plate just can block the photo-signal channel of optoelectronic switch, the break-make of optical signal feeds back to control circuit, control circuit to lead screw motor power-off, thus ensures that the rectilinear motion of slide block and connector can not exceed the scope of guide rail.
Preferably, described optoelectronic switch baffle plate plane of motion is between photoelectric switching signal launch point and acceptance point.
Compared with prior art, the present invention has following beneficial effect:
The present invention enables docking facilities have larger space by increasing the flexible free degree, thus avoids robot and produce movement interference when being reconstructed between modular unit and modular unit.Owing to adopting lead screw motor to drive rectilinear motion, simplify frame for movement, effectively reduce the complexity of linear telescopic motion, have the constraint of guide rail and slide block simultaneously, improve the precision of linear telescopic motion, enhance its load capacity.Further, optoelectronic switch ensure that and adds the reliability of motion by the stroke that linear telescopic moves.Therefore the simple frame for movement of this modularization robot cellular construction imparts the stronger locomitivity of docking facilities.In addition, connector and the support structure of the present invention's employing are simple, and combined and instant is very favourable to the maintenance of robot, reduces cost simultaneously.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the schematic three dimensional views of one embodiment of the invention;
Fig. 2 is the top view of one embodiment of the invention;
Fig. 3 is the structural representation of another embodiment of the present invention;
In figure: six prism frameworks 1, screw mandrel stepper motor 2, driver 3, T-nut 4, U-shaped connector 5, guide rail 6, slide block 7, L-type supporting member 8, L-type support 9, optoelectronic switch 10, optoelectronic switch baffle plate 11, flat U-shaped connector 12, steering wheel 13, ring flange 14, docking facilities 15.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, for a specific embodiment structural representation of this invention, adopt six prism frameworks, three arm formations in the present embodiment, certainly the invention is not restricted to this embodiment, in other embodiments, also can be other polygon prism framework, the arm of other numbers.
Concrete, a kind of reconfigurable modularization robot cellular construction, comprising: fuselage body, linear telescopic joint, rotary joint, docking facilities, wherein: fuselage body is made up of six prism frameworks 1, screw mandrel stepper motor 2, driver 3; Linear telescopic joint is made up of T-nut 4, U-shaped connector 5, guide rail 6, slide block 7, L-type supporting member 8, L-type support 9, optoelectronic switch 10, optoelectronic switch baffle plate 11; Rotary joint is made up of flat U-shaped connector 12, steering wheel 13.Rotary joint connects docking facilities 15.
In the present embodiment, described six prism frameworks 1 comprise three leptoprosopy and three wide, and leptoprosopy is adjacent with wide is connected; Wherein: screw mandrel stepper motor 2 is installed on the inwall of leptoprosopy, three screw mandrel stepper motors 2 are in equilateral triangle part (as shown in Figure 2); Described driver 3 is installed on the outer wall of wide.
As one preferred embodiment, the length that described screw mandrel stepper motor 2 exposes screw mandrel equals the length of T-nut 4 and expectation stroke sum.
In the present embodiment, the minor face of described L-type supporting member 8 is connected by screw on the outer wall of the leptoprosopy of six prism frameworks 1; Guide rail 6 is connected by screw on the long limit of L-type supporting member; Slide block 7 is enclosed within guide rail 6; The bottom surface of U-shaped connector 5 is connected on slide block 7, and the motion of U-shaped like this connector 5 is subject to guide rail 6 and the restriction of slide block 7, can only carry out straight reciprocating motion; One side of U-shaped connector 5 is connected with T-nut 4, and T-nut 4 is enclosed within the screw mandrel of screw mandrel stepper motor 2, and screw mandrel stepper motor 2 rotary screw rod drives T-nut 4 and U-shaped connector 5 to do rectilinear motion; The minor face of L-type support 9 is fixed on two optoelectronic switches 10 that to be connected on the leptoprosopy outer wall of six prism frameworks 1, on long limit.
