CN1092098C - Multielement structure of multirobot mobile system capable of disassembling/reassembling - Google Patents
Multielement structure of multirobot mobile system capable of disassembling/reassembling Download PDFInfo
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- CN1092098C CN1092098C CN00103054A CN00103054A CN1092098C CN 1092098 C CN1092098 C CN 1092098C CN 00103054 A CN00103054 A CN 00103054A CN 00103054 A CN00103054 A CN 00103054A CN 1092098 C CN1092098 C CN 1092098C
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Abstract
The present invention belongs to the technical field of robots, which is composed of two kinds of simple robot active units (a swinging unit and a rotating unit) which can independently move, an auxiliary connection unit and a unit connector, wherein each active unit comprises a basic frame and an auxiliary frame; a driving motor is arranged on the basic frame. The present invention has larger expansion space on both the structure function and the motion function of a mobile robot, and a failure unit can be conveniently replaced. A new motion structure can be newly combined, and the new motion structure has more strong adaptability. The use and the manufacturing cost of a combined movable system can be largely reduced. The present invention has extensive development space and application prospect.
Description
The invention belongs to the Robotics field, particularly a kind of multirobot mobile system that can be decomposed and reconstituted.
The tradition mobile robot mainly comprises wheeled, crawler type, sufficient formula, forms of motion such as hybrid.Wherein, wheeled robot is simple in structure, and its motion is limit by environmental factor, locomitivity a little less than, although and the legged type robot locomitivity is stronger, but structure and control are complicated.Along with the continuous expansion in human being's production living space, mobile robot's application is also more extensive, for conforming and the continuous variation of task, needs the mobile robot to possess various integrated motion abilities.Traditional mobile robot has carried out continuous improvement for this reason in unit structure and control, obtained continuous reinforcement on motor function, but mobile robot's unit structure and forms of motion relative fixed thereof, the movement environment that it was fit to is comparatively concrete and limited.Simultaneously, the mobile robot becomes in structure and control and becomes increasingly complex, and causes the rate of breakdown in the running constantly to increase, and robustness descends, and the development cost of robot and also increase greatly of use cost.
At present, research about multi-robot coordination motion and modularization robot modular construction both at home and abroad concentrates on the industrial robot field mostly, and it is very limited at mobile robot's relevant achievement in research, embody a concentrated expression of the structure relative complex of various assembly robots unit, and the motion structure after the combination does not fundamentally change original forms of motion on function, on motion structure and function thereof, all do not have significant expansion and raising, can not satisfy environment and task needs that the mobile robot often changes well.
The objective of the invention is to for overcoming the weak point of prior art, develop a kind of multirobot mobile system that can be decomposed and reconstituted, utilize reconfigurable, as to have simple locomotive function modularization robot unit, the synthetic adaptability mobile system of dynamic group with various structures and forms of motion, to satisfy the needs of various environment and task, simplify robot construction and control simultaneously, reduce development and use cost, the robustness of raising system operation.
The present invention has broken the restriction of existing various mobile robot on the unit 26S Proteasome Structure and Function, utilize a plurality of mobile robot unit with simple motion function, according to environment and task needs, be combined into various multirobot mobile systems quickly and easily with different structure and forms of motion.This unit that can be decomposed and reconstituted adopts the modular construction design that is suitable for making up, by single motor-driven joint and wheeled two kinds of different forms of motion, thereby brought into play the extended capability of system in combination unit on structure and motor function to greatest extent, and can avoid the redundancy on 26S Proteasome Structure and Function as far as possible.
Mobile robot with unit operation compares, the present invention has bigger extending space on mobile robot's structure and motor function, and can conveniently replace disabling unit, and be reassembled into new motion structure, various movement environment is had stronger adaptive capacity.Simultaneously, because various types of system in combination unit all adopts unified modularization normal structure, the use and the manufacturing cost of combination mobile system are reduced greatly.The multirobot mobile system of forming with this form is a recent studies on direction in mobile robot technology field, has development space and application prospect comparatively widely.
