CN107878589B

CN107878589B - Modularized annular rolling robot

Info

Publication number: CN107878589B
Application number: CN201711206640.8A
Authority: CN
Inventors: 管贻生; 蔡国桢; 杨宇峰; 许炜棋; 董碧云
Original assignee: Foshan Biowin Robotics And Automation Co ltd; Guangdong University of Technology
Current assignee: Foshan Biowin Robotics And Automation Co ltd; Guangdong University of Technology
Priority date: 2017-09-19
Filing date: 2017-11-27
Publication date: 2023-05-23
Anticipated expiration: 2037-11-27
Also published as: CN107878589A

Abstract

The invention discloses a modularized annular rolling robot which comprises a plurality of swing modules which are connected end to form an annular structure, wherein the top end of a swing cover of each swing module is connected with an anti-falling modularized interface at the bottom end of a fixed seat of the adjacent swing module through the anti-falling modularized interface. Through the structural design, the robot can realize the whole rolling forward of the robot, overcomes the defect that the traditional walking robot can only climb, creep, walk and other moving modes, overcomes the defect that the traditional wheel type mobile robot can only move on a smooth hard road, can be suitable for various narrow uneven roads, and can be widely applied to the technical field of robots.

Description

Modularized annular rolling robot

Technical Field

The invention relates to the technical field of robots, in particular to a modularized annular rolling robot.

Background

With the development of modern science and technology, especially the rapid progress of electronic information technology, robots as novel production tools for human beings have shown great superiority in terms of reducing labor intensity, improving production efficiency, changing production modes, freeing people from dangerous and heavy work environments, and the like. The movement mode of the robot on the ground is commonly wheel type and walking type. The walking movement mode imitates the walking mechanism of human beings or animals, the leg and the foot are used for walking, the adaptability to the environment is good, and the intelligent degree is relatively high. However, the structure and control of the walking movement mode are complex, and the wheel type movement mode can efficiently and stably move, and the mechanism is simple and convenient to control. However, the wheeled movement also has the following disadvantages: the requirements on the road surface are high, and the road surface is suitable for flat hard roads, and the road surface is difficult to work on narrow and uneven roads.

Disclosure of Invention

The invention aims to solve the technical problem of providing a modularized annular rolling robot which can realize the whole rolling and advancing of the robot, overcomes the defect that the existing wheel type mobile robot can only move on a smooth hard road and can be suitable for various narrow and uneven roads.

The technical scheme adopted for solving the technical problems is as follows:

the utility model provides a modularization annular rolling robot, includes a plurality of pendulum changes the module of a ring structure of end to end formation in proper order, and the top of swinging cover in every pendulum changes the module and passes through the anti-disengaging modularization interface connection of anti-disengaging modularization interface with the bottom of fixing base in the adjacent pendulum changes the module.

Further, the anti-falling modularized interface comprises a module shell, an anti-falling mechanism arranged on the module shell and a butt joint buckle arranged on the module shell, wherein an area and a plurality of through holes are arranged on the module shell, at least one clamping tenon is arranged in the area, the butt joint buckle comprises two leaf parts, at least one cornice structure is arranged on the two leaf parts, a clamping groove area is arranged in the clamping tenon, the cornice structure of the other anti-falling modularized interface can be clamped in by the clamping groove area of the anti-falling modularized interface, and meanwhile, the clamping end of the anti-falling mechanism extends out from the through hole of the module shell.

Further, the region is the circumference region, two card haws are evenly arranged along circumference direction to circumference region edge, on following clockwise route, first strengthening rib has been arranged to one side of card haws, first strengthening rib links to each other with the module shell, and opposite side and inboard opening of card haws, the outside of card haws links to each other with the module shell, the cavity that card haws inside formed just is the draw-in groove region, two leaf parts are gone up along circumference direction evenly to arrange two cornice structures, card haws and cornice structure are fan-shaped structure, just the radian of cornice structure is less than or equal to the radian of card haws.

