CN106078802B - For the module housing in the modularized self-reorganization mobile robot of single wheel drive - Google Patents
For the module housing in the modularized self-reorganization mobile robot of single wheel drive Download PDFInfo
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- CN106078802B CN106078802B CN201610416292.6A CN201610416292A CN106078802B CN 106078802 B CN106078802 B CN 106078802B CN 201610416292 A CN201610416292 A CN 201610416292A CN 106078802 B CN106078802 B CN 106078802B
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- Prior art keywords
- module
- reorganization
- mobile robot
- wheel drive
- single wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
For the module housing in the modularized self-reorganization mobile robot of single wheel drive, the present invention relates to a kind of modularized self-reorganization mobile robot module, to solve the problems, such as that the modularized self-reorganization mobile robot of single wheel drive needs supporting module.The module housing of the present invention includes housing, four radial magnets, four vertical magnets and four legs, housing is made up of module base and four supporting legs, module base is quadrangle box, quadrangle box upper end is open type cavity, four supporting legs are respectively at the corner below module base, the inner side centre position of each side wall of module base is provided with groove, a radial magnet is embedded in each groove, the lower end of each supporting leg is provided with vertical hole, a vertical magnet is embedded in each vertical hole, the lower end of each supporting leg sets a leg.The present invention is used for the modularized self-reorganization mobile robot of single wheel drive.
Description
Technical field
The present invention relates to a kind of modularized self-reorganization mobile robot module, and in particular to a kind of mould for single wheel drive
Module housing in block via Self-reconfiguration mobile robot.
Background technology
At present, for modularized self-reorganization mobile robot, bindiny mechanism's design of intermodule is vital
One ring.Current existing bindiny mechanism is based on mechanical connecting structure mostly, and this structure requires high to kinematic accuracy, quickly
Switching performance is poor, and multiple joint faces of module individual are all driven by separate electrical motor so that modular structure is excessively complicated, power consumption
Greatly, so as to cause Module Reliability to reduce, its cost is also high, it is difficult to mass.Therefore, devise the modularization of single wheel drive certainly
Mobile robot is reconstructed, the robot make it that modular structure is simple, small power consumption, and module connection reliability is high；To make the robot
Motion can be realized, it is desirable to supporting module housing.Therefore, the present invention is the modularized self-reorganization movement for single wheel drive
The supporting module of robot.
The content of the invention
The present invention be to solve the problems, such as that the modularized self-reorganization mobile robot of single wheel drive needs supporting module,
A kind of module housing in modularized self-reorganization mobile robot for single wheel drive is provided.
For the present invention to solve existing module via Self-reconfiguration mobile robot, the bindiny mechanism of intermodule is connected with machinery mostly
Based on binding structure, this structure requires high to kinematic accuracy, and quick joint property is poor, and multiple joint faces of module individual are all
Driven by separate electrical motor so that modular structure is excessively complicated, and power consumption is big, the problem of so as to cause Module Reliability to reduce, and carries
Go out a kind of modularized self-reorganization mobile robot module of single wheel drive.
The present invention the modularized self-reorganization mobile robot for single wheel drive on module housing including housing, four
Radial magnet, four vertical magnets and four legs, housing are made up of module base and four supporting legs, and module base is quadrangle box,
Quadrangle box upper end is open type cavity, and four supporting legs are located at the corner below module base respectively, each side wall of module base
Inner side centre position be provided with groove, a radial magnet is embedded in each groove, the lower end of each supporting leg is provided with vertical hole, often
A vertical magnet is embedded in individual vertical hole, the lower end of each supporting leg sets a leg.
The present invention has the advantages that compared with prior art：
First, the present invention is for the supporting module housing of the modularized self-reorganization mobile robot of single wheel drive, module housing
Inside has been embedded in radial magnet and vertical magnet, and any phase can be realized by the adjacent module of radial magnet and vertical magnet
Automatic connection to orientation, so as to ensure that intermodule quickly, reliably can be connected and disconnected.Therefore, the present invention is single-wheel
The important component of the modularized self-reorganization mobile robot of driving.
2nd, four sides of quadrangle box are provided with radial magnet, and this structure connects the not same order with rotating in module
Section provides reliable magnetic force, ensures the reliability of connection and motion.
Brief description of the drawings
Fig. 1 is the overall structure stereogram of the present invention；
Fig. 2 is Fig. 1 B-B sectional views；
Fig. 3 is the use state figure of the present invention (before two modules do not rotate)；
Fig. 4 is the use state figure of the present invention (during two modules rotate).
Embodiment
Embodiment one：Illustrate present embodiment with reference to Fig. 1 and Fig. 2, present embodiment includes 1, four footpath of housing
It is made up of to 2, four vertical magnets 3 of magnet and four legs 4, housing 1 module base 1-1 and four supporting leg 1-2, module base 1-1
For quadrangle box, quadrangle box upper end is four of open type cavity 1-1-1, four supporting leg 1-2 respectively below module base 1-1
At angle, the inner side centre position of module base 1-1 each side wall, which is provided with groove 1-1-2, each groove 1-1-2, is embedded in a footpath
To magnet 2, each supporting leg 1-2 lower end is provided with vertical hole 1-2-1, and a vertical magnet 3 is embedded in each vertical hole 1-2-1,
Each supporting leg 1-2 lower end sets a leg 4.
