CN113858185B - Reconfigurable modular software robot, reconfiguration method and clustering method - Google Patents
Reconfigurable modular software robot, reconfiguration method and clustering method Download PDFInfo
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- CN113858185B CN113858185B CN202111249252.4A CN202111249252A CN113858185B CN 113858185 B CN113858185 B CN 113858185B CN 202111249252 A CN202111249252 A CN 202111249252A CN 113858185 B CN113858185 B CN 113858185B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- 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
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Abstract
The invention discloses a reconfigurable modular software robot, which relates to the technical field of reconfigurable modular robots and can comprise: the driving and positioning modules are provided in plurality; the adjacent driving and positioning modules are connected through the annular flexible connecting module, and a plurality of driving and positioning modules can form an annular structure in a surrounding mode; the driving and positioning module can move along the annular flexible connecting module and can clamp the annular flexible connecting module; the telescopic rod supporting module is connected between the driving module and the positioning module through the telescopic rod supporting module. The invention also discloses a reconstruction method and a clustering method of the reconfigurable modular software robot. The reconfigurable robot can solve the problems that the existing reconfigurable robot is single in reconfiguration form and difficult to break through the size limitation of a rigid structure so as to realize complex motion operation of spatial dimension.
Description
Technical Field
The invention relates to the technical field of reconfigurable modular robots, in particular to a reconfigurable modular software robot, a reconfiguration method and a clustering method.
Background
The reconfigurable modular robot can realize the actions of moving, rolling, grabbing operation and the like through cluster cooperation, so that the reconfigurable modular robot can adapt to different working scenes, and the reconfigurable modular robot is a robot technology with wide application range and great prospect. Due to the fact that the reconfigurable modular robot can adapt to different task requirements through different cluster behaviors, the reconfigurable modular robot can optimize cluster configuration to conduct work.
Patent CN108527350a discloses a cubic modular reconfigurable robot unit and a robot, the robot unit includes three active surface modules and three passive surface modules, wherein: the driving surface module comprises a driving mechanism and a driving surface rotating buckle mechanism, the driven surface module comprises a stop pin control mechanism and a driven surface rotating buckle, and the unit has three degrees of freedom.
However, the existing reconfigurable modular robot is generally single in reconfiguration form and rigid in structure, and the size limitation of the rigid structure is difficult to break through, so that the reconfigurable modular robot can only realize less clustering configuration; the movement method after the reconfigurable modular robot cluster is single, the cluster movement in multiple modes is difficult to realize, and the requirements are difficult to meet when complex tasks are faced.
Therefore, it is desirable to provide a novel reconfigurable modular software robot to solve the above problems in the prior art.
Disclosure of Invention
The invention aims to provide a reconfigurable modular software robot, a reconfiguration method and a clustering method, and aims to solve the problems that the existing reconfigurable robot is single in reconfiguration form and difficult to break through the size limitation of a rigid structure so as to realize complex motion operation of spatial dimension.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a reconfigurable modular software robot, comprising:
the driving and positioning modules are provided in plurality;
the adjacent driving and positioning modules are connected through the annular flexible connecting module, and a plurality of driving and positioning modules can form an annular structure in a surrounding mode; the driving and positioning module can move along the annular flexible connecting module and can clamp the annular flexible connecting module;
the telescopic rod supporting module is connected between the driving module and the positioning module through the telescopic rod supporting module.
Preferably, the annular flexible connection module is an annular hose module, the annular hose module comprises an annular hose, and a plurality of grooves are uniformly distributed on the outer side wall of the annular hose along the axial direction;
the cross-sectional shape of the groove is U-shaped by making a circumferential cut on the outer diameter of the annular hose.
Preferably, the telescopic rod support module comprises an upper telescopic rod module and a lower telescopic rod module; the upper side telescopic rod module comprises three telescopic rods which are sequentially connected end to end, the end to end of each telescopic rod is hinged with the upper side of the driving and positioning module to form a revolute pair, and the three telescopic rods form a triangle; the lower side telescopic rod module comprises three telescopic rods, the same one of the lower side telescopic rod module is provided with two telescopic rods connected with the head end and the tail end of each telescopic rod, and two driving and positioning modules are arranged between the driving and positioning modules at intervals.
Preferably, the driving and positioning module comprises a driving and positioning module bracket, a wedge-shaped roller, a roller motor, a clamping and positioning device, a supporting rod and a magnetic connecting piece;
the wedge-shaped roller is mounted on the driving and positioning module bracket, the wedge-shaped roller is connected with the roller motor, the wedge-shaped roller can be in clamping fit with a groove on the annular hose, and the roller motor can drive the wedge-shaped roller to rotate so as to drive the driving and positioning module to slide along the axis of the annular hose;
the clamping and positioning device is arranged on the inner opening side of the driving and positioning module bracket and can clamp the annular hose;
the magnetic connecting piece is arranged on the outer side of the driving and positioning module bracket and can be connected with a space connecting pair or connected with the adjacent reconfigurable modular soft robot;
the supporting rod is vertically installed on the driving and positioning module support, the top end and the bottom end of the supporting rod penetrate through the driving and positioning module support, and the top end and the bottom end of the supporting rod can be hinged to the telescopic rod supporting module.
