CN109015618A - A kind of interstitial cell for spatial cell robot - Google Patents
A kind of interstitial cell for spatial cell robot Download PDFInfo
- Publication number
- CN109015618A CN109015618A CN201811097757.1A CN201811097757A CN109015618A CN 109015618 A CN109015618 A CN 109015618A CN 201811097757 A CN201811097757 A CN 201811097757A CN 109015618 A CN109015618 A CN 109015618A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- bevel gear
- cell
- cam
- groove
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000002570 interstitial cell Anatomy 0.000 title claims abstract description 28
- 210000004027 cell Anatomy 0.000 title claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 239000000203 mixture Substances 0.000 claims abstract description 5
- 238000000819 phase cycle Methods 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000013016 damping Methods 0.000 claims description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 206010037660 Pyrexia Diseases 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 210000002706 plastid Anatomy 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 210000001519 tissue Anatomy 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
- 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
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of interstitial cells for spatial cell robot, by servo motor, L-type plate, support plate, transmission shaft, cam, incomplete bevel gear, cross guide rail, sliding block, guide rail strut, spring, groove bevel gear, cover board, holding screw, joint face, boss composition.Servo motor is the power plant of interstitial cell, thus it is possible to vary its energization phase sequence, the connection disconnection between cell provide power；Cam is in contact with cross guide rail surface, and sliding block is connected with guide rail strut constitutes guide assembly, and cam rotation can drive cross guide rail to move forward, while guide assembly being driven to move in a straight line.Guide rail strut is tangent with the sinusoidal groove on groove bevel gear always, by the rotation of groove bevel gear, guide assembly can be driven to move radially.Support plate and each cover board collectively form the hexahedron configuration of interstitial cell by holding screw；Joint face is connected by boss with each cover board, and the joint face mechanism of interstitial cell is collectively formed.
Description
Technical field
The present invention relates to a kind of interstitial cells for spatial cell robot.
Background technique
Interstitial cell used by existing spatial cell robot system mainly has electromagnetic type, memory to close both at home and abroad at present
Golden formula and mechanical: electromagnetic type interstitial cell volume is big, anti-shear ability is poor, and fever is big, and is difficult to reconstruct in magnetic environment
And movement；Memorial alloy formula is although small in size, but it is big to consume energy, it is difficult to adapt to the self-powered condition of module；And mechanically by ring
Border influence is smaller, consumes energy lower, while having preferable coupling stiffness and higher reliability.And mechanically there is pin shaft
The forms such as formula, Alcula type and nylon hasp-type, but the systems compatibility of these three connection types is poor, and processing is complex,
The via Self-reconfiguration of cellular machineries people is not utilized.
Summary of the invention
The object of the present invention is to provide a kind of interstitial cells for spatial cell robot.
Basic technical scheme is: the interstitial cell of spatial cell robot is by servo motor, L-type plate, support plate, transmission
Axis, cam, incomplete bevel gear, cross guide rail, sliding block, guide rail strut, spring, groove bevel gear, side cover plate, upper cover plate, under
Cover board, holding screw, joint face, boss composition.Servo motor is connected by L-type plate with support plate, the source as interstitial cell
Power device.Transmission shaft is connected with servo motor, and cam and incomplete bevel gear are co-axially mounted, by changing the logical of servo motor
Electric phase sequence, the connection disconnection between cell provide power.Cam is in contact with cross guide rail surface, is rotated by cam, drives
Dynamic cross guide rail moves forward.Sliding block is connected with guide rail strut constitutes guide assembly, and guide rail strut is mounted on cross guide rail sliding slot
In, cross guide rail can drive guide assembly to move in a straight line.Spring is mounted between support plate and cross guide rail, in guide assembly
Play limit damping in movement.Groove bevel gear is installed on the supporting plate, by the sinusoidal groove on groove bevel gear,
Guide rail strut is tangent with sinusoidal groove always, by the rotation of groove bevel gear, guide assembly can be driven to move radially.Support
Plate, side cover plate, upper cover plate and lower cover plate collectively form the hexahedron configuration of interstitial cell by holding screw.Joint face passes through
Boss is connected with each cover board, collectively forms the joint face mechanism of interstitial cell.
The beneficial effects of the present invention are:
1. cell uses the configuration scheme of regular hexahedron, the mobile tissue of tandem can be not only formed with other function cell,
Parallel mobile mechanism can be formed again, increase the flexibility and complexity of movement.
2. joint face used by cell, structure snd size having the same are both active joint face and passively connect
Junction is very suitable for modular processing and manufacturing, reduces production cost.