Embodiment two：Illustrate present embodiment, the four supporting leg 1-2 and mould of present embodiment with reference to Fig. 1 and Fig. 2
Block 1-1 is formed integrally.So design make it that the stability of housing 1 is good.Other compositions and annexation and embodiment one
It is identical.
Embodiment three：Illustrate present embodiment with reference to Fig. 2, the radial magnet 2 of present embodiment can be in groove 1-
Freely rotated in 1-2.Other compositions and annexation are identical with embodiment one or two.
Embodiment four：Illustrate present embodiment with reference to Fig. 2, the vertical magnet 3 of present embodiment can be in vertical hole
Freely rotated in 1-2-1.Other compositions and annexation are identical with embodiment three.
Embodiment five：Illustrate present embodiment with reference to Fig. 3, in the open type cavity 1-1-1 of present embodiment and
Cable hole 5 and driving hole 6 are provided with positioned at the bottom of quadrangle box.Cable hole 5 is used for the power line and data wire for wearing motor, transmission
Hole 6 is used to transmit the motion to gear, and rotary shaft is transmitted motion to by the engagement of gear and external gear.Other compositions and connection
Relation is identical with embodiment four.
The operation principle of the present invention：See Fig. 3 and Fig. 4, radial magnet 2 and four are set on four joint faces of housing 1
Vertical magnet 3 is set in supporting leg 1-2 so that adjacent module can realize the automatic connection of any relative bearing, and radial magnet 2 is with erecting
The attachment force for keeping intermodule annexation is formed to magnet 3, two automatic suctions of vertical magnet 3 between two neighboring housing
Rotating shaft K-K is provided for the adjacent block of relative rotation.
Claims (5)
1. the module housing in a kind of modularized self-reorganization mobile robot for single wheel drive, the module housing includes shell
Body (1), four radial magnets (2), four vertical magnets (3) and four legs (4), housing (1) is by module base (1-1) and four
Supporting leg (1-2) forms, and module base (1-1) is quadrangle box, and quadrangle box upper end is open type cavity (1-1-1), four supporting legs
(1-2) respectively at the corner of module base (1-1) below, the inner side centre position of each side wall of module base (1-1) is provided with
Groove (1-1-2), each groove (1-1-2) one radial magnet (2) of middle setting-in, the lower end of each supporting leg (1-2) is provided with vertically
Hole (1-2-1), one vertical magnet (3) of each vertical middle setting-in in hole (1-2-1), the lower end of each supporting leg (1-2) sets one
Leg (4).
2. the module housing in the modularized self-reorganization mobile robot according to claim 1 for single wheel drive, its
It is characterised by：Four supporting legs (1-2) are formed integrally with module base (1-1).
3. the module housing in the modularized self-reorganization mobile robot according to claim 1 or 2 for single wheel drive,
It is characterized in that：The radial magnet (2) can freely rotate in groove (1-1-2).
4. the module housing in the modularized self-reorganization mobile robot according to claim 3 for single wheel drive, its
It is characterised by：The vertical magnet (3) can freely rotate in vertical hole (1-2-1).
5. the module housing in the modularized self-reorganization mobile robot according to claim 4 for single wheel drive, its
It is characterised by：Cable hole (5) and driving hole (6) are provided with the open type cavity (1-1-1) and positioned at the bottom of quadrangle box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610416292.6A CN106078802B (en) | 2016-06-08 | 2016-06-08 | For the module housing in the modularized self-reorganization mobile robot of single wheel drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610416292.6A CN106078802B (en) | 2016-06-08 | 2016-06-08 | For the module housing in the modularized self-reorganization mobile robot of single wheel drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106078802A CN106078802A (en) | 2016-11-09 |
| CN106078802B true CN106078802B (en) | 2018-03-27 |
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ID=57846706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610416292.6A Active CN106078802B (en) | 2016-06-08 | 2016-06-08 | For the module housing in the modularized self-reorganization mobile robot of single wheel drive |
Country Status (1)
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| CN (1) | CN106078802B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE0004466D0 (en) * | 2000-12-04 | 2000-12-04 | Abb Ab | Mobile Robot |
| CN100579731C (en) * | 2008-03-10 | 2010-01-13 | 哈尔滨工业大学 | Double L-shaped cubic modularized self-reconstruction robot based on rotary hook hole |
| CN201597033U (en) * | 2010-02-22 | 2010-10-06 | 侯宇 | Wheeled model snake-shaped robot mechanism |
| CN103332231B (en) * | 2013-07-12 | 2015-08-05 | 天津理工大学 | Removable module self-reorganization robot |
| CN105033991B (en) * | 2015-06-05 | 2017-06-27 | 常熟理工学院 | The snake-shaped robot and its control method of unidirectional follower contact mechanism |
| CN205085966U (en) * | 2015-06-29 | 2016-03-16 | 曹燕军 | From reconsitution modularization movable robot system modular unit |
-
2016
- 2016-06-08 CN CN201610416292.6A patent/CN106078802B/en active Active
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| CN106078802A (en) | 2016-11-09 |
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