The active roll cellular construction of a kind of multirobot mobile system that can be decomposed and reconstituted that the present invention proposes, it is characterized in that, the basic framework and the auxiliary frame that comprise cuboid, in the said basic framework motor is installed, be placed in the gear driver of motor output shaft, one end of this gear driver connects the drive sprocket axle that has driving wheel, the other end links to each other with the joint swinging axle that is arranged on basic framework one side, be fixed on the pressing plate on the hemi-pinacoid at swinging axle two ends, joint, and the rolling support wheel that is fixed on the framework bottom; One side of said auxiliary frame is socketed in the two ends of said joint swinging axle, and three side surfaces of other of said basic framework and auxiliary frame all can be the fitting surface that is fixed with the unit connector.
The another kind that the present invention proposes can be decomposed and reconstituted the active rotation cellular construction of multirobot mobile system, it is characterized in that, the basic framework and the auxiliary frame that comprise cuboid, in the said basic framework motor is installed, be placed in the gear driver of motor output shaft, one end of this gear driver connects the drive sprocket axle that has driving wheel, fixedly connected by connecting plate in one side of said basic framework and auxiliary frame, three side surfaces of other of said basic framework can be the fitting surface that is fixed with the unit connector, the installed inside one rolling support wheel of wherein relative opposite side fitting surface with auxiliary frame, the opposite side surface that said auxiliary frame is relative with basic framework is the fitting surface that is fixed with the unit connector, other two sides are separately installed with the turning support wheel, and a rolling support wheel is also installed in the fitting surface inboard of said auxiliary frame.
The auxiliary linkage unit structure of a kind of multirobot mobile system that can be decomposed and reconstituted that the present invention proposes is characterized in that being formed by fixedly connecting by 6 substrates, and its outer surface all can be the fitting surface that is fixed with the unit connector.Wherein, be separately installed with a pair of rolling support wheel in two relative side substrates.
Said unit connector can be made of two side plates that fuse and a base plate, in the middle of this connector base plate a microscler chute is arranged, and a through hole and a screwed hole are respectively arranged on this connector both sides end plate.
The present invention is made up of two kinds of simple machine people's active cell that can independently move, a kind of auxiliary linkage unit and unit connector.Wherein, active cell comprises basic framework and auxiliary frame two parts in structure, and a drive motors is installed on basic framework, can be divided into two types of swing unit and rotary units according to its concrete structure and kinetic characteristic.
The auxiliary frame of swing unit is socketed in the driving shaft two ends, joint of basic framework, auxiliary frame is fixed on the hemi-pinacoid at driving shaft two ends, joint by pressing plate, swings with the joint driving shaft; If unclamp pressing plate, with the two disengagement, connect auxiliary frame and basic framework in the side with screw simultaneously, the swing unit of this moment can be advanced by the moving wheel drive on the basic framework.
The auxiliary frame of rotary unit is socketed in the motor output shaft end, by screw auxiliary frame is fixed on the gear side of motor output shaft end, rotates with motor output shaft; If unclamp hold-down screw, with the two disengagement, simultaneously auxiliary frame and basic framework all are fixed on the connecting plate, the rotary unit of this moment can be advanced by the moving wheel drive on the basic framework.
Auxiliary unit is used to realize the various required combining structure parameter between active cell, by many unit connector is interconnected between each assembled unit.Every pair of connector comprises that two align the single connector that connects mutually, interconnect by screw at two end faces, and be screwed respectively on the assembly surface of assembled unit, on the connector base plate chute is arranged, can adjust the fixed position of screw on connector along chute.
The present invention has following effect:
1. the present invention has broken the restriction of existing various mobile robot on the unit 26S Proteasome Structure and Function, utilize a plurality of mobile robot unit with simple motion function, according to environment and task needs, be combined into various multirobot mobile systems quickly and easily with different structure and forms of motion.This unit that can be decomposed and reconstituted adopts the modular construction design that is suitable for making up, by single motor-driven joint and wheeled two kinds of different forms of motion, thereby brought into play the extended capability of system in combination unit on structure and motor function to greatest extent, and can avoid the redundancy on 26S Proteasome Structure and Function as far as possible.