Preferably, the first and second liquid crystal materials are,
the wedge-shaped rollers comprise an inner wedge-shaped roller and an outer wedge-shaped roller, the inner wedge-shaped roller and the outer wedge-shaped roller are respectively positioned on the inner side and the outer side of the flexible hose, and the central angles corresponding to the arc lengths of the inner wedge-shaped roller and the outer wedge-shaped roller can be equal by configuring the contact diameters of the inner wedge-shaped roller and the outer wedge-shaped roller or the differential speed of the inner wedge-shaped roller and the outer wedge-shaped roller;
the clamping and positioning device comprises a clamping and positioning guide rail, a clamping and positioning slide block, a bidirectional screw rod, a connecting rod and a clamping and positioning claw; the clamping and positioning guide rail is fixed on the inner opening side of the driving and positioning module bracket through a screw, the clamping and positioning slide block is in threaded fit with the bidirectional screw rod through a central threaded hole, and two sides of the clamping and positioning slide block are provided with convex columnar bodies which can form sliding pair fit with the clamping and positioning guide rail; the clamping and positioning slide block is hinged with one end of a connecting rod, and the other end of the connecting rod is hinged with the clamping and positioning claw;
the middle of the bidirectional screw is provided with a boss, the screw thread directions of the bidirectional screw on the upper side and the lower side of the boss are opposite, two clamping and positioning sliding blocks are arranged, and the two clamping and positioning sliding blocks are respectively positioned on the upper side and the lower side of the boss;
the clamping and positioning clamping claw comprises clamping claw sheets which are symmetrical on two sides, the clamping claw sheets on the two sides are connected through a cylinder, and the connecting rod is hinged to the cylinder.
Preferably, the space connecting pair comprises a ball pair rod piece, a faceplate and an annular elastic rope, one end of the ball pair rod piece with a ball pair is hinged with the faceplate through a hinged shaft, two sides of the ball pair rod piece on the hinged shaft are provided with positioning shaft sleeves, and the central position of the ball pair rod piece hinged with the faceplate forms the ball pair; grooves are formed in the ball pair rod pieces, the annular elastic ropes are arranged in an 8 shape, and two ends of each annular elastic rope are connected with the grooves in the two adjacent ball pair rod pieces respectively;
the outer side of the ball pair rod piece is provided with a threaded hole, the middle of the magnetic connecting piece is provided with a threaded hole, and the ball pair rod piece and the threaded hole of the magnetic connecting piece are connected through a switching rod piece.
The invention also discloses a reconstruction method of the reconfigurable modular soft robot, and the reconfigurable modular soft robot realizes the change of the form by matching the extension and retraction of the telescopic rod supporting module and the movement of the driving and positioning module to form the reconstruction of different shapes.
Preferably, the method comprises the following steps:
the triangle reconstruction method comprises the steps that firstly, driving and positioning modules are uniformly distributed on an annular hose module, three telescopic rods on the upper side form an equilateral triangle, and at the moment, clamping and positioning devices in all the driving and positioning modules extend out of clamping and positioning clamping claws to fix the driving and positioning modules and the annular hose module; after the three telescopic rods are fixed, the three telescopic rods on the upper side are extended and lengthened at the same speed, the three telescopic rods on the lower side are contracted at the same speed, and the annular hose positioned outside the triangle is pulled into the triangle to finally form the triangular reconstruction robot;
and/or, hexagonal reconfiguration method, distribute drive and positioning module on the module of annular hose evenly at first, three telescopic links of the upside form equilateral triangle, the clamping locating device in all drive and positioning modules stretches out and clamps the positioning jaw at this moment, fix drive and positioning module and module of annular hose; after the fixing, the three telescopic rods on the upper side and the three telescopic rods on the lower side extend and lengthen at the same speed, so that the curvature of the annular hose between the two driving and positioning modules is reduced to the maximum extent, and finally the hexagonal reconstruction robot is formed;
and/or, the pentagon reconfiguration method, distribute drive and positioning module on the module of annular hose evenly at first, then fix the clamping locating device in the drive and positioning module that locates at the bottom and top of the circular ring and stretch out and clamp the positioning jaw, fix two drive and positioning module with the module of annular hose; after fixing, all the other four drives slide to the expected position with the orientation module downside, and the three telescopic link law of action that the upside constitutes triangle-shaped does: the two telescopic rods at the waist part extend, and the telescopic rod at the bottom edge retracts; the action rules of the three telescopic rods on the lower side are as follows: the telescopic rods connected with the non-sliding driving and positioning modules are contracted, and the other two telescopic rods are extended, so that the driving and positioning modules positioned on the lower side of the circular ring are pulled into the bottom edges of the pentagons, and finally the pentagon reconstruction robot is formed.
