CN109702726B - Modular space multistable allosteric robot - Google Patents
Modular space multistable allosteric robot Download PDFInfo
- Publication number
- CN109702726B CN109702726B CN201910085645.2A CN201910085645A CN109702726B CN 109702726 B CN109702726 B CN 109702726B CN 201910085645 A CN201910085645 A CN 201910085645A CN 109702726 B CN109702726 B CN 109702726B
- Authority
- CN
- China
- Prior art keywords
- cam
- push rod
- guide groove
- shell
- prismatic table
- 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.)
- Active
Links
Images
Abstract
A modularized space multistable allosteric robot comprises a plurality of module units and ropes, wherein a through hole is formed in each module unit, the ropes sequentially penetrate through the module units, and the module units are connected together to form the modularized space multistable allosteric robot; the module unit comprises a shell, a driving device, a cam device, a push rod groove and a rope guide groove; the driving device is arranged at the inner bottom of the shell, a plurality of cam devices are arranged above the driving device, the driving device is used for driving the cam devices to rotate, a push rod device is arranged above each cam device, and the cam devices drive the push rod devices to move up and down; a push rod groove and a rope guide groove are arranged in the shell, the push rod device is inserted in the push rod groove, and the rope is arranged in the rope guide groove; compared with other reconfigurable robots, the reconfigurable robot has the advantages of obviously simple structure and reduced cost on the same reconfigurable capability.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a modular space multistable allosteric robot.
Background
The robot which can adapt to a changeable environment, complete multiple tasks and serve multiple objects has great application value in the fields of space exploration, future battlefield support, underwater operation, medical rehabilitation and the like. The configuration transformation capability and the rapid and wide-range rigidity change capability of the robot under different configurations are the key for realizing the characteristics of the robot, and the difficulty in combining the configuration transformation capability and the rigidity change capability is the bottleneck for limiting the realization of functional diversification of the robot.
The study of an allosteric robot can be roughly divided into three branches: 1. from the kinematic mechanism, the degree of freedom and the motion mode of the mechanism are changed by using the structural topological change of the mechanism. Representative results are: metamorphic agency proposed by professor Dasheng Dai Dawang, university of London, England, Metallotopologic agency proposed by professor Dawang, successful university of Taiwan, and multimodal agency proposed by professor Hirosvard, university of Herrewatt, England. The variable configuration number of the variable configuration robot is small, high-quality sensing is usually relied on when the variable configuration robot interacts with the outside, and the adaptive capacity to the unstructured environment is limited. 2. Based on the modularized design concept, the robot with various configurations is formed by combining a plurality of functional modules so as to adapt to different tasks. Representative results are: cell robot developed by Fukuda et al, university of ancient Japan and PowerCUBE modular robot arm manufactured by Schunk, Germany. The allosteric robot needs more modules, and each module is provided with an independent sensing, driving and communication unit, so that the control system is complex and the fault tolerance is poor; in addition, the modules need to be frequently connected and separated, and the connection rigidity is difficult to ensure, so that the load-self-weight ratio of the robot is low. 3. The robot is deformed by utilizing the redundant flexibility and rigid-soft coupling characteristics of the structure/material, and the change of the external environment is met. Representative results are: the robot comprises a self-folding robot finished by cooperation of Harvard university and Massachusetts institute of technology, a pseudo-elephant mechanical arm of Germany Festo and a flexible self-adaptive gripper. The flexible/soft structure greatly enhances the environmental adaptive ability of the robot, but makes it difficult to realize a large variable stiffness ratio (i.e. the ratio of the maximum stiffness to the minimum stiffness), for example, the variable stiffness ratio realized by the soviet army state in ohio in 2018 is only 20; in addition, the mechanical property of the soft material is quickly deteriorated and sensitive to the environmental temperature and humidity, which is the bottleneck of the current soft robot for realizing engineering application
Disclosure of Invention
The invention aims to provide a modular space multistable allosteric robot to solve the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a modularized space multistable allosteric robot comprises a plurality of module units and ropes, wherein a through hole is formed in each module unit, the ropes sequentially penetrate through the module units, and the module units are connected together to form the modularized space multistable allosteric robot; the module unit comprises a shell, a driving device, a cam device, a push rod groove and a rope guide groove; the driving device is arranged at the inner bottom of the shell, a plurality of cam devices are arranged above the driving device, the driving device is used for driving the cam devices to rotate, a push rod device is arranged above each cam device, and the cam devices drive the push rod devices to move up and down; a push rod groove and a rope guide groove are arranged in the shell, the push rod device is inserted in the push rod groove, and the rope is arranged in the rope guide groove;
the shell comprises an upper half shell and a lower half shell, and the upper half shell and the lower half shell are buckled and fixedly connected to form the shell; the upper half shell comprises a hollow prism and an upper prismatic table, the upper prismatic table is fixedly arranged at one end of the hollow prism, and the shape and the size of the bottom surface of the upper prismatic table are the same as those of the end part of the hollow prism; the lower half shell comprises a hollow prism and a lower prismatic table, the lower prismatic table is fixedly arranged at one end of the hollow prism, and the shape and the size of the bottom surface of the lower prismatic table are the same as those of the end part of the hollow prism; the end parts of the hollow prisms, far away from one end of the prism table, on the upper half shell and the lower half shell are fixedly connected to form a shell;
rope guide grooves are formed in the upper prismatic table and the lower prismatic table, and the push rod groove is formed in the upper prismatic table; the number of the cam devices is the same as that of the hollow prismatic surfaces, and the cam devices are arranged beside each inner side surface of the hollow prismatic surface.