2. each active cell of the present invention possesses self-movement and two kinds of abilities of aggregate motion, can be combined into multiple robot mobile system by a plurality of active cell and necessary auxiliary unit by the unit connector as required with labyrinth and forms of motion, or resolve into the simple mobile robot of a plurality of distribution campaigns again, not only be convenient to replace disabling unit, keep the normal operation of system, but also can further expand the composition structure and the motor function thereof of system, thereby the adaptive capacity to environment and the locomitivity of mobile-robot system have been strengthened.
3. the present invention all adopts unified modularization normal structure to form various types of systems, can make production in batches, and flexible combination becomes the multiple mobile system that is suitable for various environment and mission requirements, thereby has reduced the manufacturing cost and use cost of mobile-robot system.
The present invention each initiatively robot cell is simple in structure, have independently to move and control function, thereby reduced the complexity of mobile-robot system in structure and control.
5. the mobile robot with unit operation compares, the present invention has bigger extending space on mobile robot's structure and motor function, and can conveniently replace disabling unit, and be reassembled into new motion structure, various movement environment is had stronger adaptive capacity.Simultaneously, because various types of system in combination unit all adopts unified modularization normal structure, the use and the manufacturing cost of combination mobile system are reduced greatly.The multirobot mobile system of forming with this form is a recent studies on direction in mobile robot technology field, has development space and application prospect comparatively widely.
Brief Description Of Drawings:
Fig. 1 is the swing cellular construction embodiment of a robot schematic diagram of the present invention, and wherein (a) is front view, (b) is vertical view.
Fig. 2 is a rotary machine people cellular construction embodiment schematic diagram of the present invention, and wherein (a) is front view, (b) is vertical view, (c) is side view.
Fig. 3 is the auxiliary linkage unit structure embodiment schematic diagram of the present invention, and wherein (a) is front view, (b) is vertical view.
Fig. 4 is a unit of the present invention connector construction embodiment schematic diagram, and wherein (a) and (b) are the structure of two kinds of sizes.
Fig. 5 is four kinds of different structure embodiment schematic diagrames of the two active cell combination of the present invention mobile system.
Fig. 6 is the structure embodiment schematic diagram of the arm-type unit combination mobile system of mixed wheel of the present invention.
Fig. 7 is the structure embodiment schematic diagram of chain unit combination mobile system of the present invention.
Fig. 8 is the structure embodiment schematic diagram of joint of the present invention leg formula unit combination mobile system.
Fig. 9 is the arm-type unit combination mobile system of a mixed wheel of the present invention embodiment schematic diagram, (a) is front view, (b) is vertical view.
Figure 10 is a chain unit combination mobile system structure embodiment schematic diagram of the present invention.
Figure 11 is a joint leg formula unit combination mobile system structure embodiment schematic diagram.
Figure 12 is the motion process schematic diagram that the arm-type unit combination mobile system of mixed wheel of the present invention is topped bar.
Figure 13 is the motion process schematic diagram of chain unit combination mobile system of the present invention under various landform.
Several embodiment accompanying drawings of the present invention is as follows:
Figure 1 shows that the swing cellular construction embodiment of robot of the present invention.Wherein, the 1st, auxiliary frame, the 8th, basic framework, the 2nd, joint swinging axle, the 3rd, framework attachment screw, the 4th, pressing plate, the 5th, rolling support wheel, the 6th, potentiometer, the 7th, drive sprocket axle, the 9th, driving wheel, the 10th, power transmission shaft, the 11st, secondary gear driver, the 12nd, motor, the 13rd, pressing plate hold-down screw, the 14th, one-level gear driver.In this structure, auxiliary frame 1 and basic framework 8 are as two basic assemblies, and its 3 outer surfaces separately all can carry out making up assembling by unit connector and other unit.One side of auxiliary frame 1 is socketed in the two ends of the joint swinging axle 2 that is positioned on the basic framework 8.When this element moves as swinging joint, pressing plate 4 is fixed on the hemi-pinacoid at joint swinging axle 2 two ends with pressing plate hold-down screw 13, thereby auxiliary frame 1 and joint swinging axle 2 are linked together, unclamp between auxiliary frame 1 and basic framework 8 framework attachment screw 3 simultaneously, auxiliary frame 1 and basic framework 8 are broken away from, this moment, motor 12 drove joint swinging axle 2 by one-level gear driver 14, drove auxiliary frame 1 and rotated relative to basic framework 8, and its design angle range can reach 360 °.When the unit need be as the wheeled robot self-movement, pressing plate 4 can be unclamped, make auxiliary frame 1 throw off joint swinging axle 2, again auxiliary frame 1 and basic framework 8 usefulness framework attachment screws 3 are coupled together, this moment, motor drove drive sprocket axles 7 by secondary gear driver 11, drive driving wheel 9 promote swing units along folk prescription to moving.Potentiometer 6 is positioned at the axle head of power transmission shaft 10, is used to detect the corner and the rotating speed of motor output shaft.