The invention also discloses a clustering method of the reconfigurable modular soft robot, and the reconfigurable modular soft robot can realize the combination of plane and space dimensionality through a form formed by reconfiguration to form a clustered robot facing different working spaces and different working mechanisms.
Preferably, the method comprises a plane clustering method and/or a space clustering method;
the plane clustering method comprises the following steps:
in the annular plane clustering method, adjacent reconfigurable modular soft robots are magnetically attracted and connected through a magnetic connecting piece on a driving and positioning module, and the expansion and contraction of the reconfigurable modular soft robots are controlled through a cluster, so that the relative movement of the reconfigurable modular soft robots and the integral movement of the cluster are realized;
and/or the annular elastic rope of the spatial connection pair is removed, the spatial connection pair is unfolded into a plane connection pair, adjacent reconfigurable modular soft robots are connected through the plane connection pair, the number of ball pair rod pieces connected to the faceplate is designed according to actual needs, and the expansion and contraction of the reconfigurable modular soft robots are controlled through the clusters, so that the relative movement of the reconfigurable modular soft robots and the integral movement of the clusters are realized;
the spatial clustering method comprises the following steps:
the spatial triangular cluster is characterized in that 4 triangular reconstruction robots are connected through spatial connecting pairs, the axes of the three spherical pair rod pieces connected by the spatial connecting pairs respectively form 60 degrees, the three spherical pair rod pieces connected by the spatial connecting pairs are fixed through tensile force generated by annular elastic ropes, and the spatial tetrahedral cluster realizes spatial clamping operation through two sides of one surface forming an included angle with the ground by controlling the change of the triangular shape;
and/or the space pentagonal cluster is characterized in that 12 pentagonal reconstruction robots are connected through space connecting pairs, the axes of the three ball pair rod pieces connected through the space connecting pairs respectively form 108 degrees, the three ball pair rod pieces connected through the space connecting pairs are fixed through tension generated by the annular elastic rope, the space pentagonal cluster can realize space swing by controlling the change of the shape of the pentagonal cluster and one side of the spatial cluster is contracted and one side of the spatial cluster is expanded, and when the mass center exceeds a stable supporting area, the rolling of the space pentagonal cluster is realized;
and/or, space pentagon and hexagon cluster, it is vice to connect 12 pentagon reconstruction robots and 20 hexagon reconstruction robots through the spatial connection, the vice axis of connecting three ball pair member of spatial connection becomes 108 respectively, 120, the pulling force that produces through annular stretch cord is fixed with the vice three ball pair member of connecting of spatial connection, the change of space pentagon and hexagon cluster through control pentagon and hexagon form, the spatial swing can be realized in one side expansion of shrink one side, surpass the stable supporting area when the barycenter, realize the roll of space pentagon and hexagon cluster.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention designs a mechanical structure and an appearance by a scientific method, utilizes the deformable characteristic of a soft body structure, is matched with a mechanism combining sliding and positioning, and reasonably arranges telescopic rods, breaks through the limitation of the size of a rigid structure, realizes a modularized soft body robot capable of reconstructing various forms, provides a reconstruction method and a clustering method, and can realize various clustering configurations in a three-dimensional space through different reconstruction forms, thereby realizing cluster motion operation in various modes and meeting the requirement of refined complex tasks.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a reconfigurable modular software robot of the present invention;
FIG. 2 is a front view of the reconfigurable modular soft robot of the present invention;
FIG. 3 is a bottom view of the reconfigurable modular soft robot of the present invention;
FIG. 4 is a schematic structural diagram of a reconfigurable modular software robot according to the present invention;
FIG. 5 is a schematic view showing the construction of the annular hose of the present invention;
FIG. 6 is a schematic view of the structural features of the annular hose of the present invention;
FIG. 7 is a first angular view of the driving and positioning module of the present invention;
FIG. 8 is a second angular view of the driving and positioning module of the present invention;
FIG. 9 is a schematic diagram of the operation of the drive and positioning module of the present invention;
FIG. 10 is a schematic view of the driving and positioning module support according to the present invention;
FIG. 11 is a schematic view of the clamping and positioning device of the present invention;
FIG. 12 is a schematic view of the clamping and positioning block of the present invention;
FIG. 13 is a schematic view of the clamping and positioning rail of the present invention;
FIG. 14 is a schematic view of the clamping and positioning jaws of the present invention;