Further, the cam device comprises a cam shaft, a first cam, a second cam, a first bevel gear, a first cam guide groove, a bearing seat, a bearing and a second cam guide groove; a bearing seat is fixedly arranged on each inner side wall of the hollow prism, a bearing is arranged in each bearing seat, one end of the cam shaft is inserted into each bearing, the other end of the cam shaft is fixedly connected with a first bevel gear, and the first cam and the second cam are sleeved on the cam shaft; the outer edge of the first cam is circumferentially provided with a circle of first cam guide grooves, and the outer edge of the second cam is circumferentially provided with a circle of second cam guide grooves.
Further, the push rod device comprises a linear push rod and an arc push rod; one end of the linear push rod is propped against the second cam guide groove, the other end of the linear push rod is inserted into the push rod groove, one end of the arc push rod is propped against the first cam guide groove, and the other end of the arc push rod is inserted into the push rod groove; the straight line push rod and the arc push rod are U-shaped push rods, and the bottoms of the U shapes are propped in the first cam guide groove or the second cam guide groove through the connecting rods.
Further, the push rod groove comprises a linear push rod guide groove and an arc push rod guide groove; the linear push rod guide groove is arranged in the side face of the upper prismatic table and is parallel to the side wall of the hollow prism, and when the cam device moves, the push rod device can extend out of the side face of the prismatic table; the arc push rod guide groove is formed in the upper prismatic table, and when the cam device moves, the push rod device can extend out of the upper top surface of the prismatic table.
Furthermore, the rope guide groove is formed by arranging mutually crossed grooves on the upper prismatic table from the top surface to the bottom surface, and the grooves can extend to each side surface of the upper prismatic table; the intersection point of the two mutually crossed grooves is communicated with the hollow prism, and the lower prismatic table is provided with a rope guide groove which is the same as that of the upper prismatic table.
Furthermore, the driving device comprises a transmission shaft, a second bevel gear, a straight gear, a motor bracket, a speed reduction motor and a power supply; the speed reducing motor is fixedly arranged on the inner side wall of the lower half shell through a motor support, a straight gear is installed at the output end of the speed reducing motor, a transmission shaft is arranged on the side surface of the speed reducing motor, the upper end of the transmission shaft is connected to the hollow prism top plate of the upper half shell through a bearing, and the lower end of the transmission shaft is connected to the hollow prism bottom plate of the lower half shell through a bearing; a straight gear and a second bevel gear are fixedly sleeved on the transmission shaft; the two straight gears are mutually meshed; the second bevel gear is meshed with the first bevel gear of each cam device; the inner side wall of the lower half shell is also provided with a power supply, and the power supply is connected with the speed reducing motor.
Further, the transmission shaft is a hollow shaft, and the rope is arranged in the transmission shaft.
Furthermore, two cylindrical limiting blocks are arranged on all edges of the top surface of the upper prismatic table, and the central axes of the cylindrical limiting blocks are parallel to the edges of the top surface of the upper prismatic table; all edges of the top surface of the lower prismatic table are provided with two cylindrical limiting grooves, and the cylindrical limiting grooves are matched with the cylindrical limiting blocks.
Further, the upper half shell and the lower half shell are fixedly connected through bolts.
Compared with the prior art, the invention has the following technical effects:
the unit modules of the robot are designed in a polygonal mode, the robot is designed in a modular simple combination mode, a multi-stable joint is formed among the modules, accurate deformation can be achieved without a complex structure, meanwhile, the multi-stable joint among the modules is tensioned or loosened by matching with a simple rope, the overall rigidity of the robot is changed suddenly, the maximum rigidity change ratio is 100 times, and the response time is shorter than 1 second. Compared with other reconfigurable robots, the reconfigurable robot has the advantages of obviously simple structure and reduced cost on the same reconfigurable capability.