3. a kind of cell innovative design cubic card slot type structure of single-degree-of-freedom, can guarantee between joint face can
By connection and flexible release, the interchangeability and adaptability of spatial cell robot have been given full play to.
Detailed description of the invention
This cell is further illustrated with reference to the accompanying drawing.
Attached drawing 1: the interstitial cell overall schematic of spatial cell robot
Attached drawing 2: the interstitial cell partial enlarged view of spatial cell robot
Attached drawing 3: the interstitial cell connection schematic diagram of spatial cell robot
In figure: 1 servo motor, 2 L-type plates, 3 support plates, 4 transmission shafts, 5 cams, 6 incomplete bevel gears, 7 cross guide rails, 8 is sliding
Block, 9 guide rail struts, 10 springs, 11 groove bevel gears, 12 side cover plates, 13 upper cover plates, 14 lower cover plates, 15 holding screws, 16 connections
Face, 17 boss.
Specific embodiment
The following is further explained with reference to the attached drawings specific structure and embodiment of the invention.
Structure composition of the invention as shown in Figure 1, Figure 2 and Figure 3.The interstitial cell of spatial cell robot is by servo motor
(1), L-type plate (2), support plate (3), transmission shaft (4), cam (5), incomplete bevel gear (6), cross guide rail (7), sliding block (8),
Guide rail strut (9), spring (10), groove bevel gear (11), side cover plate (12), upper cover plate (13), lower cover plate (14), holding screw
(15), joint face (16), boss (17) composition.Servo motor (1) is connected by L-type plate (2) with support plate (3), as interstitial
The power plant of cell.Transmission shaft (4) is connected with servo motor (1), and cam (5) and incomplete bevel gear (6) are co-axially mounted,
By changing the energization phase sequence of servo motor (1), the connection disconnection between cell provides power.Cam (5) and cross guide rail
(7) surface is in contact, and is rotated by cam (5), and driving cross guide rail (7) moves forward.Sliding block (8) and guide rail strut (9) phase
Guide assembly is even constituted, guide rail strut (9) is mounted in cross guide rail (7) sliding slot, and cross guide rail (7) can drive guide assembly to do
Linear motion.Spring (10) is mounted between support plate (3) and cross guide rail (7), plays limit damping in guide assembly movement
Effect.Groove bevel gear (11) is mounted on support plate (3), by the sinusoidal groove on groove bevel gear (11), guide rail
Strut (9) is tangent with sinusoidal groove always, by the rotation of groove bevel gear (11), guide assembly can be driven to move radially.
Support plate (3), side cover plate (12), upper cover plate (13) and lower cover plate (14) collectively form interstitial cell by holding screw (15)
Hexahedron configuration.Joint face (16) is connected by boss (17) with each cover board, and the joint face (16) of interstitial cell is collectively formed
Mechanism.
The course of work of the present invention is as follows:
When work, servo motor (1) drives a pair of cams (5) being mounted on transmission shaft (4) and incomplete bevel gear (6) first
It rotates synchronously, four groups of guide rail groups that cam (5) pushes the cross guide rail (7) of front end and is mounted in cross guide rail (7) sliding slot
Part moves forward, and limit damping is played the role of in spring (10) constantly compression in moving process.When guide assembly is moved to centainly
Apart from when, cam (5) switchs to stop area by working region, at this time interstitial cell complete linear drives work.Then when endless
When the toothed portion of full bevel gear (6) and groove bevel gear (11) are intermeshed, interstitial cell starts turning driving work, in ditch
Under the drive of slot bevel gear (11), four groups of guide assemblies are moved radially along the groove of joint face (16)；When guide rail strut (9) reach
When the terminal position of groove bevel gear (11) sinusoidal groove, sliding block (8) is embedded into the card slot of another interstitial cell, between completion
Locking between cell plastid connects work.Finally when joint face (16) needs to disconnect, servo motor (1) reversion bores tooth in groove
Under the drive for taking turns (11), four groups of guide assemblies are drawn close along the radial groove of joint face (16) to joint face (16) center, are arrived
Up to after the beginning position of sinusoidal groove；Under collective effect of cam (5) and spring (10), four groups of guide assemblies are from joint face
(16) it is retracted other than, returns to initial position, the separation completed between interstitial cell disconnects work.