Figure 2 shows that rotary machine people cellular construction embodiment of the present invention.Wherein, the 17th, basic framework, the 22nd, auxiliary frame, the 15th, the one-level gear driver, the 16th, detect axle, the 18th, potentiometer, the 19th, motor, the 20th, drive sprocket axle, the 21st, driving wheel, the 23rd, turning support wheel, the 24th, secondary gear driver, the 25th, connecting plate, the 26th, motor output shaft end tooth wheel, the 27th, the screw of fixedlying connected of output shaft end gear 26 and 22 of auxiliary frames, the 28th, the screw of fixedlying connected of basic framework 17 and 25 of auxiliary frame 22 and connecting plates, the 29th, rolling support wheel.In this structure, the outer surface of basic framework 17 can provide 3 combination assembly surfaces.One end of auxiliary frame 22 is socketed on the motor output shaft end tooth wheel 26, and the outer surface of the other end can make up assembling.When this element moves as rotary joint, auxiliary frame 22 is fixed on the side of gear 26 with hold-down screw 27, unclamp the attachment screw 28 of 25 of auxiliary frame 22 and basic framework 17 and connecting plates, auxiliary frame 22 and basic framework 17 are broken away from, and motor 19 directly drives auxiliary frame 22 and rotatablely moves for 360 ° with respect to basic framework 17 works.When the unit need be as the wheeled robot self-movement, the hold-down screw 27 of gear 26 sides is unclamped, all use screw 27 to be fixed on the connecting plate 25 basic framework 17 and auxiliary frame 22 again.Motor 19 drives drive sprocket axles 20 by secondary gear reducer 24, drive driving wheel 21 promote rotary units along folk prescription to moving.Motor 19 drives by the primary gear speed reducing device and detects axle 16, and potentiometer 18 is contained in the axle head that detects axle 16, is used to detect the corner and the rotating speed of motor output shaft.
Figure 3 shows that auxiliary linkage unit structure embodiment of the present invention, be formed by fixedly connecting that its outer surface all can be used as the combination fitting surface by 6 substrates such as 30,31,32,33,34,35.Wherein, the 36th, unit connector, the 37th, rolling support wheel.
Figure 4 shows that the unit connector construction embodiment of two kinds of different lengths of the present invention.The unit connector is fixed on the fitting surface of system in combination unit by trip bolt, have in the middle of the connector base plate 41,41 ' a microscler chute 42,42 ', be used to regulate the fixed position of connector on fitting surface, thereby adjust relative position and direction between assembled unit.Connector both sides end face 43,43 ' on respectively have a through hole and screwed hole 44,44 ', be used for another connector between be connected.When two unit in the system make up assembling, at first on each self-corresponding combination assembly surface by the fixing connector of similar number of screw, regulate fixed position and the direction of connector on fitting surface then, connector on two unit is docked one by one, and the screwed hole that makes a connector is positioned at the through hole inboard of another butt connector, and every pair of connector that combines is like this undertaken fixedly connected by screw.
Fig. 5～Fig. 8 is four kinds of different application structure embodiment of the two active cell combination of the present invention mobile system.
The two-wheel drive mobile system structure that Fig. 5 is made up of by unit connector 4 in the side of auxiliary frame two swing units 1.