The invention can greatly reduce the number of motors and the control difficulty from two aspects of active and passive joint modulation. The passive joint does not need to be driven by a motor, and the rigidity of the joint at different positions is designed according to environment variable characteristics, so that the joint can be deformed only by external environment factors; the driving joint reduces driving, the driving of the n stable state joint, namely the driving of the space n rotating shaft and the n freedom degree joint only needs to use one motor for driving, and the control difficulty is obviously reduced.
The invention changes the number of the surfaces of the polyhedron, the included angle between the surfaces and increases the number of modules, the configuration changing capability of the robot is increased in a geometric mode, the reachable space points and the terminal direction are covered in a large range, and the applicability and the practicability of the robot are enhanced.
Drawings
FIG. 1 is a schematic external view of a single unit module of a modular space multistable allosteric robot according to an embodiment;
FIG. 2 is an exploded view of a single module of a modular space multistable allosteric robot according to an embodiment;
FIG. 3 is a schematic diagram of a two-input four-output bevel gear transmission of an embodiment.
Fig. 4a and 4b are schematic diagrams of an embodiment three-centering roller push rod disc cam mechanism.
Fig. 5a and 5b are schematic diagrams of steady state configuration switching processes between four modules according to the embodiment.
FIG. 6 is a diagram illustrating the relationship between the five-motor state, the cam state and the steady-state according to the embodiment.
FIG. 7 is a schematic diagram of a six-robot multi-configuration and variable stiffness according to an embodiment.
1. An upper half shell; 11. a linear push rod guide groove; 13. a cylindrical limiting block; 14. a rope guide groove; 3. a linear push rod; 4. a circular arc push rod; 5. a bearing seat; 51. a bearing; 6. a camshaft; 61. a first cam; 611. a first cam guide groove; 62. a second cam; 621. a second cam guide groove; 63. a first bevel gear; 7. a drive shaft; 71. a second bevel gear; 8. a spur gear; 9. a motor bracket; 10. a reduction motor; 17. a power source; 12. a lower half shell; 123. a cylindrical limiting groove; 15. the arc push rod guide groove; 16. a rope.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
a modularized space multistable allosteric robot comprises a plurality of module units and a rope 16, wherein a through hole is formed in each module unit, the rope sequentially penetrates through the module units, and the module units are connected together to form the modularized space multistable allosteric robot; the module unit comprises a shell, a driving device, a cam device, a push rod groove and a rope guide groove 14; the driving device is arranged at the inner bottom of the shell, a plurality of cam devices are arranged above the driving device, the driving device is used for driving the cam devices to rotate, a push rod device is arranged above each cam device, and the cam devices drive the push rod devices to move up and down; a push rod groove and a rope guide groove are arranged in the shell, the push rod device is inserted in the push rod groove, and the rope is arranged in the rope guide groove;
the shell comprises an upper half shell 1 and a lower half shell 12, and the upper half shell 1 and the lower half shell 12 are buckled and fixedly connected with each other to form the shell; the upper half shell 1 comprises a hollow prism and an upper prismatic table, the upper prismatic table is fixedly arranged at one end of the hollow prism, and the shape and the size of the bottom surface of the upper prismatic table are the same as those of the end part of the hollow prism; the lower half shell 12 comprises a hollow prism and a lower prism table, the lower prism table is fixedly arranged at one end of the hollow prism, and the shape and the size of the bottom surface of the lower prism table are the same as those of the end part of the hollow prism; the end parts of the hollow prisms, which are far away from one end of the prism table, on the upper half shell 1 and the lower half shell 12 are fixedly connected to form a shell;
rope guide grooves are formed in the upper prismatic table and the lower prismatic table, and the push rod groove is formed in the upper prismatic table; the number of the cam devices is the same as that of the hollow prismatic surfaces, and the cam devices are arranged beside each inner side surface of the hollow prismatic surface.
The cam gear includes a cam shaft 6, a first cam 61, a second cam 62, a first bevel gear 63, a first cam guide groove 611, a bearing housing 5, a bearing 51, and a second cam guide groove 621; each inner side wall of the hollow prism is fixedly provided with a bearing block 5, a bearing 51 is arranged in each bearing block 5, one end of the cam shaft 6 is inserted into each bearing 51, the other end of the cam shaft 6 is fixedly connected with a first bevel gear 63, the first cam 61 and the second cam 62 are sleeved on the cam shaft 6, and the first cam 61 and the second cam 62 are distributed at an included angle with a difference of 135 degrees; the outer edge of the first cam 61 is circumferentially provided with a circle of first cam guide grooves 611, and the outer edge of the second cam 62 is circumferentially provided with a circle of second cam guide grooves 621; the second cam 62 is larger than the first cam 61.