FIG. 15 is a schematic view of the magnetic coupling of the present invention;
FIG. 16 is a schematic structural view of a spatial coupling pair according to the present invention;
FIG. 17 is a schematic view of the structure of the auxiliary flower disc for spatial connection according to the present invention;
FIG. 18 is a schematic structural diagram of a triangle reconstruction method according to the present invention;
FIG. 19 is a schematic diagram of the triangle reconstruction method of the present invention;
FIG. 20 is a schematic structural diagram of the hexagonal reconstruction method of the present invention;
FIG. 21 is a schematic diagram of the hexagonal reconstruction method of the present invention;
FIG. 22 is a schematic structural diagram of a pentagon reconstruction method according to the present invention;
FIG. 23 is a schematic diagram of the pentagonal reconstruction method of the present invention;
FIG. 24 is a schematic structural diagram of a two-dimensional plane clustering method according to the present invention;
FIG. 25 is a schematic diagram of a two-dimensional planar clustering method according to the present invention;
FIG. 26 is a schematic structural diagram of a three-dimensional clustering method according to the present invention;
FIG. 27 is a schematic diagram of a three-dimensional clustering method according to the present invention;
wherein, 1 is the annular hose module, 2 is drive and orientation module, 3 is telescopic link support module, 4 is the space connection pair, 201 is drive and orientation module support, 202 is the gyro wheel motor, 203 is the wedge gyro wheel, 204 is the clamping position device, 205 is the bracing piece, 206 is the magnetic connecting piece, 2041 is for pressing from both sides tight locating rail, 2042 is for pressing from both sides tight locating slider, 2043 is two-way lead screw, 2044 is the connecting rod, 2045 is for pressing from both sides tight locating claw, 401 is the ball pair member, 402 is annular stretch cord, 403 is the flower disc.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention aims to provide a reconfigurable modular software robot, a reconfiguration method and a clustering method, and aims to solve the problems that the existing reconfigurable robot is single in reconfiguration form and difficult to break through the size limitation of a rigid structure so as to realize complex motion operation of spatial dimension.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
As shown in fig. 1 to 27, the present embodiment provides a reconfigurable modular soft robot, which mainly includes three modules, a telescopic rod support module 3, an annular hose module 1 and a driving and positioning module 2; the arrangement of the telescopic rod support module 3, the annular hose module 1 and the drive and positioning module 2 is shown in fig. 3.
In this embodiment, the driving and positioning module 2 is in clamping fit with the groove of the annular hose module 1 through the wedge roller 203, when the wedge roller 203 rotates due to the friction force formed by clamping, the driving and positioning module 2 slides along the axis of the annular hose module 1, and when the driving and positioning module 2 slides along the axis of the annular hose module 1, the telescopic rod supporting module 3 can be matched with the movement of the annular hose module 1 through self expansion and contraction. When the drive and positioning module 2 is moved to a desired position on the annular hose module 1, the clamping and positioning device 204 of the drive and positioning module 2 clamps the annular hose module 1, so that the drive and positioning module 2 forms a fixed connection with the annular hose module 1. After all the driving and positioning modules 2 are fixedly connected with the annular hose module 1, the telescopic rod support module 3 can make the annular hose module 1 deform by stretching and retracting so as to realize the expected reconstructed shape.
In the embodiment, as shown in fig. 5 and 6, the annular hose module 1 includes an annular hose (other flexible structures such as an annular soft rod can be selected according to the working requirement), and a groove is formed on the outer wall of the annular hose, and the geometric shape of the groove is a U shape and is implemented by cutting a circle on the outer diameter of the annular hose. When the driving and positioning module 2 slides, the wedge roller 203 needs to overcome the convex part of the annular hose module 1, the length of the inner arc edge and the length of the outer arc edge of a single convex part are as shown in fig. 6, and the central angles corresponding to the arc lengths of the inner wedge roller 203 and the outer wedge roller 203 are equal by configuring the contact diameters of the inner wedge roller 203 and the outer wedge roller 203 or the differential speed of the inner wedge roller 203 and the outer wedge roller 203.
In this embodiment, as shown in fig. 2 to 4, the telescopic rod support module 3 is divided into two parts, which are respectively disposed on two sides of the annular hose module 1, wherein one side is formed by sequentially connecting three telescopic rods end to end, the ends and the ends of the telescopic rods are hinged to the support rods 205 on the driving and positioning module 2 to form a revolute pair, and the three telescopic rods form a triangle. The other side of the telescopic rod is provided with three telescopic rods, and two driving and positioning modules 2 are arranged between the driving and positioning modules 2 connected with the same telescopic rod at intervals.