Claims (1)
1. a kind of interstitial cell for spatial cell robot, by servo motor, L-type plate, support plate, transmission shaft, cam, no
Complete bevel gear, cross guide rail, sliding block, guide rail strut, spring, groove bevel gear, side cover plate, upper cover plate, lower cover plate, clamp screw
Nail, joint face, boss composition, it is characterised in that: servo motor is connected by L-type plate with support plate, the source as interstitial cell
Power device；Transmission shaft is connected with servo motor, and cam and incomplete bevel gear are co-axially mounted, by changing the logical of servo motor
Electric phase sequence, the connection disconnection between cell provide power；Cam is in contact with cross guide rail surface, is rotated by cam, drives
Dynamic cross guide rail moves forward；Sliding block is connected with guide rail strut constitutes guide assembly, and guide rail strut is mounted on cross guide rail sliding slot
In, cross guide rail can drive guide assembly to move in a straight line；Spring is mounted between support plate and cross guide rail, and guide assembly is made
When linear motion, cam is in contact with cross guide rail always and spring is used as the damping system of mechanism always, ensure that movement
Stationarity；Groove bevel gear is installed on the supporting plate, and the sinusoid groove being distributed on groove bevel gear makes guide assembly always
It is tangent with groove face, it drives guide assembly synchronization to move radially while groove bevel gear rotates along groove, comes between implementation mechanism
Be connected and disconnected from movement, the redundancy and robustness of this movement ensure that the reliability of connection；Support plate, side cover plate, on
Cover board and lower cover plate collectively form the hexahedron configuration of interstitial cell by holding screw；Joint face passes through boss and each cover board
It is connected, collectively forms the joint face mechanism of interstitial cell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811097757.1A CN109015618B (en) | 2018-09-20 | 2018-09-20 | Interstitial cells for space cell robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811097757.1A CN109015618B (en) | 2018-09-20 | 2018-09-20 | Interstitial cells for space cell robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109015618A true CN109015618A (en) | 2018-12-18 |
| CN109015618B CN109015618B (en) | 2021-06-11 |
Family
ID=64617035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811097757.1A Expired - Fee Related CN109015618B (en) | 2018-09-20 | 2018-09-20 | Interstitial cells for space cell robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109015618B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702726A (en) * | 2019-01-29 | 2019-05-03 | 西安交通大学 | A kind of modular space multistable allosteric humanoid robot |
| CN110053034A (en) * | 2019-05-23 | 2019-07-26 | 哈尔滨工业大学 | A kind of multi purpose space cellular machineries people's device of view-based access control model |
| CN110394788A (en) * | 2019-07-30 | 2019-11-01 | 哈尔滨理工大学 | A kind of spatial cell robot double locking is to connection module |
Citations (6)
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|---|---|---|---|---|
| CN101369385A (en) * | 2008-08-26 | 2009-02-18 | 东北大学 | Modularized reconfigurable multifunctional education robot |
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| CN104401415A (en) * | 2014-10-23 | 2015-03-11 | 天津理工大学 | Knuckle reconfigurable robot unit module |
| CN104742117A (en) * | 2015-03-16 | 2015-07-01 | 天津理工大学 | Self-reconfigurable robot unit module having independent movement function |
| WO2016039628A1 (en) * | 2014-09-12 | 2016-03-17 | Rnd By Us B.V. | Shape-shifting a configuraton of reusable elements |
| CN106393167A (en) * | 2016-12-01 | 2017-02-15 | 东华大学 | Self-reconfiguration robot connecting device |
-
2018
- 2018-09-20 CN CN201811097757.1A patent/CN109015618B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101369385A (en) * | 2008-08-26 | 2009-02-18 | 东北大学 | Modularized reconfigurable multifunctional education robot |
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| WO2016039628A1 (en) * | 2014-09-12 | 2016-03-17 | Rnd By Us B.V. | Shape-shifting a configuraton of reusable elements |
| CN104401415A (en) * | 2014-10-23 | 2015-03-11 | 天津理工大学 | Knuckle reconfigurable robot unit module |
| CN104742117A (en) * | 2015-03-16 | 2015-07-01 | 天津理工大学 | Self-reconfigurable robot unit module having independent movement function |
| CN106393167A (en) * | 2016-12-01 | 2017-02-15 | 东华大学 | Self-reconfiguration robot connecting device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702726A (en) * | 2019-01-29 | 2019-05-03 | 西安交通大学 | A kind of modular space multistable allosteric humanoid robot |
| CN109702726B (en) * | 2019-01-29 | 2021-01-19 | 西安交通大学 | Modular space multistable allosteric robot |
| CN110053034A (en) * | 2019-05-23 | 2019-07-26 | 哈尔滨工业大学 | A kind of multi purpose space cellular machineries people's device of view-based access control model |
| CN110394788A (en) * | 2019-07-30 | 2019-11-01 | 哈尔滨理工大学 | A kind of spatial cell robot double locking is to connection module |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109015618B (en) | 2021-06-11 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210611 |
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