The push rod device comprises a linear push rod 3 and an arc push rod 4; one end of the linear push rod 3 is pressed against the second cam guide groove 621, the other end is inserted into the push rod groove, one end of the arc push rod 4 is pressed against the first cam guide groove 611, and the other end is inserted into the push rod groove; the linear push rod 3 and the arc push rod 4 are both U-shaped push rods, and the bottoms of the U-shaped push rods are propped in the first cam guide groove 611 or the second cam guide groove 621 through the connecting rod; the arc push rod 4 is longer than the straight push rod 3.
The push rod groove comprises a linear push rod guide groove 11 and an arc push rod guide groove 15; the linear push rod guide groove 11 is arranged in the side face of the upper prismatic table and is parallel to the side wall of the hollow prism, and when the cam device moves, the push rod device can extend out of the side face of the prismatic table; the arc push rod guide groove 15 is arranged in the upper prismoid, and when the cam device moves, the push rod device can extend out of the upper top surface of the prismoid.
The rope guide groove 14 is formed by arranging mutually crossed grooves on the upper prismatic table from the top surface to the bottom surface, and the grooves can extend to each side surface of the upper prismatic table; the intersection point of the two mutually crossed grooves is communicated with the hollow prism, and the lower prismatic table is provided with a rope guide groove which is the same as that of the upper prismatic table.
The hollow prism is a straight prism or an oblique prism; the upper and lower bottom surfaces of the upper and lower prismatic tables are convex polygons.
The driving device comprises a transmission shaft 7, a second bevel gear 71, a straight gear 8, a motor bracket 9, a speed reducing motor 10 and a power supply 17; the speed reducing motor 10 is fixedly arranged on the inner side wall of the lower half shell 12 through a motor support 9, a straight gear 8 is installed at the output end of the speed reducing motor 10, a transmission shaft 7 is arranged on the side surface of the speed reducing motor, the upper end of the transmission shaft 7 is connected to the hollow prism top plate of the upper half shell 1 through a bearing, and the lower end of the transmission shaft 7 is connected to the hollow prism bottom plate of the lower half shell 12 through a bearing; a straight gear 8 and a second bevel gear 71 are fixedly sleeved on the transmission shaft 7; the two spur gears 8 are meshed with each other; the second bevel gear 71 meshes with the first bevel gear 63 of each cam gear; the inner side wall of the lower half shell 12 is also provided with a power supply 17, and the power supply 17 is connected with the speed reducing motor 10.
The transmission shaft 7 is a hollow shaft, and the rope is arranged in the transmission shaft 7.
All edges of the top surface of the upper prismatic table are provided with two cylindrical limiting blocks 13, and the central axis of each cylindrical limiting block 13 is parallel to the edge of the top surface of the upper prismatic table; all edges of the top surface of the lower prismatic table are provided with two cylindrical limiting grooves 123, and the cylindrical limiting grooves 123 are matched with the cylindrical limiting blocks 13.
The upper half-shell 1 and the lower half-shell 12 are fixedly connected by bolts.
Example one
As shown in fig. 1 and 2, the upper half shell 1 and the lower half shell 12 are both decahedral shell structures formed by combining a quadrangular prism and a quadrangular frustum pyramid, and are connected by 4 screws 2 to form a 14-hedron unit outline structure.
A power supply 17 and a motor bracket 9 are assembled in the lower half shell 12, and a speed reducing motor 10 is installed on the motor bracket 9; the speed reducing motor 10 drives 4 groups of cam shafts 6 simultaneously through a straight gear transmission group and a bevel gear transmission group. The speed reducing motor 10, the straight gear transmission set, the bevel gear transmission set and the four cam shafts 6 form a single-input-four-output bevel gear transmission device.
The two straight gears 8 form a straight gear transmission set.
The second bevel gear 71 and the 4 first bevel gears 63 form a bevel gear transmission set.
4 groups of centering roller push rod disc-shaped cam machines consisting of a bearing seat 5, a cam shaft 6, a linear push rod 3 and an arc push rod 4 are arranged inside the upper half shell 1.
The cam shaft 6, the linear push rod 3 and the arc push rod 4 form a centering roller push rod disc cam mechanism.