Further, the anti-falling mechanism comprises a spring support column fixedly connected with the side wall of the module shell and a spring buckle arranged at the upper end of the spring support column, a spring is sleeved on the first boss, the lower end of the spring is supported by a step of the first boss, the spring buckle comprises a key arranged outside a circumferential area and a fan-shaped protruding block arranged in the circumferential area, a third through hole is arranged outside the circumferential area on the module shell, the circumferential area is provided with a fan-shaped through hole along the circumferential direction, the third through hole and the fan-shaped through hole are respectively arranged at one end of the same diameter in the circumferential direction, the key extends out of the third through hole, the fan-shaped protruding block extends out of the fan-shaped through hole, and the upper end of the spring is in butt with the key, and the fan-shaped protruding block is just the clamping end of the anti-falling mechanism.

Further, the edge of the circumference area is divided into six areas along the anticlockwise direction, the six areas are a first area, a second area, a third area, a fourth area, a fifth area and a sixth area in sequence, the two clamping haws are respectively located in the first area and the fourth area, the fan-shaped through holes are located in the third area, and after the two leaf parts are installed and fixed, the two cornice structures are respectively located in the second area and the fifth area.

Further, after the anti-falling modularized interface is in butt joint with another anti-falling modularized interface, a third area of the anti-falling modularized interface is matched with a sixth area of the other anti-falling modularized interface, a cavity area is formed between the third area of the anti-falling modularized interface and the sixth area of the other anti-falling modularized interface, and a fan-shaped protruding block of the anti-falling modularized interface is located in the cavity area after protruding from the fan-shaped through hole.

Further, the swing module further comprises a second driving device positioned between the fixed seat and the swing cover, and the output end of the second driving device is connected with the swing cover.

Further, the swinging cover comprises a surface shell positioned at the top end, the left end and the right end of the surface shell tilt towards the same side face, the left end and the right end of the surface shell are respectively provided with a first ear structure and a second ear structure, the first ear structure and the second ear structure are perpendicular to the plane where the surface shell is positioned, the first ear structure or the second ear structure is connected with the output end of the second driving device, and the second driving device is arranged on the fixing seat.

Further, a plurality of third reinforcing ribs are arranged on the inner sides of the first ear structure and the second ear structure, and a channel capable of accommodating a power line and a signal line is formed between the third reinforcing ribs.

The beneficial effects are that: according to the invention, the annular rolling robot is formed by sequentially connecting a plurality of swing modules end to end, and the swing modules are connected through anti-falling modularized interfaces. The robot can realize the whole rolling forward of the robot, overcomes the defect that the traditional walking robot can only climb, creep, walk and other moving modes, overcomes the defect that the traditional wheel type mobile robot can only move on a smooth hard road, can be suitable for various narrow uneven roads, and can be widely applied to the technical field of robots.

Drawings

FIG. 1 is an assembly view of an embodiment of the present invention;

FIG. 2 is an assembly view of a swing module;

FIG. 3 is an exploded view of the swing module;

FIG. 4 is an isometric view of a swing cover;

FIG. 5 is an isometric view of a holder;

FIG. 6 is a schematic view of a third stiffener of the second ear structure;

FIG. 7 is a top view of the swing cover;

FIG. 8 is a schematic view of a third stiffener of the first ear structure;

FIG. 9 is a front view of an anti-walk out modular interface;

FIG. 10 is an isometric view of an anti-walk-out modular interface;

FIG. 11 is a cross-sectional view of an anti-walk-out modular interface;

FIG. 12 is a front view of an anti-walk out modular interface;

FIG. 13 is an isometric view of a two-leaf part;

fig. 14 is a front view of an anti-walk out modular interface.

Reference numerals: 2. a swing module; 25. a swing cover; 26. a fixing seat; 27. a second driving device; 251. a first ear structure; 252. a second ear structure; 411. clamping falcon; 412. a first pit; 413. a second pit; 414. a first through hole; 415. a fan-shaped through hole; 416. a third through hole; 421. a spring support column; 422. a spring; 423. a key; 424. a fan-shaped protruding block; 431. two leaf parts; 432. a stepped hole; 433. a second through hole; 434. triangular pits; 441. a first region; 442. a second region; 443. a third region; 444. a fourth region; 445. a fifth region; 446. and a sixth region.

Detailed Description

The invention is further described below with reference to fig. 1 to 14.