The two-wheel drive mobile system structure that Fig. 6 is made up of by unit connector 4 in the side of basic framework and auxiliary frame respectively two rotary units 2.
Fig. 7 is by a swing unit 1 and the two-wheel drive mobile system structure that rotary unit 2 is formed by unit connector 4 in the side of auxiliary frame, and wherein, the auxiliary frame of swing unit and basic framework are folding places.
Fig. 8 is by a swing unit 1 and the mobile system vehicle structure that rotary unit 2 is formed by unit connector 4 in the side of basic framework and auxiliary frame respectively, and wherein, rotary unit is controlled front-wheel steer, and swing unit drives trailing wheel promotion car body and advances.
Figure 9 shows that the arm-type unit combination mobile system of mixed wheel of the present invention structure embodiment, form by three swing units and six auxiliary linkage units altogether.Wherein, two auxiliary linkage units are formed car body 39; Swing unit 38 and 41 is respectively as the front and back wheel driver element that makes up mobile system; Left side support arm 42 and right support arm 43 are made up of two auxiliary linkage units respectively, are used to lift car body; Swing unit 40 is as the cradle head of left and right sides support arm.
Figure 10 shows that chain unit combination mobile system structure embodiment, be composed in series mutually by four swing units and two auxiliary linkage units, all system architecture comprises 44～48 5 isometric substantially series connection moving links, and four swing units are respectively as four middle cradle heads.Wherein, member 44,45 is collectively referred to as foreleg, and member 47,48 is collectively referred to as back leg, and member 46 has been concentrated the basic framework of two swing units, is called car body.
Figure 11 is a joint leg formula unit combination mobile system structure embodiment schematic diagram, each and every one assists linkage unit, ten swing units and three rotary units to form by 20 altogether.Wherein, car body 48 is constituted by five auxiliary linkage units; Leg 44,46 and 47 is by being constituted by a rotary unit, two swing units and an auxiliary unit respectively; Leg 43,45 is constituted by two swing units and an auxiliary unit respectively.
Figure 12 shows that the motion process schematic diagram that the arm-type unit combination mobile system of mixed wheel is topped bar.According to the structure label of combined system each several part shown in Figure 9, set up this mobile system motion structure model shown in Figure 12 (a).If the direction of motion from left to right, then concrete motion process is: system stops before moving to step, and swing unit 40 drives the two-wheel arm and swings to Vehicular body front from back to front, as Figure 12 (b) state; Two-wheel arm end support is lifted car body 39 front ends, as Figure 12 (c) state; Advance by trailing wheel 41 drive systems, front-wheel 38 is moved on the step, the two-wheel arm is driven by swing unit 40 again, turns to rear vehicle, as Figure 12 (d) state; Two-wheel arm end supports once more, lifts the rear end of car body 39, and forward 38 drive systems of taking turns are advanced, as Figure 12 (e) state; Front-wheel 38 continues drive system and advances, and moves on the step until system's center of gravity, and swing unit 40 drives the two-wheel arm and lifts, and swings to Vehicular body front, as Figure 12 (f) state; System moves on step, as Figure 12 (g) state.
Figure 13 shows that the motion process of chain unit combination mobile system under various landform,, set up this mobile system motion structure model shown in Figure 13 (a) according to the structure label of combined system each several part shown in Figure 10.If the direction of motion from left to right, then general motion process is: support with car body front end and back leg foot end, lift foreleg and be rocked to the place ahead foot point that falls forward and fall; In the past, back leg foot end supported, and moved forward car body; Support with car body rear end and foreleg foot end, lift back leg, be rocked to the foot point that newly falls forward and fall; Support with car body front end and back leg foot end, lift foreleg and continue swing forward, this process repeatedly circulates.When selecting the new strong point, can adjust according to the variation of movement environment, avoid forbidding falling sufficient district.Figure 13 (b) is the level land motion process, and Figure 13 (c) is the upslope motion process, and Figure 13 (d) is the downslope motion process, and Figure 13 (e) is the motion process of topping bar, and Figure 13 (f) is the motion process of getting out of a predicament or an embarrassing situation, and Figure 13 (g) is the leaping over obstacles motion process.