Example two
As shown in fig. 3, the single-input four-output bevel gear transmission device at least comprises four camshafts 6, a transmission shaft 7, a spur gear 8 and a speed reduction motor 10. The camshaft 6 comprises a first cam 61, a first cam guide groove 611, a second cam 62, a second cam guide groove 621 and a first bevel gear 63, and the transmission shaft 7 comprises a second bevel gear 71 and a straight gear 8;
the speed reducing motor 10 is a 24v direct current speed reducing motor with the model JGY370 and the rotating speed of 10 revolutions per second, and the motor adopts a worm gear to reduce speed, so that the torque is large and the self-locking capability is strong.
The two straight gears 8 form a straight gear transmission set, and the two straight gears are identical and adopt 2 dies and 16 teeth.
The second bevel gear 71 and the 4 first bevel gears 63 form a bevel gear transmission set, the second bevel gear 71 adopts 0.5 model of 40 teeth, and the first bevel gear 63 adopts 0.5 model of 20 teeth. The 4 first bevel gears 63 are fixedly connected with 4 groups of camshafts 6 with the same structure, the four groups of camshafts are uniformly installed in the front, back, left and right directions on a horizontal plane, and the four camshafts are uniformly installed in the axis direction at a phase difference of 90 degrees. The purpose of installation is to make the phase position of a big bevel gear correspond to the phase position of four camshafts one by one, and the driving quantity is reduced from four to one, so that the effect of single input and four output is achieved.
The bevel gear transmission device can be expanded from single input-four output to single input-multiple output.
EXAMPLE III
As shown in fig. 4, the centering roller push rod disc cam mechanism at least comprises an upper half shell 1, a linear push rod 3, an arc push rod 4, a bearing seat 5 and a cam shaft 6. Include four straight-moving push rod guide slots 11, four circular arc push rod guide slots 15 in first half casing 1, linear push rod 3 contains linear push rod upper end and linear push rod lower extreme, and circular arc push rod 4 contains circular arc push rod upper end and circular arc push rod lower extreme, and bearing frame 5 contains bearing 51, and camshaft 6 contains first cam 61, first cam guide slot 611, second cam 62, second cam guide slot 621.
The first cam 61 and the second cam 62 of the camshaft 6 are distributed at an included angle different by 135 degrees. The first cam guide groove 611 of the first cam 61 is in rolling connection with the lower end of the arc push rod 4, and the arc push rod 4 is in sliding connection with the arc push rod guide groove 15 in the upper half shell 1 to form a centering roller arc moving push rod disk cam mechanism; the second cam guide groove 621 of the second cam 62 is connected with the lower end of the linear push rod 3 in a rolling manner, and the linear push rod 3 is connected with the linear push rod guide groove in the upper half shell 1 in a sliding manner, so that a centering roller linear push rod disc cam mechanism is formed.
Whether the centering roller arc moving push rod disc cam mechanism belongs to the original invention content or not.
Example four
As shown in fig. 4, the switching process of the steady state configuration between the modules is schematically illustrated, and comprises at least two modules, the rope 16 and the rope driver according to the first embodiment. The two module units are in surface-to-surface contact, the cylindrical limiting block 13 of the module I is connected with the cylindrical limiting groove 123 of the module II, the rope 16 penetrates through the axes of the two modules, one end of the rope is fixedly connected to the module II, and the other end of the rope is connected to the rope driver.
The cylindrical limiting block 13 of the module I is in clearance fit with the cylindrical limiting groove 123 of the module II, so that the two modules can not be limited to translate and rotate on a contact surface, the module I and the module II can form four switchable revolute pairs, and a point O in the figure is one of the rotary shafts.
The state a is a middle steady state, the state c is a right side steady state, the state b is a transition unsteady state from the steady state a to the steady state c, and the state d is a transition unsteady state from the steady state c to the steady state a. The left arc push rod 4 can push the mechanism from a stable state to a non-stable state b, and the mechanism is pulled from the non-stable state b to the stable state c due to contraction of the rope 16 because the angle EOF is smaller than the angle COD in the non-stable state b; the right linear push rod 3 can push the mechanism from the c stable state to the d unstable state, and the contraction of the rope 16 can pull the mechanism from the d unstable state to the a stable state because the < COD is less than the < EOF in the d unstable state.
EXAMPLE five
As shown in fig. 5, a schematic diagram of a relationship between a motor state, a cam state and a stable state, as described in the second, third and fourth embodiments, the motor state is reflected as a state of four sets of cams through a spur gear transmission set and a bevel gear transmission set, the state of the cams is reflected as a state of a push rod through a centering roller push rod disc cam mechanism, and the state of the push rod is reflected as a state of a two-module stable state through a rope action. The state of the motor is a continuous state of 0-360 degrees; the states of the upper camshaft, the lower camshaft, the left camshaft and the right camshaft are also in a continuous state of 0-360 degrees; the states of the eight push rods are determined according to the states of the four camshafts, the states of the linear push rods are continuous on a certain linear section, and the states of the arc push rods are continuous on a certain arc section; five stable states are arranged between the module I and the module II, namely an upper stable state, a lower stable state, a left stable state, a right stable state and a middle stable state.