A modularized annular rolling robot comprises a plurality of swinging modules 2 which are connected end to form an annular structure, wherein the number of the swinging modules 2 in the embodiment is eight. The swing module 2 comprises a fixed seat 26, a swing cover 25 and a second driving device 27 positioned between the fixed seat 26 and the swing cover 25, the swing cover 25 is connected with the output end of the second driving device 27, and the swing cover 25 is positioned above the fixed seat 26. The top of the swinging cover 25 and the bottom of the fixed seat 26 are respectively provided with an anti-falling modularized interface, and the top of the swinging cover 25 of each swinging module 2 is connected with the anti-falling modularized interface of the bottom of the fixed seat 26 of the adjacent swinging module through the anti-falling modularized interfaces.

Further, the anti-falling modularized interface is arranged on a module shell, a region and at least one through hole are arranged on the module shell, the region is a circumferential region with the diameter of 30mm, and the circumferential region is an interface base. The interface base is provided with a butt joint buckle and two clamping haws 411 with the same structure, the clamping haws 411 are uniformly arranged along the circumferential direction at the edge of the interface base, and the clamping haws 411 are respectively arranged in a first area 441 and a fourth area 444. The clamping falcon 411 is in a fan shape, and the corresponding central angle is 60 degrees. On the clockwise path, the first reinforcing rib connected with the housing is arranged on the left side of the clamping falcon 411, so that the rigidity of the clamping falcon can be improved. The right and inner sides of the clamping tongue are open, the outer side is connected with the module shell, and the clamping tongue 411 forms a clamping groove area inside. The docking clasp includes a two-leaf part 431, and two cornice structures are disposed on the two-leaf part 431. When the two anti-falling modularized interfaces A and B are in butt joint, the clamping groove area of the anti-falling modularized interface A can be used for screwing in the cornice structure of the anti-falling modularized interface B, and the clamping end of the anti-falling mechanism extends out of the through hole of the module shell.

The first ribs are located at one end of the same diameter, the first rib of the first region 441 is located at a side close to the sixth region 446, and the first rib of the fourth region 444 is located at a side close to the third region 443.

Further, the clamping tenon 411 has at least one first pit 412 on the upper surface, and the first pit 412 is a spherical pit. In this embodiment, there are two first pits 412, and the number of the first pits 412 may be changed as needed. On the interface base along a clockwise path, there are arranged the same number of second recesses 413 as the first recesses 412 in the second region 442 and the fifth region 445, respectively, for positioning beads. During docking, the second recess 413 of the anti-back out modular interface a is correspondingly matched with the first recess 412 of the anti-back out modular interface b. If the number of the first pits 412 and the second pits 413 is two or more, the distance between the two adjacent second pits 413 in the same area is equal to the distance between the two adjacent first pits 412, and each second pit 413 and each first pit 412 are on the same circumference. After the first and second anti-falling modularized interfaces are in butt joint and matched, the positioning beads of the second concave pit 413 of the first anti-falling modularized interface can be just embedded into the first concave pit 412 of the second anti-falling modularized interface, so that the assembly accurate positioning of the two anti-falling modularized interfaces is realized.

Further, the two cornice structures are uniformly arranged at the edges of the two-leaf part 431 along the circumferential direction, and the cornice structures are fan-shaped structures, and the corresponding central angle is 60 degrees. One surface of the cornice structure is flush with one surface of the two-leaf part 431 back to the module shell, and a second reinforcing rib is arranged on the other surface of the cornice structure. And the second reinforcing rib is positioned at the left side of the cornice structure along the clockwise direction of the circumference, and can improve the rigidity of the cornice structure. Each of the second reinforcing ribs is located at two ends of the same diameter, the second reinforcing rib of the second region 442 is located at a side close to the first region 441, and the second reinforcing rib of the fifth region 445 is located at a side close to the fourth region 4442.