In this embodiment, as shown in fig. 7-15, the driving and positioning module 2 mainly includes a driving and positioning module bracket 201, a wedge roller 203, a roller motor 202, a clamping and positioning device 204, a support rod 205, and a magnetic connecting piece 206. As shown in fig. 10, the entire mechanism of the driving and positioning module holder 201 is vertically symmetrical. The roller motor 202 is installed in an annular positioning groove on the driving and positioning module support 201, and is fixedly connected with the positioning module support 201 through a screw, and the clamping and positioning device 204 is fixed on the inner opening side of the driving and positioning module support 201.
In this embodiment, the clamping and positioning device 204 mainly includes a clamping and positioning guide rail 2041, a clamping and positioning slider 2042, a bidirectional screw 2043, a connecting rod 2044, and a clamping and positioning claw 2045; specifically, the clamping and positioning guide rail 2041 is fixed on the inner opening side of the driving and positioning module support 201 through a screw, the clamping and positioning slider 2042 is in threaded fit with the bidirectional screw 2043 through a central threaded hole, and two sides of the clamping and positioning slider 2042 are provided with protruding columns which form a sliding pair fit with the clamping and positioning guide rail 2041. The clamping and positioning slide block 2042 is hinged to one end of a connecting rod 2044, and the other end of the connecting rod 2044 is hinged to a clamping and positioning claw 2045. As shown in fig. 14, the clamping and positioning pawl 2045 is formed by connecting bilaterally symmetrical pawl segments by a cylinder so that the central hinge has enough space to accommodate the revolute pair formed by the connecting rod 2044 and the clamping and positioning pawl 2045. The bidirectional screw 2043 uses a middle boss as a boundary, and the screw threads on two sides are opposite in direction, so that the clamping and positioning sliders 2042 matched with the bidirectional screw 2043 move towards opposite directions when the bidirectional screw 2043 rotates, and then the clamping and positioning jaws 2045 extend and retract.
In this embodiment, the magnetic connecting element 206 is fixed at the hollow-out position outside the driving and positioning module bracket 201 by screws, and a threaded hole is formed in the middle of the magnetic connecting element 206 for connecting a switching rod, so as to connect the spatial connecting pair 4.
In this embodiment, as shown in fig. 16-17, the spatial connection pair 4 mainly comprises a ball pair rod 401, a faceplate 403, and an annular elastic cord 402, wherein one end of the ball pair rod 401 having a ball pair is hinged to the faceplate 403, two sides of the ball pair rod 401 on the hinge shaft are provided with positioning sleeves to prevent the ball pair rod 401 from moving axially, and the central position where the ball pair rod 401 is hinged to the faceplate 403 forms the ball pair. Grooves are formed in the ball pair rod pieces 401, and the annular elastic ropes 402 are arranged in an 8 shape to realize pre-tightening connection of the two adjacent ball pair rod pieces 401. The outer side of the ball pair rod 401 is provided with a threaded hole, and the connection with the reconfigurable modular soft robot body is realized through connecting the switching rod.
The embodiment also discloses a reconstruction method of the reconfigurable modular software robot, which comprises the following steps:
the reconfigurable modular soft robot realizes the change of the robot shape by the cooperation of the extension and retraction of the telescopic rod supporting module 3 and the movement of the driving and positioning module 2.
The reconstruction method comprises the following steps:
triangle reconstruction method
As shown in fig. 18-19, the driving and positioning modules 2 are uniformly distributed on the annular hose module 1, the three upper telescopic rods form an equilateral triangle, and at this time, the clamping and positioning devices 204 in all the driving and positioning modules 2 extend out of the clamping and positioning claws 2045 to fix the driving and positioning modules 2 and the annular hose module 1; after the fixing, the three telescopic rods on the upper side are extended and lengthened at the same speed, the three telescopic rods on the lower side are contracted at the same speed, and the annular hose positioned outside the triangle is pulled into the triangle, so that the reconstruction of the triangle is finally realized.
Hexagonal reconstruction method
As shown in fig. 20-21, the hexagonal reconfiguration method is that the driving and positioning modules 2 are uniformly distributed on the annular hose module 1, the three upper telescopic rods form an equilateral triangle, and at this time, the clamping and positioning devices 204 in all the driving and positioning modules 2 extend out of the clamping and positioning claws 2045 to fix the driving and positioning modules 2 and the annular hose module 1; after the fixing, the three telescopic rods on the upper side and the three telescopic rods on the lower side extend and lengthen at the same speed, the curvature of the annular hose between the two driving and positioning modules 2 is reduced to the maximum extent, and the reconstruction of a hexagon is finally realized.