In fig. 4, when the distal end of the first cam 61 of one camshaft 6 is upward, i.e. the distal end contacts the lower end of the arc push rod, the upper end of the arc push rod will push the module ii from the middle steady state to the opposite direction of the camshaft; when the distal end of the second cam 62 of one camshaft 6 is up, i.e. the distal end contacts the lower end of the linear push rod, the upper end of the linear push rod will push the module ii from the same direction as the camshaft to a neutral stable state.
For example, when the motor angle is 0 degree, the distal end of the first cam 61 of the lower cam shaft faces upward, and at this time, the arc push rod upper end 4-1 pushes the module ii from the middle stable state to the upper stable state, that is, the motor angle 0 degree corresponds to the distal end of the first cam 61 of the lower cam shaft facing upward, and then the corresponding module ii is located at the upper stable state; when the angle of the motor is 45 degrees, the far end of the second cam 62 of the upper cam shaft 6 faces upwards, the upper end of the linear push rod pushes the module II from the upper stable state to the middle stable state, namely the motor is 45 degrees and faces upwards to the far end of the second cam 62 of the upper cam shaft, the corresponding module II is located in the middle stable state, and by analogy, the continuous state of the motor can be dispersed into eight stable states (three repeated middle stable states).
EXAMPLE six
As shown in FIG. 6, the robot has a schematic view of multi-configuration and variable stiffness, and at least comprises a plurality of modules (≧ 2) of the first embodiment, a rope 16, a base 14 and a rope driver. The module unit surface-to-surface contact, the cylinder spacing groove 123 and the base 14 fixed connection of module I, the cylinder spacing groove 123 and the cylinder stopper 13 of module I of module II are connected, the cylinder spacing groove 123 and the cylinder stopper 13 of module II of module III are connected, analogize to this, until being connected to terminal module V on, rope 16 passes in proper order from the axle center of five modules, and one end is fixed to be connected on module V, and the other end is connected on the rope driver.
The assembly between modules and the steady state switching remain consistent as described in example four. The number of stable states between two modules is 5, the figure comprises a fixed module and four movable modules, so the number of the configurations is 5 x 5, namely 625, the configuration-changing capability is super strong
The rope 16 and the axis of the module form a movable sliding pair, and when the robot is to switch the configuration, the rope 16 starts to be loosened, so that the unit modules are allowed to rotate relatively; when the robot needs to be reconfigured to work, the rope 16 is tightened to limit the relative rotation of each unit module, so that the integral rigidity is changed suddenly, the locking type is achieved, the maximum rigidity change ratio is 100 times, and the response time is less than 1 second.
Claims (6)
1. A modularized space multistable allosteric robot is characterized by comprising a plurality of module units and a rope (16), wherein a through hole is formed in each module unit, the rope sequentially penetrates through the module units, and the module units are connected together to form the modularized space multistable allosteric robot; the module unit comprises a shell, a driving device, a cam device, a push rod groove and a rope guide groove (14); the driving device is arranged at the inner bottom of the shell, a plurality of cam devices are arranged above the driving device, the driving device is used for driving the cam devices to rotate, a push rod device is arranged above each cam device, and the cam devices drive the push rod devices to move up and down; a push rod groove and a rope guide groove are arranged in the shell, the push rod device is inserted in the push rod groove, and the rope is arranged in the rope guide groove;
the shell comprises an upper half shell (1) and a lower half shell (12), and the upper half shell (1) and the lower half shell (12) are buckled and fixedly connected to form the shell; the upper half shell (1) comprises a hollow prism and an upper prismatic table, the upper prismatic table is fixedly arranged at one end of the hollow prism, and the shape and the size of the bottom surface of the upper prismatic table are the same as those of the end part of the hollow prism; the lower half shell (12) comprises a hollow prism and a lower prismatic table, the lower prismatic table is fixedly arranged at one end of the hollow prism, and the shape and the size of the bottom surface of the lower prismatic table are the same as those of the end part of the hollow prism; the end parts of the hollow prisms, far away from one end of the prism table, on the upper half shell (1) and the lower half shell (12) are fixedly connected to form a shell;