And the whole thickness of cornice structure is less than or equal to the inside half of height of draw-in groove district, consequently in the butt joint in-process of anti-escape modularization interface A, B, the cornice of anti-escape modularization interface A structure just can imbed the draw-in groove district of anti-escape modularization interface B just, can realize the cooperation chucking of A, B, and the first strengthening rib structure of anti-escape modularization interface A card falcon 411 has still played the locate function to anti-escape modularization interface B cornice structure this moment. The two-leaf part 431 is uniformly provided with 4 stepped holes 432 along the circumferential direction, the two-leaf part 431 is in screw connection with the interface base through the stepped holes 432, and the two-leaf part 431 and the interface base are in a concentric shaft arrangement mode. After the two-leaf part 431 is fixedly connected with the interface base, the two cornice structures are respectively located in the second area 442 and the fifth area 445, and the second pit 413 and the two cornice structures are respectively located at one end of the same diameter in the circumferential direction. The thickness of the cornice structure includes the size of the second reinforcing ribs. The radian of the cornice structure is less than or equal to the radian of the clamping falcon 411.

Further, a first through hole 414 is arranged in the center of the interface base, and the first through hole 414 is a circular through hole. The two-leaf part 431 is provided with 3 second through holes 433, and the second through holes 433 have the same shape and size and are all round through holes. The length of the second through hole 443 is greater than the thickness of the two-leaf part, the end face of the second through hole 433 is flush with the surface of the two-leaf part 431 on the surface of the two-leaf part 431 opposite to the module shell, and the end face of the second through hole 433 is higher than the surface of the two-leaf part on the surface of the two-leaf part 431 opposite to the module shell. The included angle between the straight line formed by the arrangement of the second through holes 433 and the symmetry axis of the plane graph of the two-leaf part 431 is larger than 0 degrees, and each second through hole 433 can be provided with a spring needle. The spring pins are welded with the power supply line and the communication line passing through the first through holes 414, and the spring pins in the three second through holes 433 are in one-to-one correspondence with the fire wire, the ground wire and the signal wire. A triangular pit 434 is arranged on the surface of the two-leaf part 431, which is opposite to the module shell, a second through hole 433 close to the triangular pit 434 is used for placing a spring needle welded with a signal wire, the triangular pit 434 is used as a mark of the signal wire to prevent the error of line installation, so that after mechanical connection is completed by matching the anti-falling modularized interfaces A and B, the spring needles on the two interfaces can be in one-to-one alignment contact through the three second through holes 433, successful power supply and communication connection are realized, and synchronous completion of the communication connection and the mechanical connection is ensured. The signal line is a communication line.

Further, the anti-disengagement modular interface further comprises an anti-disengagement mechanism comprising a spring support post 421 and a spring catch. The lower extreme of spring support column 421 passes through screw fixed connection with the lateral wall of module shell, and the upper end of spring support column is first boss, and the cover has a spring 422 on the first boss, the lower extreme of spring 422 is by the step of first boss withstands. The spring buckle comprises a key 423 positioned outside the circumferential area and a fan-shaped lug 424 positioned inside the circumferential area, the key 423 extends out of the third through hole 416, the fan-shaped lug 424 extends out of the fan-shaped through hole 415, and the upper end of the spring 422 is abutted against the key 423. The third through-hole cloth 416 is arranged outside the circular area on the module housing, and the fan-shaped through-hole 415 is arranged on the interface base. The key 423 is supported by a spring 422 and extends out of the third through hole 416 on the module housing, the fan-shaped protruding block 424 extends out of the fan-shaped through hole 415, and the spring buckle cannot be separated from the fan-shaped through hole 415 and the third through hole 416 due to the limiting effect of the module housing. The fan-shaped lug 424 can block the separation of the anti-falling modularized interfaces A and B, and the fan-shaped lug 424 can be regarded as a clamping end with an anti-falling function.

The concrete working mode of the anti-falling mechanism is that the fan-shaped convex block of the anti-falling modularized interface A blocks the falcon of the anti-falling modularized interface B from rotating out anticlockwise, and correspondingly, the fan-shaped convex block of the anti-falling modularized interface B blocks the falcon of the anti-falling modularized interface A from rotating out anticlockwise; when the key 423 is pressed, the spring 422 is compressed, the fan-shaped protruding block 424 descends to the position flush with the upper surface of the interface base, at the moment, the anti-falling modularized interface A is not moved, and the connection and separation can be realized by rotating the anti-falling modularized interface B anticlockwise. Through the analysis of the structure and the connection mode of the anti-falling modularized interface, the interface can be connected more stably due to the design of the anti-falling mechanism.

The aforementioned first, second, third, fourth, fifth and

sixth regions

441, 442, 443, 444, 445 and 446 are six regions in which the edges of the circumferential region are divided in the counterclockwise direction in this order. The two fastening pins 411 are respectively located in a first area 441 and a fourth area 444, the fan-shaped through hole 415 is located in a third area 443, and after the two-leaf part 431 is installed and fixed, the two cornice structures are respectively located in a second area 442 and a fifth area 445.

Further, after the anti-falling modularized interface a is in butt joint with the anti-falling modularized interface b, the third area 443 of the anti-falling modularized interface a is matched with the sixth area 446 of the anti-falling modularized interface b, and a cavity area is formed between the third area 443 of the anti-falling modularized interface a and the sixth area 446 of the anti-falling modularized interface b. The fan-shaped lug 424 of the anti-falling modularized interface A is positioned in the cavity area after protruding from the fan-shaped through hole 415, and the fan-shaped lug 424 has a clamping effect.

Further, the swing cover 25 includes a top surface shell, the left and right ends of the top surface shell tilt towards the same side, and the left and right ends of the top surface shell are respectively provided with a first ear structure 251 and a second ear structure 252, and the first ear structure 251 and the second ear structure 252 are perpendicular to the plane of the top surface shell and are in symmetrical positions. In this embodiment, the output shaft of the second driving device 27 protrudes from the first end surface, and the first ear structure 251 is fixedly connected to the end surface of the output shaft through four screws. A fourth through hole is arranged in the center of the second ear structure 252, and a screw penetrates through the fourth through hole, and the second ear structure 252 is connected with a second end surface of the second driving device 27, and the second end surface and the first end surface are two opposite end surfaces. When the second driving device 27 outputs torque, the output shaft drives the first ear structure 251 to swing, and the second ear structure 252 rotates with the screw as a rotation shaft, so as to realize the swinging function of the swinging cover 25.

Further, the inner sides of the first ear structure 251 and the second ear structure 252 are respectively provided with a plurality of third reinforcing ribs, each third reinforcing rib not only has a reinforcing effect on the structure, but also is provided with a channel for placing a power line and a signal line, so that the circuit can be prevented from being exposed outside the shell, and the aesthetic degree of the modularized structure is improved.

Further, the holder 26 comprises a bottom shell and a rail arranged along an edge of the bottom shell, a region formed by the rail and the bottom shell being usable for accommodating the second driving device 27, and the anti-disengagement modular interface being arranged on the bottom shell.

The module housing of each anti-falling modularized interface is a fixed seat 26 and a swinging cover 25, and the anti-falling modularized interface and the fixed seat 26, the anti-falling modularized interface and the swinging cover 25 can be of an integral structure or a separated structure, and in this embodiment, all the modules adopt an integral structure.

The working implementation of the robot is further described with reference to fig. 1:

1. when the modularized annular rolling robot is about to roll anticlockwise, the swinging cover can swing from the swinging module at the bottom to the annular outer side direction in sequence clockwise, so that anticlockwise rolling of the modularized annular rolling robot can be realized;

2. when the modularized annular rolling robot is about to roll clockwise, the swinging cover can swing from the swinging module at the bottom to the annular inner side in a counterclockwise sequence, so that the modularized annular rolling robot can roll clockwise.

According to the robot, the robot can roll and advance like wheels, the defect that the existing wheel type mobile robot can only move on a flat hard road is overcome, and the robot can be suitable for various narrow and uneven roads.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.

Claims

1. A modular annular rolling robot, characterized in that: the swing cover comprises a plurality of swing modules (2) which are connected end to form an annular structure, wherein the top end of a swing cover (25) of each swing module (2) is connected with an anti-falling modularized interface at the bottom end of a fixed seat (26) of the adjacent swing module through the anti-falling modularized interface; the anti-falling modularized interface comprises a module shell, an anti-falling mechanism arranged on the module shell and a butt joint buckle arranged on the module shell, wherein a region and a plurality of through holes are arranged on the module shell, at least one clamping tenon (411) is arranged in the region, the butt joint buckle comprises two leaf parts (431), at least one cornice structure is arranged on the two leaf parts (431), a clamping groove region is arranged in the clamping tenon (411), the cornice structure of the other anti-falling modularized interface can be clamped in by the clamping groove region of the anti-falling modularized interface, and meanwhile, the clamping end of the anti-falling mechanism extends out of the through hole of the module shell; the area is the circumference area, two card hawks (411) are evenly arranged along circumference direction in circumference area edge, on following clockwise route, first strengthening rib has been arranged to one side of card hawk (411), first strengthening rib links to each other with the module shell, and opposite side and inboard opening of card hawk (411), the outside of card hawk (411) links to each other with the module shell, the cavity that card hawk (411) inside formed is just the draw-in groove area, evenly arrange two cornice structures along circumference direction on two leaf parts (431), card hawk (411) and cornice structure are fan-shaped structure, just the radian of cornice structure is less than or equal to the radian of card hawk (411), card hawk (411) upper surface has at least one first pit (412), first pit (412) are spherical pit.

2. A modular annular rolling robot as claimed in claim 1, wherein: the anti-disengagement mechanism comprises a spring support column (421) fixedly connected with the side wall of the module shell and a spring buckle arranged at the upper end of the spring support column (421), wherein the upper end of the spring support column (421) is a first boss, a spring (422) is sleeved on the first boss, the lower end of the spring (422) is propped against a step of the first boss, the spring buckle comprises a key (423) arranged outside a circumferential area and a fan-shaped lug (424) arranged in the circumferential area, a third through hole (416) is arranged outside the circumferential area on the module shell, the circumferential area is provided with a fan-shaped through hole (415) along the circumferential direction, the third through hole (416) and the fan-shaped through hole (415) are respectively arranged at one end of the same diameter, the key (423) stretches out from the third through hole (416), the fan-shaped lug (424) stretches out from the fan-shaped through hole (415), and the upper end of the spring (422) is propped against the key (423), and the fan-shaped lug (424) is just the end of the anti-disengagement mechanism.

3. A modular annular rolling robot according to claim 2, characterized in that: the edge of the circumference area is divided into six areas along the anticlockwise direction, namely a first area (441), a second area (442), a third area (443), a fourth area (444), a fifth area (445) and a sixth area (446), the two clamping haws (411) are respectively located in the first area (441) and the fourth area (444), the fan-shaped through holes (415) are located in the third area (443), and after the two-leaf part (431) is installed and fixed, the two cornice structures are respectively located in the second area (442) and the fifth area (445).

4. A modular annular rolling robot according to claim 3, characterized in that: after the anti-falling modularized interface is in butt joint with the other anti-falling modularized interface, a third area (443) of the anti-falling modularized interface is matched with a sixth area (446) of the other anti-falling modularized interface, a cavity area is formed between the third area (443) of the anti-falling modularized interface and the sixth area (446) of the other anti-falling modularized interface, and a fan-shaped lug (424) of the anti-falling modularized interface is located in the cavity area after extending out of the fan-shaped through hole (415).

5. A modular annular rolling robot as claimed in claim 4, wherein: the swing module (2) further comprises a second driving device (27) positioned between the fixed seat (26) and the swing cover (25), and the output end of the second driving device (27) is connected with the swing cover (25).

6. A modular annular rolling robot as claimed in claim 5, wherein: the swinging cover (25) comprises a surface shell positioned at the top end, the left end and the right end of the surface shell tilt towards the same side face, a first ear structure (251) and a second ear structure (252) are respectively arranged at the left end and the right end of the surface shell, the first ear structure (251) and the second ear structure (252) are perpendicular to the plane where the surface shell is positioned, the first ear structure (251) or the second ear structure (252) is connected with the output end of the second driving device (27), and the second driving device (27) is installed on the fixing seat (26).

7. A modular annular rolling robot as claimed in claim 6, wherein: a plurality of third reinforcing ribs are arranged on the inner sides of the first ear structure (251) and the second ear structure (252), and channels capable of accommodating power lines and signal lines are formed between the third reinforcing ribs.