Pentagon reconstruction method
As shown in fig. 22-23, the pentagonal reconstruction method includes uniformly distributing the driving and positioning modules 2 on the annular hose module 1, then fixing the clamping and positioning devices 204 in the driving and positioning modules 2 at the lowest end and the highest end of the circular ring to extend out of the clamping and positioning claws 2045, and fixing the two driving and positioning modules 2 with the annular hose module 1; after fixation, the remaining four drive and positioning modules 2 are slid downwards to the desired position. The action rule of the three telescopic rods forming the triangle is as follows: the two telescopic rods at the waist part extend, and the telescopic rod at the bottom edge retracts; the action rules of the three telescopic rods on the lower side are as follows: the telescopic link that is connected with non-gliding drive and orientation module 2 contracts, and other two telescopic links extend to the base of pentagon will be drawn in with orientation module 2 to the drive that will be located the ring downside, finally realize the reconsitution of pentagon.
The embodiment also discloses a cluster method of the reconfigurable modular software robot, which comprises the following steps:
the reconfigurable modular soft robot can realize the combination of plane and space dimensionality through the form formed by reconfiguration, so as to realize cluster robots oriented to different working spaces and different working methods (moving, rolling, grabbing operation and the like)
The plane clustering method is shown in fig. 24-25, and comprises:
annular plane cluster
The magnetic connection is carried out by driving the magnetic connecting piece 206 on the positioning module 2, and the expansion and contraction of the reconfigurable modular soft robot are controlled by the cluster, so that the relative movement of the reconfigurable modular soft robot and the integral movement of the cluster are realized.
Triangular and hexagonal planar clusters
The triangular plane cluster can be regarded as a hexagonal plane cluster to be further refined and split (the triangle can form a hexagon), the difference of the triangular plane cluster and the hexagonal plane cluster in clustering is that a connection pair between the reconfigurable modular soft robots is connected with at most three rod pieces, and the triangular plane cluster connection pair is connected with at most six rod pieces. When in plane clustering, the annular elastic rope 402 of the space connection pair 4 is detached, the space connection pair 4 is unfolded into a plane connection pair, the number of the ball pair rods received by the flower disc 403 is designed according to actual needs, and the design principle of the flower disc 403 follows central symmetry. In a similar way, the expansion and contraction of the reconfigurable modular soft robot are controlled by the cluster, so that the relative movement of the reconfigurable modular soft robot and the integral movement of the cluster are realized.
The spatial clustering method is shown in fig. 26-27, and comprises:
spatial triangular cluster
The spatial triangular cluster is characterized in that 4 triangular reconstruction robots are connected through spatial connection pairs 4, the axes of the spatial connection pairs 4 for connecting three ball pair rod pieces respectively form 60 degrees, the three ball pair rod pieces connected with the spatial connection pairs 4 are fixed through the pulling force generated by the annular elastic rope 402, and the spatial tetrahedral cluster realizes the spatial clamping operation through controlling the change of the triangular shape and through two sides of one surface forming an included angle with the ground.
b space pentagon cluster
The spatial pentagonal cluster is characterized in that 12 pentagonal reconstruction robots are connected through spatial connecting pairs 4, the axes of the spatial connecting pairs 4 for connecting three ball pair rod pieces form 108 degrees respectively, and the three ball pair rod pieces connected by the spatial connecting pairs 4 are fixed through the pulling force generated by the annular elastic ropes 402; space pentagon cluster is through the change of control pentagon form, and the swing in space can be realized to one side shrink one side expansion, surpasss the stable region of support when the barycenter, realizes the roll of space pentagon cluster.