As one preferred embodiment, the distance between the two sides of described U-shaped connector 5 is greater than the stroke of T-nut rectilinear motion.
As one preferred embodiment, the distance of described optoelectronic switch 10 equals the stroke of T-nut rectilinear motion.
In the present embodiment, described optoelectronic switch baffle plate 11 is bonded on the another side of U-shaped connector 5, therefore optoelectronic switch baffle plate 11 can do rectilinear motion with U-shaped connector 5, at the extreme position of rectilinear motion, optoelectronic switch baffle plate 11 just can block the photo-signal channel of optoelectronic switch 10, the break-make of optical signal feeds back to control circuit, and control circuit to screw mandrel stepper motor 2 power-off, thus ensures that the rectilinear motion of slide block 7 and connector 5 can not exceed the scope of guide rail 6.Wherein, docking facilities 15 outwards moves when (away from center framework) makes slide block 7 move to limit on the right-right-hand limit position 17 and docks with another modular unit, slide block inwardly moves, and (near center framework) rotates to docking facilities 15 during limit on the left position 18 around rotating shaft 16, the range of movement of guide rail slide block 7 should ensure when moving inwardly to limit on the left position 18, and docking facilities 15 can not produce movement interference around the rotation of rotating shaft 16.
In the present embodiment, described flat U-shaped connector 12 is connected with U-shaped connector 5, and steering wheel 13 is connected with flat U-shaped connector 12.
As one preferred embodiment, the long limit of described L-type supporting member 8 is wider near the part of six prism frameworks 1, thus ensures the strength and stiffness of supporting member; Part away from six prism frameworks 1 is narrower, thus ensures to produce interference to the motion of optoelectronic switch baffle plate 11.
In the present embodiment, described docking facilities 15 is connected with steering wheel 13 by ring flange 14, drives docking facilities 15 around the output shaft rotation of steering wheel 13 by steering wheel 13.
Be illustrated in figure 3 another embodiment of the present invention; Wherein: center framework 1 is eight prisms, the quantity of motor 2 and driver 3 is 4, in square profile; Four arm are square profile, and every arm comprises T-nut 4, U-shaped connector 5, guide rail 6, slide block 7, L-type supporting member 8, L-type support 9, optoelectronic switch 10, optoelectronic switch baffle plate 11, flat U-shaped connector 12, steering wheel 13, ring flange 14, docking facilities 15; Each part connected mode of every arm and every arm and center framework connected mode and embodiment illustrated in fig. 1 identical.
The present invention enables docking facilities have larger space by increasing the flexible free degree, thus avoids robot and produce movement interference when being reconstructed between modular unit and modular unit.Owing to adopting lead screw motor to drive rectilinear motion, simplify frame for movement, effectively reduce the complexity of linear telescopic motion, have the constraint of guide rail and slide block simultaneously, improve the precision of linear telescopic motion, enhance its load capacity.Optoelectronic switch ensure that and adds the reliability of motion by the stroke that linear telescopic moves.Therefore the simple frame for movement of this modularization robot cellular construction imparts the stronger locomitivity of docking facilities.In addition, the connector that present invention employs and support structure are simple, and combined and instant is very favourable to the maintenance of robot, reduces cost simultaneously.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (9)
1. a reconfigurable modularization robot cellular construction, it is characterized in that, comprising: robot fuselage body, described robot fuselage body is provided with linear telescopic joint, described linear telescopic joint connects rotary joint, and described rotary joint end connects docking facilities;
Described robot fuselage body is polygon prism framework, the inwall of polygon prism framework is provided with lead screw motor, be connected with at least three arm at the outer wall of polygon prism framework, and described arm is regular polygon distribution, every arm is made up of linear telescopic joint, rotary joint and docking facilities;
Described linear telescopic joint comprises connector, guide rail, slide block, guideway support, T-nut, optoelectronic switch support, optoelectronic switch baffle plate and optoelectronic switch, wherein: guideway support is connected on the outer wall of polygon prism framework, another side support rails, and slide block set is on guide rail; Connector is U-shaped or quadrilateral frame, the bottom surface of connector is fixedly connected on slide block, one side of connector is connected with the steering wheel of rotary joint, another side is connected with T-nut, T-nut is enclosed within the screw mandrel of lead screw motor, and lead screw motor rotary screw rod drives T-nut and connector to do rectilinear motion; Optoelectronic switch support is while be fixed on the outer wall of polygon prism framework, another side installs optoelectronic switch, and optoelectronic switch baffle plate to be arranged on connector and to do rectilinear motion with connector;
Described rotary joint comprises flat U-shaped connector and steering wheel, and wherein: steering wheel is connected with flat U-shaped connector, flat U-shaped connector is connected with U-shaped connector;
Described docking facilities is connected with the steering wheel in rotary joint;
Straight line back and forth movement is done along guide rail direction in linear telescopic joint under the drive of lead screw motor, and rotary joint realizes rotary motion and drives docking facilities along the output shaft rotation of steering wheel under the driving of steering wheel.