rope guide grooves are formed in the upper prismatic table and the lower prismatic table, and the push rod groove is formed in the upper prismatic table; the number of the cam devices is the same as that of the hollow prism surfaces, and the cam devices are arranged beside each inner side surface of the hollow prism;
the cam device comprises a cam shaft (6), a first cam (61), a second cam (62), a first bevel gear (63), a first cam guide groove (611), a bearing seat (5), a bearing (51) and a second cam guide groove (621); each inner side wall of the hollow prism is fixedly provided with a bearing seat (5), a bearing (51) is arranged in each bearing seat (5), one end of the cam shaft (6) is inserted into the bearing (51), the other end of the cam shaft (6) is fixedly connected with a first bevel gear (63), the first cam (61) and the second cam (62) are sleeved on the cam shaft (6), and the first cam (61) and the second cam (62) are distributed at an included angle with the difference of 90 degrees to 180 degrees; a circle of first cam guide grooves (611) are formed in the outer edge of the first cam (61) along the circumferential direction, and a circle of second cam guide grooves (621) are formed in the outer edge of the second cam (62) along the circumferential direction;
the push rod device comprises a linear push rod (3) and an arc push rod (4); one end of the linear push rod (3) is propped against the second cam guide groove (621), the other end of the linear push rod is inserted into the push rod groove, one end of the arc push rod (4) is propped against the first cam guide groove (611), and the other end of the arc push rod is inserted into the push rod groove; the linear push rod (3) and the arc push rod (4) are both U-shaped push rods, and the bottoms of the U-shaped push rods are propped in the first cam guide groove (611) or the second cam guide groove (621) through connecting rods;
the push rod groove comprises a linear push rod guide groove (11) and an arc push rod guide groove (15); the linear push rod guide groove (11) is arranged in the side face of the upper prismatic table and is parallel to the side wall of the hollow prism, and when the cam device moves, the push rod device can extend out of the side face of the prismatic table; the arc push rod guide groove (15) is arranged in the upper prismatic table, and when the cam device moves, the push rod device can extend out of the upper top surface of the prismatic table.
2. A modular space multistable reconfigurable robot according to claim 1, characterized in that the rope guide grooves (14) are grooves which are formed on the upper prism platform and intersect with each other from top to bottom, and the grooves can extend to each side of the upper prism platform; the intersection point of the two mutually crossed grooves is communicated with the hollow prism, and the lower prismatic table is provided with a rope guide groove which is the same as that of the upper prismatic table.
3. The modular space multistable allosteric robot according to claim 1, characterized by that, the driving device comprises a transmission shaft (7), a second bevel gear (71), a spur gear (8), a motor bracket (9), a reduction motor (10) and a power supply (17); a speed reducing motor (10) is fixedly arranged on the inner side wall of the lower half shell (12) through a motor support (9), a straight gear (8) is installed at the output end of the speed reducing motor (10), a transmission shaft (7) is arranged on the side surface of the speed reducing motor, the upper end of the transmission shaft (7) is connected to a hollow prism top plate of the upper half shell (1) through a bearing, and the lower end of the transmission shaft (7) is connected to a hollow prism bottom plate of the lower half shell (12) through a bearing; a straight gear (8) and a second bevel gear (71) are fixedly sleeved on the transmission shaft (7); the two straight gears (8) are mutually meshed; a second bevel gear (71) is engaged with the first bevel gear (63) of each cam gear; the inner side wall of the lower half shell (12) is also provided with a power supply (17), and the power supply (17) is connected with the speed reducing motor (10).
4. A modular space multistable allosteric robot according to claim 3, characterised in that the drive shaft (7) is a hollow shaft and the rope is arranged inside the drive shaft (7).
5. The modular space multistable reconfigurable robot according to claim 1, characterized in that, two cylindrical stoppers (13) are arranged on all edges of the top surface of the upper prismoid, the central axis of the cylindrical stoppers (13) is parallel to the edges of the top surface of the upper prismoid; all edges of the top surface of the lower prismatic table are provided with two cylindrical limiting grooves (123), and the cylindrical limiting grooves (123) are matched with the cylindrical limiting blocks (13).