c-space pentagonal and hexagonal cluster
The spatial pentagon and hexagon cluster is characterized in that 12 pentagon reconstruction robots and 20 hexagon reconstruction robots are connected through a spatial connection pair 4, the axes of the spatial connection pair 4 for connecting three ball pair rod pieces are respectively 108 degrees, 120 degrees and 120 degrees, and the three ball pair rod pieces connected by the spatial connection pair 4 are fixed through the pulling force generated by the annular elastic rope 402; space pentagon and hexagon cluster are through the change of control pentagon and hexagon form, and the swing in space can be realized in one side expansion of contracting one side, surpasss the stable region of supporting when the barycenter, realizes the roll of space pentagon and hexagon cluster.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (7)
1. A reconfigurable modular soft robot, comprising: the method comprises the following steps:
the driving and positioning modules are provided in plurality;
the adjacent driving and positioning modules are connected through the annular flexible connecting module, and a plurality of driving and positioning modules can form an annular structure in a surrounding mode; the driving and positioning module can move along the annular flexible connecting module and can clamp the annular flexible connecting module;
the driving and positioning modules are connected through the telescopic rod supporting module;
the annular flexible connecting module adopts an annular hose module, the annular hose module comprises an annular hose, and a plurality of grooves are uniformly distributed on the outer side wall of the annular hose along the axial direction; the cross section of the groove is U-shaped and is cut off circumferentially on the outer diameter of the annular hose;
the telescopic rod supporting module comprises an upper telescopic rod module and a lower telescopic rod module; the upper side telescopic rod module comprises three telescopic rods which are sequentially connected end to end, the end to end of each telescopic rod is hinged with the upper side of the driving and positioning module to form a revolute pair, and the three telescopic rods form a triangle; the lower telescopic rod module comprises three telescopic rods, and two driving and positioning modules are arranged between two driving and positioning modules connected with the head end and the tail end of the same telescopic rod of the lower telescopic rod module at intervals;
the driving and positioning module comprises a driving and positioning module bracket, a wedge-shaped roller, a roller motor, a clamping and positioning device, a supporting rod and a magnetic connecting piece; the wedge-shaped roller is mounted on the driving and positioning module bracket, the wedge-shaped roller is connected with the roller motor, the wedge-shaped roller can be in clamping fit with a groove on the annular hose, and the roller motor can drive the wedge-shaped roller to rotate so as to drive the driving and positioning module to slide along the axis of the annular hose; the clamping and positioning device is arranged on the inner opening side of the driving and positioning module bracket and can clamp the annular hose; the magnetic connecting piece is arranged on the outer side of the driving and positioning module bracket and can be connected with a space connecting pair or connected with the adjacent reconfigurable modular soft robot; the supporting rod is vertically installed on the driving and positioning module support, the top end and the bottom end of the supporting rod penetrate through the driving and positioning module support, and the top end and the bottom end of the supporting rod can be hinged to the telescopic rod supporting module.
2. The reconfigurable modular soft robot of claim 1, wherein:
the wedge-shaped rollers comprise an inner wedge-shaped roller and an outer wedge-shaped roller, the inner wedge-shaped roller and the outer wedge-shaped roller are respectively positioned on the inner side and the outer side of the annular hose, and the central angles corresponding to the arc lengths of the inner wedge-shaped roller and the outer wedge-shaped roller can be equal by configuring the contact diameters of the inner wedge-shaped roller and the outer wedge-shaped roller or the differential speed of the inner wedge-shaped roller and the outer wedge-shaped roller;
the clamping and positioning device comprises a clamping and positioning guide rail, a clamping and positioning slide block, a bidirectional screw rod, a connecting rod and a clamping and positioning claw; the clamping and positioning guide rail is fixed on the inner opening side of the driving and positioning module bracket through a screw, the clamping and positioning slide block is in threaded fit with the bidirectional screw rod through a central threaded hole, and two sides of the clamping and positioning slide block are provided with convex columnar bodies which can form sliding pair fit with the clamping and positioning guide rail; the clamping and positioning sliding block is hinged with one end of a connecting rod, and the other end of the connecting rod is hinged with the clamping and positioning clamping jaw;
the middle of the bidirectional screw is provided with a boss, the screw thread directions of the bidirectional screw on the upper side and the lower side of the boss are opposite, two clamping and positioning sliding blocks are arranged, and the two clamping and positioning sliding blocks are respectively positioned on the upper side and the lower side of the boss;
the clamping and positioning clamping claw comprises clamping claw sheets which are symmetrical on two sides, the clamping claw sheets on the two sides are connected through a cylinder, and the connecting rod is hinged to the cylinder.
3. The reconfigurable modular soft robot of claim 1, wherein: the space connecting pair comprises a ball pair rod piece, a flower disc and an annular elastic rope, one end of the ball pair rod piece with a ball pair is hinged with the flower disc through a hinged shaft, two sides of the ball pair rod piece on the hinged shaft are provided with positioning shaft sleeves, and the central position of the ball pair rod piece hinged with the flower disc forms the ball pair; grooves are formed in the ball pair rod pieces, the annular elastic ropes are arranged in an 8 shape, and two ends of each annular elastic rope are connected with the grooves in the two adjacent ball pair rod pieces respectively;
the outer side of the ball pair rod piece is provided with a threaded hole, the middle of the magnetic connecting piece is provided with a threaded hole, and the ball pair rod piece and the threaded hole of the magnetic connecting piece are connected through a switching rod piece.
4. A method of reconfiguring a reconfigurable modular soft robot as claimed in any one of claims 1 to 3, wherein: the reconfigurable modular soft robot realizes the change of the form by the cooperation of the extension and retraction of the telescopic rod supporting module and the movement of the driving and positioning module, and reconfigurations in different shapes are formed.
