CN114987647A - Reconfigurable robot assembly and robot applying same - Google Patents

Reconfigurable robot assembly and robot applying same Download PDF

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Publication number
CN114987647A
CN114987647A CN202210658456.1A CN202210658456A CN114987647A CN 114987647 A CN114987647 A CN 114987647A CN 202210658456 A CN202210658456 A CN 202210658456A CN 114987647 A CN114987647 A CN 114987647A
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China
Prior art keywords
worm
gear
motor
robot
shaft
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Granted
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CN202210658456.1A
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Chinese (zh)
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CN114987647B (en
Inventor
邹龙庆
俞俊
付海龙
陆信洲
刘传
王玥
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Northeast Petroleum University
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Northeast Petroleum University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles

Abstract

A reconfigurable robot assembly and a robot using the same. The reconfigurable robot aims to solve the problems that the existing reconfigurable robot adopts a modularized combination mode, and the working stability and the service life of the robot are easily reduced due to misoperation in the disassembly and assembly process. The method is characterized in that: the transmission mode of the robot assembly comprises bevel gear transmission controlled by a speed reducing motor, worm and gear transmission controlled by a double-output-shaft motor and straight gear transmission controlled by a right-angle motor; the robot is provided with a control unit for driving a right-angle motor, a double-output-shaft motor and a speed reducing motor, and the three control units are independent respectively; the scheme disclosed by the invention is an integrated design, the included angle between core motion modules is changed through the transmission of gears, and the included angle between a worm gear swing rod and a speed reduction motor bin is changed through the rotation of a worm gear, so that the space geometric configuration of the robot is changed, and the reconfigurable robot suitable for multi-environment work is provided.