2. the reconfigurable modularization robot cellular construction of one according to claim 1, is characterized in that, the length that described lead screw motor exposes screw mandrel equals length and the T-nut rectilinear motion stroke sum of T-nut.
3. the reconfigurable modularization robot cellular construction of one according to claim 1, is characterized in that, the motion of described connector is subject to the restriction of guide rail and slide block, can only carry out straight reciprocating motion.
4. the reconfigurable modularization robot cellular construction of one according to claim 3, it is characterized in that, the distance between the two sides of described connector is greater than the stroke of T-nut rectilinear motion.
5. the reconfigurable modularization robot cellular construction of one according to claim 1, is characterized in that, described guideway support is T-shaped or L-type, and guideway support minor face is connected on the outer wall of polygon prism framework, and guide rail is connected on the long limit of guideway support.
6. the reconfigurable modularization robot cellular construction of one according to claim 5, is characterized in that, the long limit of described guideway support is wider than other parts near the part of polygon prism framework, thus ensures the strength and stiffness of supporting member; Part away from polygon prism framework is narrower than other parts, thus ensures to produce interference to the motion of optoelectronic switch baffle plate.
7. the reconfigurable modularization robot cellular construction of the one according to any one of claim 1-6, it is characterized in that, described optoelectronic switch support is T-shaped or L-type, the minor face of optoelectronic switch support is fixed on the outer wall of polygon prism framework, on long limit installs optoelectronic switch, and the mounting distance of described optoelectronic switch equals the stroke of T-nut rectilinear motion.
8. the reconfigurable modularization robot cellular construction of one according to claim 7, it is characterized in that, two optoelectronic switches can be passed through smoothly to meet in described optoelectronic switch baffle plate installation site, and when T-nut is in two extreme positions of rectilinear motion, optoelectronic switch baffle plate just can block the photo-signal channel of optoelectronic switch, the break-make of optical signal feeds back to control circuit, control circuit to lead screw motor power-off, thus ensures that the rectilinear motion of slide block and connector can not exceed the scope of guide rail.
9. the reconfigurable modularization robot cellular construction of one according to claim 8, is characterized in that, described optoelectronic switch baffle plate plane of motion is between photoelectric switching signal launch point and acceptance point.
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Cited By (4)
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| CN107116545A (en) * | 2017-06-19 | 2017-09-01 | 哈尔滨工业大学 | A kind of spherical modular unit of four-degree-of-freedom |
| CN110900592A (en) * | 2019-12-17 | 2020-03-24 | 北京化工大学 | Reconfigurable redundant mechanical arm based on rope driving |
| CN110962956A (en) * | 2019-11-28 | 2020-04-07 | 北京理工大学 | Reconfigurable wheel-foot robot based on parallel modular structure |
| CN115194820A (en) * | 2021-04-08 | 2022-10-18 | 杭州中致高智能科技有限公司 | Mechanism building method of robot |
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| CN115194820A (en) * | 2021-04-08 | 2022-10-18 | 杭州中致高智能科技有限公司 | Mechanism building method of robot |
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