5. The reconstruction method according to claim 4, characterized in that: the method comprises the following steps:
the triangle reconstruction method comprises the steps that firstly, driving and positioning modules are evenly distributed on an annular hose module, three telescopic rods on the upper side form an equilateral triangle, clamping and positioning devices in all the driving and positioning modules extend out of clamping and positioning clamping claws at the moment, and the driving and positioning modules and the annular hose module are fixed; after the three telescopic rods are fixed, the three telescopic rods on the upper side are extended and lengthened at the same speed, the three telescopic rods on the lower side are contracted at the same speed, and the annular hose positioned outside the triangle is pulled into the triangle to finally form the triangular reconstruction robot;
and/or, hexagonal reconfiguration method, distribute drive and positioning module on the module of annular hose evenly at first, three telescopic links of the upside form equilateral triangle, the clamping locating device in all drive and positioning modules stretches out and clamps the positioning jaw at this moment, fix drive and positioning module and module of annular hose; after the fixing, the three telescopic rods on the upper side and the three telescopic rods on the lower side extend and lengthen at the same speed, so that the curvature of the annular hose between the two driving and positioning modules is reduced to the maximum extent, and finally the hexagonal reconstruction robot is formed;
and/or, the pentagon reconstruction method, distribute drive and positioning module on the module of annular hose evenly at first, then the clamping locating device in the drive and positioning module of the fixed position lowermost end and top of the circular ring stretches out and clamps the positioning jaw, fix two drive and positioning module and annular hose module; after fixing, all the other four drives slide to the expected position with the orientation module downside, and the three telescopic link law of action that the upside constitutes triangle-shaped does: the two telescopic rods at the waist part extend, and the telescopic rod at the bottom edge retracts; the action rules of the three telescopic rods on the lower side are as follows: the telescopic rods connected with the non-sliding driving and positioning modules are contracted, and the other two telescopic rods are extended, so that the driving and positioning modules positioned on the lower side of the circular ring are pulled into the bottom edges of the pentagons, and finally the pentagon reconstruction robot is formed.
6. A clustering method of reconfigurable modular soft-bodied robots according to any one of claims 1 to 3, characterized in that: the reconfigurable modular soft robot can realize the combination of plane and space dimensionality through the form formed by reconfiguration, so as to form the cluster robot facing different working spaces and different working mechanisms.
7. The clustering method according to claim 6, characterized in that: including planar clustering methods and/or spatial clustering methods;
the plane clustering method comprises the following steps:
in the annular plane clustering method, adjacent reconfigurable modular soft robots are magnetically attracted and connected through a magnetic connecting piece on a driving and positioning module, and the expansion and contraction of the reconfigurable modular soft robots are controlled through a cluster, so that the relative movement of the reconfigurable modular soft robots and the integral movement of the cluster are realized;
and/or the annular elastic rope of the spatial connection pair is removed, the spatial connection pair is unfolded into a plane connection pair, adjacent reconfigurable modular soft robots are connected through the plane connection pair, the number of ball pair rod pieces connected to the faceplate is designed according to actual needs, and the expansion and contraction of the reconfigurable modular soft robots are controlled through the clusters, so that the relative movement of the reconfigurable modular soft robots and the integral movement of the clusters are realized;
the spatial clustering method comprises the following steps:
the spatial triangular cluster is characterized in that 4 triangular reconstruction robots are connected through spatial connecting pairs, the axes of the three spherical pair rod pieces connected by the spatial connecting pairs respectively form 60 degrees, the three spherical pair rod pieces connected by the spatial connecting pairs are fixed through tensile force generated by annular elastic ropes, and the spatial tetrahedral cluster realizes spatial clamping operation through two sides of one surface forming an included angle with the ground by controlling the change of the triangular shape;
and/or the space pentagonal cluster is characterized in that 12 pentagonal reconstruction robots are connected through space connecting pairs, the axes of the three ball pair rod pieces connected through the space connecting pairs respectively form 108 degrees, the three ball pair rod pieces connected through the space connecting pairs are fixed through tension generated by the annular elastic rope, the space pentagonal cluster can realize space swing by controlling the change of the shape of the pentagonal cluster and one side of the spatial cluster is contracted and one side of the spatial cluster is expanded, and when the mass center exceeds a stable supporting area, the rolling of the space pentagonal cluster is realized;
and/or, space pentagon and hexagon cluster, it is vice to connect 12 pentagon reconstruction robots and 20 hexagon reconstruction robots through the spatial connection, the vice axis of connecting three ball pair member of spatial connection becomes 108 respectively, 120, the pulling force that produces through annular stretch cord is fixed with the vice three ball pair member of connecting of spatial connection, the change of space pentagon and hexagon cluster through control pentagon and hexagon form, the spatial swing can be realized in one side expansion of shrink one side, surpass the stable supporting area when the barycenter, realize the roll of space pentagon and hexagon cluster.
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