Claims (4)
1, a kind of active roll cellular construction of multirobot mobile system that can be decomposed and reconstituted, it is characterized in that, the basic framework and the auxiliary frame that comprise cuboid, in the said basic framework motor is installed, be placed in the gear driver of motor output shaft, one end of this gear driver connects the drive sprocket axle that has driving wheel, the other end links to each other with the joint swinging axle that is arranged on basic framework one side, be fixed on the pressing plate on the hemi-pinacoid at swinging axle two ends, joint, and the rolling support wheel that is fixed on the framework bottom; One side of said auxiliary frame is socketed in the two ends of said joint swinging axle, and three side surfaces of other of said basic framework and auxiliary frame all can be the fitting surface that is fixed with the unit connector.
2, a kind of active rotation cellular construction of multirobot mobile system that can be decomposed and reconstituted, it is characterized in that, the basic framework and the auxiliary frame that comprise cuboid, in the said basic framework motor is installed, be placed in the gear driver of motor output shaft, one end of this gear driver connects the drive sprocket axle that has driving wheel, fixedly connected by connecting plate in one side of said basic framework and auxiliary frame, three side surfaces of other of said basic framework can be the fitting surface that is fixed with the unit connector, the installed inside one rolling support wheel of wherein relative opposite side fitting surface with auxiliary frame, the opposite side surface that said auxiliary frame is relative with basic framework is the fitting surface that is fixed with the unit connector, other two sides are separately installed with the turning support wheel, and a rolling support wheel is also installed in the fitting surface inboard of said auxiliary frame.
3, a kind of auxiliary linkage unit structure of multirobot mobile system that can be decomposed and reconstituted is characterized in that being formed by fixedly connecting by 6 substrates, and its outer surface all can be the fitting surface that is fixed with the unit connector.Wherein, be separately installed with a pair of rolling support wheel in two relative side substrates.
4, as claim 1,2 or 3 described cellular constructions, it is characterized in that, said unit connector is made of two side plates that fuse and a base plate, in the middle of this connector base plate a microscler chute is arranged, and a through hole and a screwed hole are respectively arranged on this connector both sides end plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN00103054A CN1092098C (en) | 2000-02-25 | 2000-02-25 | Multielement structure of multirobot mobile system capable of disassembling/reassembling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN00103054A CN1092098C (en) | 2000-02-25 | 2000-02-25 | Multielement structure of multirobot mobile system capable of disassembling/reassembling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1259421A CN1259421A (en) | 2000-07-12 |
| CN1092098C true CN1092098C (en) | 2002-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN00103054A Expired - Fee Related CN1092098C (en) | 2000-02-25 | 2000-02-25 | Multielement structure of multirobot mobile system capable of disassembling/reassembling |
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| CN (1) | CN1092098C (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100348380C (en) * | 2005-06-30 | 2007-11-14 | 上海交通大学 | Self-reconstructed self-repair robot basic analogue space transmission |
| CN102069490B (en) * | 2010-11-17 | 2012-12-19 | 武汉理工大学 | Quickly-detachable combined search and rescue robot |
| CN108340354A (en) * | 2018-03-19 | 2018-07-31 | 湖南擎谱数字科技有限公司 | Robot chassis structure and robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19541324A1 (en) * | 1994-12-22 | 1996-06-27 | Giancarlo Zamagni | Machine with movable legs for support and propulsion |
| US5794766A (en) * | 1995-08-08 | 1998-08-18 | Teikoku Tsushin Kogyo Co., Ltd. | Rotary switch |
-
2000
- 2000-02-25 CN CN00103054A patent/CN1092098C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19541324A1 (en) * | 1994-12-22 | 1996-06-27 | Giancarlo Zamagni | Machine with movable legs for support and propulsion |
| US5794766A (en) * | 1995-08-08 | 1998-08-18 | Teikoku Tsushin Kogyo Co., Ltd. | Rotary switch |
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| CN1259421A (en) | 2000-07-12 |
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