6. A modular space multistable allosteric robot according to claim 1, characterised by that the upper half-shell (1) and the lower half-shell (12) are fixedly connected by bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910085645.2A CN109702726B (en) | 2019-01-29 | 2019-01-29 | Modular space multistable allosteric robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910085645.2A CN109702726B (en) | 2019-01-29 | 2019-01-29 | Modular space multistable allosteric robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109702726A CN109702726A (en) | 2019-05-03 |
| CN109702726B true CN109702726B (en) | 2021-01-19 |
Family
ID=66262040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910085645.2A Active CN109702726B (en) | 2019-01-29 | 2019-01-29 | Modular space multistable allosteric robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109702726B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116442204B (en) * | 2023-05-22 | 2024-02-23 | 浣江实验室 | Voxel type robot and system comprising same |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1678937A (en) * | 2000-08-18 | 2005-10-05 | 奥利弗克里斯品机器人有限公司 | Improvements in and relating to the robotic positioning of a work tool or sensor |
| JP2006512964A (en) * | 2003-01-15 | 2006-04-20 | ピエトルズク，アンジェイ | Three-dimensional multipurpose element system and method for generating a three-dimensional multipurpose element |
| US20170157768A1 (en) * | 2015-11-12 | 2017-06-08 | ITI Electromagnetic Products, Inc. | Self-assembling robotic construction system and associated methods |
| CN108789377A (en) * | 2018-08-09 | 2018-11-13 | 哈尔滨工业大学（威海） | A kind of connection unit of chute-type space via Self-reconfiguration cellular machineries people |
| CN109015618A (en) * | 2018-09-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of interstitial cell for spatial cell robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102765087B (en) * | 2012-07-31 | 2014-08-20 | 东南大学 | Modular self-reconfigurable robot and method for controlling deformation thereof |
-
2019
- 2019-01-29 CN CN201910085645.2A patent/CN109702726B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1678937A (en) * | 2000-08-18 | 2005-10-05 | 奥利弗克里斯品机器人有限公司 | Improvements in and relating to the robotic positioning of a work tool or sensor |
| JP2006512964A (en) * | 2003-01-15 | 2006-04-20 | ピエトルズク，アンジェイ | Three-dimensional multipurpose element system and method for generating a three-dimensional multipurpose element |
| US20170157768A1 (en) * | 2015-11-12 | 2017-06-08 | ITI Electromagnetic Products, Inc. | Self-assembling robotic construction system and associated methods |
| CN108789377A (en) * | 2018-08-09 | 2018-11-13 | 哈尔滨工业大学（威海） | A kind of connection unit of chute-type space via Self-reconfiguration cellular machineries people |
| CN109015618A (en) * | 2018-09-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of interstitial cell for spatial cell robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109702726A (en) | 2019-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20110113915A1 (en) | Parallel robot | |
| CN108621130B (en) | Parallel mechanism with two motion modes of 2R1T and 2T1R | |
| CN100553899C (en) | A kind of fork four-freedom parallel connection robot mechanism | |
| CN101698300B (en) | Large-working space parallel robot mechanism | |
| CN110450141B (en) | Four-branch-chain six-degree-of-freedom hybrid mechanism | |
| CN105082111A (en) | Completely-decoupling two-movement three-rotation parallel robot mechanism | |
| CA2505108A1 (en) | Four-degree-of-freedom parallel manipulator for producing schonflies motions | |
| CN101214647A (en) | Spherical surface two-freedom symmetrical parallel connection robot mechanism with redundancy drive | |
| CN100421885C (en) | Symmetrical and parallel robot mechanism with cross set and 4 or 5 freedoms | |
| CN104875193A (en) | 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism | |
| CN109702726B (en) | Modular space multistable allosteric robot | |
| CN107932482B (en) | Five-freedom-degree parallel mechanism capable of realizing three-dimensional rotation and two-dimensional movement | |
| CN104552247A (en) | Hybrid robot mechanism with three degrees of freedom | |
| CN110355740B (en) | Parallel mechanism with two motion modes of 1R1T and 3T | |
| CN110000755B (en) | Parallel mechanism with two-movement-one-screw and two-movement-one-rotation motion modes | |
| CN109848969B (en) | Decoupling three-rotational-freedom parallel mechanism for virtual-axis machine tool and robot | |
| CN111267070B (en) | Six-freedom-degree parallel robot mechanism | |
| CN110103202B (en) | Multi-mode series-parallel mechanical arm based on movement bifurcation mechanism | |
| CN110000756B (en) | Parallel mechanism with three-movement and two-movement one-spiral movement modes | |
| CN210081730U (en) | Three-dimensional translation and one-dimensional rotation independent rotating platform grabbing robot mechanism with synchronous belt transmission structure | |
| CN210081731U (en) | Three-dimensional translation and one-dimensional rotation grabbing robot mechanism with synchronous belt transmission structure | |
| CN210081729U (en) | Three-translation grabbing robot mechanism with synchronous belt transmission structure | |
| CN211137145U (en) | Partially decoupled two-degree-of-freedom rotation parallel mechanism | |
| CN210161141U (en) | High-speed two-translation grabbing robot mechanism with synchronous belt transmission structure | |
| CN203622426U (en) | Three-degree-of-freedom space positioning parallel mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |