CN108372499A - Spatial cell robot via Self-reconfiguration cradle head module - Google Patents
Spatial cell robot via Self-reconfiguration cradle head module Download PDFInfo
- Publication number
- CN108372499A CN108372499A CN201810459614.4A CN201810459614A CN108372499A CN 108372499 A CN108372499 A CN 108372499A CN 201810459614 A CN201810459614 A CN 201810459614A CN 108372499 A CN108372499 A CN 108372499A
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- robot
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- end surface
- rotation
- connecting end
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- 241000239290 Araneae Species 0.000 claims abstract description 6
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 239000000203 mixture Substances 0.000 abstract description 4
- 230000009977 dual effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses spatial cell robot via Self-reconfiguration cradle head modules, are mainly used for aerospace field, by being rotated up and down shell, cover board, worm and gear, bearing, bearing spider, connecting end surface, connection turntable, the compositions such as motor.Four faces can be connected the module with connecting end surface up and down, realize the dual rotation formula of 180 swings or 360 rotations, module each side has one piece of folded sheet, when the robot module connected needs 180 swing, connecting plate is in the open state, connecting end surface can be connect by bolt with connecting plate, realize 180 swing；When the robot module connected needs 360 rotation, connecting plate is in folded state, and the robot module connected can realize 360 rotation by being connect with the connecting end surface being rotated up and down on housing cover；The robot module of different function and the connecting end surface of different directions are connected with each other, and the different motion mode of spatial cell robot and function may be implemented.
Description
Technical field：
The present invention relates to a kind of spatial cell robot via Self-reconfiguration cradle head modules, belong to robotic technology field.
Background technology：
Modularized self-reorganization robot is the new branch of science that robot research field is risen in recent years, is that current robot is ground
The hot spot studied carefully.It is also constantly carried with development, the requirement to the function and adaptive capacity to environment of robot with advances in technology
Height, traditional robot are difficult to work under complex environment, and to adapt to complex environment, robot starts to modular
Direction is developed.The unit module that modularized self-reorganization robot can be combined arbitrarily by several forms, and each unit module has
Unified connecting end surface, by the way that the module of different function to be connected with each other, to realize different motion modes and function.
Invention content：
The invention discloses spatial cell robot via Self-reconfiguration cradle head modules, are mainly used for aerospace field.Basic skill
Art scheme is：Spatial cell robot via Self-reconfiguration cradle head module is by upper rotation shell, lower shell of revolution body, cover board, worm gear snail
Bar, bearing, bearing spider, connecting end surface connect turntable, motor, the compositions such as motor support base.The left and right ends connection of worm screw rolls
Bearing is simultaneously fixed on bearing spider, can be rotated by the driving of motor.Worm gear is connected with one end of rotary shaft, fixed
In upper rotation shell, the other end of rotary shaft is connected by connecting turntable with lower shell of revolution body, and worm screw drives worm gear rotation, can
To drive the rotation of lower shell of revolution body different angle.Spatial cell robot via Self-reconfiguration cradle head module, four up and down
Face can be connected with connecting end surface, and the dual rotation formula of 180 swings or 360 rotations, a left side for module may be implemented
Respectively there are one piece of folded sheet in right both sides, and when the robot module connected needs 180 swing, connecting plate is in the open state,
Connecting end surface can be connect by bolt with connecting plate, realize 180 swing, when the robot module connected needs 360
Rotation when, connecting plate is in folded state, the robot module connected can by be rotated up and down on housing cover
Connecting end surface connects, and realizes 360 rotation, therefore the robot module of different function and the connecting end surface of different directions are mutual
Connection, may be implemented the different motion mode of spatial cell robot and function.
The advantage of the invention is that：
1. the multiple combinations of different function robot module may be implemented in the present invention, the flexible of self-reorganization robot movement is improved
Property and to environment adapt to ability.
2. dual rotation formula is integrated into a self-reorganization robot module by the present invention, module can be realized simultaneously
Swing and rotation function.
3. the present invention is driven using worm and gear, with good self-locking performance, ensure that module work process
In safety and stability.
Description of the drawings：
Mechanism is further illustrated below in conjunction with the accompanying drawings.
Attached drawing 1：Spatial cell robot via Self-reconfiguration cradle head module overall schematic
Attached drawing 2：Body diagram is rotated in spatial cell robot via Self-reconfiguration cradle head module
Attached drawing 3：Shell of revolution body schematic diagram under spatial cell robot via Self-reconfiguration cradle head module
Attached drawing 4：180 ° of swing schematic diagrames of spatial cell robot via Self-reconfiguration cradle head module
Attached drawing 5：360 ° of rotation schematic diagrames of spatial cell robot via Self-reconfiguration cradle head module
Attached drawing 6：A kind of embodiment of the present invention：The mechanical arm schematic diagram of cradle head module and link block composition
In figure：1 connecting end surface, 2 connection bolts, 3 folded sheets, 4 cover boards, 5 screws rotate shell on 6, and 7 time shell of revolution bodies, 8 is electric
Machine, 9 electric machine supports, 10 rolling bearings, 11 bearing spiders, 12 worm screws, 13 worm gears, 14 rotary shafts, 15 pinion gears, 16 gear wheels,
17 connection turntables, 18 bolts, 19 fastening nuts.
Specific implementation mode
Below in conjunction with the accompanying drawings, parts of the present invention and its correlation are illustrated.
Shown in overall structure of the present invention such as Fig. 1, Fig. 2 and Fig. 3, spatial cell robot via Self-reconfiguration cradle head module it is upper
Rotate shell（6）Main installation driving parts, motor（8）By with electric machine support（9）Connection is mounted on upper rotation shell（6）
In；Worm screw（12）Both ends connect rolling bearing（10）After be fixed on bearing spider（11）On, worm screw（12）It is therein after fixation
One end passes through flat key and gear wheel（16）It is connected；Motor（8）Output shaft and pinion gear（15）It is connected, pinion gear（15）By with
Gear wheel（16）Engagement, drive worm screw（12）It is rotated；Worm gear（13）It is fixed on rotary shaft（14）On, rotary shaft（14）Peace
Mounted in upper rotation shell（6）In, rotary shaft（14）With connect turntable（17）It is connected, connects turntable（17）Pass through bolt（18）Connection
In lower shell of revolution body, fastening nut is used in combination（19）Fastening, and then by upper rotation shell（6）With lower shell of revolution body（7）It is connected to
Together, worm screw（12）Drive worm gear（13）Lower shell of revolution body can be driven while rotation（7）Rotation；Folded sheet（3）It is connected to
The left and right sides of module, works as folded sheet（3）In the open state, connecting end surface（1）It can be by connecting bolt（2）With folding
Plate（3）It is connected, connecting end surface（1）After connecting different robot modules, the swing of robot module 180 may be implemented, such as
Shown in Fig. 4；Cover board（4）Pass through screw（5）It is connected to rotation shell（6）With lower shell of revolution body（7）End face on, and with connect
End face（1）It is connected, works as folded sheet（3）When in folded state, the rotary motion of robot module 360 may be implemented, such as scheme
Shown in 5.Fig. 6 is a kind of embodiment of the present invention, connecting end surface（1）After being connected with other Self-Reconfigurable Modules and manipulator, composition
Both can with 360 ° rotate, can also 180 ° swing mechanical arm schematic diagrames.
Working method of the present invention and work step are illustrated below.
Spatial cell robot via Self-reconfiguration cradle head module passes through motor（8）Driving, motor（8）Output shaft and pinion gear
（15）It is connected, pinion gear（15）Rotation drives gear wheel（16）Rotation, and then drive and gear wheel（16）The worm screw being connected
（12）Rotation, worm screw（12）With worm gear（13）Engagement, worm gear（13）With rotary shaft（14）It is connected, rotary shaft（14）Turned by connection
Disk（17）With lower shell of revolution body（7）It is connected, worm gear（13）Rotation drives rotary shaft（14）Rotation, and then drive lower shell of revolution body
（7）The rotation of self-reorganization robot module is realized in rotation；When the robot module connected needs to carry out 180 swing,
Folded sheet at left and right sides of spatial cell robot via Self-reconfiguration cradle head module（3）It is in the open state, the connection after opening
Plate can be with connecting end surface（1）It is connected, connecting end surface（1）After connecting the robot module swung, motor（8）Start and drives
Worm gear（13）Worm screw（12）Rotation, and then realize 180 swing；When the robot module connected needs the rotation of progress 360
When turning, connected robot module can be with two side cover plate up and down of rotation shell（4）On connecting end surface（1）It is connected, this
When module at left and right sides of folded sheet（3）In folded state, avoid interfering when 360 rotate, and then realize 360
Rotation.
Claims (1)
1. spatial cell robot via Self-reconfiguration cradle head module, upper rotation shell（6）Main installation driving parts, motor（8）
By with electric machine support（9）Connection is mounted on upper rotation shell（6）In；Worm screw（12）Both ends connect rolling bearing（10）It is solid afterwards
It is scheduled on bearing spider（11）On, worm screw（12）One end therein passes through flat key and gear wheel after fixation（16）It is connected；Motor（8）'s
Output shaft and pinion gear（15）It is connected, pinion gear（15）By with gear wheel（16）Engagement, drive worm screw（12）It is rotated；
Worm gear（13）It is fixed on rotary shaft（14）On, rotary shaft（14）Mounted on upper rotation shell（6）In, rotary shaft（14）Turn with connecting
Disk（17）It is connected, connects turntable（17）Pass through bolt（18）It is connected in lower shell of revolution body, fastening bolt is used in combination（19）Fastening, into
And by upper rotation shell（6）With lower shell of revolution body（7）It links together, worm screw（12）Drive worm gear（13）It can be with while rotation
Drive lower shell of revolution body（7）Rotation；It is characterized in that：Folded sheet（3）It is connected to the left and right sides of module, works as folded sheet（3）Place
When opening state, connecting end surface（1）It can be by connecting bolt（2）With folded sheet（3）It is connected, connecting end surface（1）Connection
After different robot modules, the swing of robot module 180 may be implemented；Cover board（4）Pass through screw（5）It is connected to rotation
Transcapsidation body（6）With lower shell of revolution body（7）End face on, and and connecting end surface（1）It is connected, works as folded sheet（3）In rugosity
When state, the rotary motion of robot module 360 may be implemented.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810459614.4A CN108372499B (en) | 2018-05-15 | 2018-05-15 | Space cell robot self-reconstruction rotary joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810459614.4A CN108372499B (en) | 2018-05-15 | 2018-05-15 | Space cell robot self-reconstruction rotary joint module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108372499A true CN108372499A (en) | 2018-08-07 |
| CN108372499B CN108372499B (en) | 2024-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810459614.4A Active CN108372499B (en) | 2018-05-15 | 2018-05-15 | Space cell robot self-reconstruction rotary joint module |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890635A (en) * | 2018-09-20 | 2018-11-27 | 哈尔滨理工大学 | A kind of interstitial cell being bi-directionally connected for spatial cell robot |
| CN109015614A (en) * | 2018-09-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of spatial cell robot for the in-orbit assembling of truss |
| CN109227598A (en) * | 2018-11-27 | 2019-01-18 | 福州大学 | Reconfigurable modular robot bindiny mechanism and connection method |
| CN110524529A (en) * | 2018-11-16 | 2019-12-03 | 南京工程学院 | The isomorphism type Automatic Link Establishment of self-reorganization robot multidigit connection can be achieved |
| CN113184232A (en) * | 2021-05-18 | 2021-07-30 | 哈尔滨理工大学 | Unit module of space cell robot reconstruction platform |
| CN114460950A (en) * | 2021-05-31 | 2022-05-10 | 哈尔滨工业大学（威海） | Self-reconstruction cytostella device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890635A (en) * | 2018-09-20 | 2018-11-27 | 哈尔滨理工大学 | A kind of interstitial cell being bi-directionally connected for spatial cell robot |
| CN109015614A (en) * | 2018-09-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of spatial cell robot for the in-orbit assembling of truss |
| CN110524529A (en) * | 2018-11-16 | 2019-12-03 | 南京工程学院 | The isomorphism type Automatic Link Establishment of self-reorganization robot multidigit connection can be achieved |
| CN110524529B (en) * | 2018-11-16 | 2022-09-20 | 南京工程学院 | Method for realizing multi-position connection of self-reconfigurable robot |
| CN109227598A (en) * | 2018-11-27 | 2019-01-18 | 福州大学 | Reconfigurable modular robot bindiny mechanism and connection method |
| CN109227598B (en) * | 2018-11-27 | 2024-01-30 | 福州大学 | Reconfigurable modularized robot connecting mechanism and connecting method |
| CN113184232A (en) * | 2021-05-18 | 2021-07-30 | 哈尔滨理工大学 | Unit module of space cell robot reconstruction platform |
| CN113184232B (en) * | 2021-05-18 | 2022-01-11 | 哈尔滨理工大学 | Unit module of space cell robot reconstruction platform |
| CN114460950A (en) * | 2021-05-31 | 2022-05-10 | 哈尔滨工业大学（威海） | Self-reconstruction cytostella device |
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| CN108372499B (en) | 2024-02-27 |
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