Description

Reconfigurable robot assembly and robot applying same
Technical Field
The invention relates to a robot assembly and a robot applying the same, in particular to a reconfigurable robot which can make structural changes according to different working environments.
Background
A reconfigurable robot is a robot that can change configurations according to changes in task or environment. In the prior art, most reconfigurable robots can be simply and quickly assembled into geometric configurations suitable for different tasks by combining modules, and meanwhile, the combination not only is simple mechanical reconfiguration, but also comprises reconfiguration of a control system. The reconstructed robot can adapt to new working environment and working task and has good flexibility.
However, the modular combination means that in order to realize different functions of the robot, part of module components need to be disassembled and replaced by other module components, so that improper operation may occur in the disassembling and assembling process, and the working stability and service life of the robot are reduced; and different module components require different control techniques.
Disclosure of Invention
In order to solve the technical problems mentioned in the background technology, the invention provides a reconfigurable robot suitable for multi-environment work, and the transmission modes of the reconfigurable robot comprise bevel gear transmission controlled by a speed reducing motor, worm and gear transmission controlled by a double-output-shaft motor and a straight gear transmission module controlled by a right-angle motor, wherein the transmissions are independently controlled and do not interfere with each other. When the machine moves on a conventional road surface, the speed reducing motor drives the rubber wheel, so that the forward movement, the backward movement and the steering of the machine are realized; straight tooth transmission can change the included angle between the core motion modules, so that the machine can adapt to motion in a pipeline; the matching transmission between the worm gear transmission and the gear transmission can lead the machine to do crawling motion, thereby being suitable for running on soft road surfaces; meanwhile, the machine can change the included angle between the core motion modules or the included angle between the worm gear swing rod and the speed reduction motor bin according to different road conditions, namely the overall height and the width of the machine are changed, and further the gravity center position of the machine is changed to improve the stability of the machine during motion.
The technical scheme of the invention is as follows:
firstly, a reconfigurable robot assembly is provided, which comprises two symmetrically arranged modules with the same structure, and is characterized in that:
the module comprises two driven gears 10, a worm gear clamping plate 30, two worm gears 24, a worm 17, a worm shaft 19, an elastic coupling 16, a double-output-shaft motor 18, two worm gear swing rods 8, a stabilizing connecting rod 6, two U-shaped clamping plates 23 and a speed reduction motor bin 26. Two output shafts of the right-angle motor 15 are connected with a driving gear shaft 11 through a coupler 13, one end of the driving gear shaft 11 is connected with the coupler 13, a driving gear 12 is arranged at the other end of the driving gear shaft 11 and is connected with a machine shell 31, and the right-angle motor 15 drives the driving gear 12 to rotate; the driven gear 10 is driven by the driving gear 12 to rotate, and the connecting piece 32 connects the driven gear 10 with the worm wheel and worm clamping plate 30; the L end 3201 of the connecting piece is fixed on the worm gear clamping plate 30 through a screw, the other end of the connecting piece 32 is a cylindrical shaft 3202, and the driven gear 10 is arranged on the cylindrical shaft 3202.
The double-output-shaft motor 18 is fixed on the worm gear and worm clamping plate 30, two output shafts of the double-output-shaft motor 18 are connected with a worm shaft 29 through an elastic coupling 16, one end of the worm shaft 29 is connected with the elastic coupling 16, the other end of the worm shaft is provided with a worm 17 and is connected with the worm gear and worm clamping plate 30, the double-output-shaft motor 18 drives a worm gear 24 and the worm 17 to rotate, a worm gear swing rod 8 is fixedly connected with the worm gear 24, the worm gear swing rod 8 can rotate around the center of the worm gear 24, and the double-output-shaft motor 18 is used for driving the worm gear 24 and the worm 17 to rotate; the worm and gear clamping plate 30, the two worm and gear swing rods 8 and the gear motor bin 26 form a four-bar structure, and the gear motor bin 26 is connected with the two worm and gear swing rods 8 through the U-shaped clamping plate 23.
Each speed reducing motor bin 26 is provided with a rotating wheel driven by a speed reducing motor 19; the gear motor 19 is fixed inside the gear motor chamber 26, and the gear motor 19 transmits power to the rotating wheel through a group of bevel gears.
The two modules can rotate along with the rotation of the driven gear 10, and the included angle between the modules can be changed.
Further, an optimized scheme 1 of the reconfigurable robot assembly is obtained, namely a boss is arranged on the surface of the L end 3201 of the connecting piece and used for embedding the worm gear clamping plate 30 so as to increase the connecting strength of the connecting piece 32 and the worm gear clamping plate 30.
Further, an optimized solution 2 of the reconfigurable robot assembly is obtained, namely the driven gear 10 can continuously rotate to make the included angle of the two modules form 180 degrees, so that the robot can reach the maximum width and move in the pipeline.
Further, an optimization scheme 3 of the reconfigurable robot assembly is obtained, namely two ends of the stabilizing connecting rod 6 are connected to the worm gear swing rod 8, so that the stability of the four-connecting-rod during rotation is improved.
Further, an optimization scheme 4 of the reconfigurable robot assembly is obtained, namely a limit switch 33 is installed on the worm gear swing rod 8 and used for preventing the machine from being damaged due to the fact that the worm gear swing rod 8 is in contact with the stabilizing connecting rod 6 and the speed reducing motor bin 26 in the rotation process of the worm gear 24 and the worm 17.
Furthermore, the rotating wheels in the previously described solution are preferably rubber wheels, at least two sets of which comprise a nylon hub 27 and a rubber tyre 28; the speed reducing motor 19 transmits power to the middle group of rubber wheels through a group of bevel gears, and the middle group of rubber wheels and the rear group of rubber wheels are transmitted through an elastic belt 20.
Any one of the 7 reconfigurable robot components is applied to the robot in the following way, so that the corresponding reconfigurable robot can be obtained:
two modules with the same structure in the reconfigurable robot assembly are symmetrically arranged on a machine shell 31;
each right-angle motor 15 is fixed on the machine shell 31 through two right-angle motor fixing frames 14, and the right-angle motor fixing frames 14 and the machine shell 31 are fixed through screws; the cylindrical shaft 3202 is connected to the machine housing 31.
When the included angle of the two modules is increased, the overall height of the robot is reduced, the width of the robot is increased, and the center of gravity of the robot is reduced, so that the working stability of the robot is improved.
There are control units for driving the right-angle motor 15 and the double-output-shaft motor 18 and the reduction motor 19, and the three control units are independent of each other.
The invention has the following beneficial effects: 1. each group of motors are independently controlled and do not interfere with each other, so that the stability of the control system is improved. 2. The driven gear rotates, an included angle between the two core motion modules is changed, the overall height of the machine is reduced, the width of the machine is increased, the shape of the four-bar linkage and the width of the machine are changed by rotation of the worm gear swing rod, namely, the gravity center position of the machine is changed, and the stability of the machine during motion is improved. 3. The gear transmission driven by the right-angle motor and the worm gear swing driven by the double-output-shaft motor are mutually matched, so that the space configuration of the machine is changed, and the machine not only can be suitable for running on a common road surface, but also can be suitable for moving in pipelines with different diameters and creeping motion on a soft road surface.
Description of the drawings:
fig. 1 is an overall assembly view of the reconfigurable robot.
Fig. 2 is a bottom view of the overall assembly of the reconfigurable robot.
Fig. 3 is a core module assembly view.
Fig. 4 is a schematic diagram of a right-angle motor driving spur gear.
FIG. 5 is a schematic view of a dual output shaft motor driving four-bar linkage.
Figure 6 is a schematic view of the movement of the machine within the pipeline.
FIG. 7 is a schematic diagram of the crawling motion of the machine.
Fig. 8 is a schematic view of the rubber wheel composition of the machine.
Fig. 9 is a schematic view of the connector structure.
Fig. 10 is a control flowchart of the robot according to the present invention.
Fig. 11 is a block diagram of a control routine of a dual output shaft motor in an exemplary embodiment.
Fig. 12 is a block diagram of a control routine of the right angle motor in an exemplary embodiment.
Fig. 13 is a block diagram of a control routine of the reduction motor in the embodiment.
FIG. 1-Signal receiver; 2-a control module; 3-an indicator light; 4-power switch; 5-a battery; 6-a stabilizing connecting rod; 7-driving wheels; 8-worm wheel swing rod, 9-searchlight; 10-a driven gear; 11-driving gear shaft; 12-a drive gear; 13-a coupler; 14-right angle motor fixing frame; 15-a right angle motor; 16-elastic coupling; 17-a worm; 18-double output shaft motor; 19-a gear motor; 20-an elastic belt; 21-driven bevel gear; 22-driving bevel gear; 23-U-shaped splints; 24-a worm gear; 25-a belt pulley; 26-a geared motor bin; 27-a nylon hub; 28-rubber tires; 29-worm shaft; 30-worm gear clamping plate; 31-a machine housing; 32-a connector; 3201-link L-end; 3202-cylindrical shaft; 3203-connecting piece projection, and 33-limit switch.
The specific implementation mode is as follows:
specific embodiments of the present invention are set forth below for the purpose of describing the invention in detail with reference to the attached drawings:
the component is applied to the robot, so that the reconfigurable robot suitable for multi-environment work is obtained. The double-output-shaft motor comprises two core modules, wherein the two core modules are symmetrically arranged, each module comprises two driven gears 10, a worm gear and worm clamping plate 30, two worm gears 24, a worm 17, a worm shaft 29, an elastic coupling 16, a double-output-shaft motor 18, two worm gear oscillating bars 8, a stabilizing connecting rod 6, two U-shaped clamping plates 23 and a speed reduction motor bin 26. The two core motion modules are symmetrically mounted on the machine housing 31.
Each right-angle motor 15 is fixed on the machine shell 31 through two right-angle motor fixing frames 14, and the right-angle motor fixing frames 14 and the machine shell 31 are fixed through screws. Two output shafts of right angle motor 15 pass through shaft coupling 13 and are connected with initiative straight- tooth shaft 11, and 11 one end of initiative straight-tooth shaft link to each other with shaft coupling 13, and the other end is equipped with a driving gear 12 and links to each other with machine housing 31, and right angle motor 15 drive driving gear 12 rotates. The driven gear 10 is rotated by the driving gear 12, and the connecting member 32 connects the driven gear 10 to the worm clamping plate 30. The L end 3201 of the connecting piece is fixed on the worm gear clamping plate 30 through a screw, the other end of the connecting piece 32 is a cylindrical shaft 3202, the driven gear 10 is installed on the cylindrical shaft 3202, meanwhile, the cylindrical shaft 3202 is connected on the machine shell 31, a boss is designed on the L end 3201 surface of the connecting piece, the boss is embedded into the worm gear clamping plate 30 during installation, and the connecting strength of the connecting piece 32 and the worm gear clamping plate 30 is increased. Each core motion module rotates with the rotation of the driven gear 10.
The driven gear 10 rotates to enable the two core motion modules to rotate along with the two core motion modules, so that an included angle between the two core motion modules is changed, when the included angle is increased, the overall height of the machine is reduced, the width of the machine is increased, the gravity center of the machine is also reduced, and the stability of the machine during working is improved; the driven gear 10 rotates continuously, when the included angle between the two core motion modules is 180 degrees, the machine reaches the maximum width at the moment, and the machine can move in the pipeline.
The double-output-shaft motor 18 is fixed on the worm wheel and worm clamping plate 30, two output shafts of the double-output-shaft motor 18 are connected with the worm shaft 29 through the elastic coupling 16, one end of the worm shaft 29 is connected with the elastic coupling 16, the other end of the worm shaft is provided with the worm 17 and is connected with the worm wheel and worm clamping plate 30, the double-output-shaft motor 18 drives the worm wheel 24 and worm 17 to rotate, and the worm wheel swing rod 8 is fixedly connected with the worm wheel 24, so that the worm wheel swing rod 8 can rotate around the center of the worm wheel 24. Worm wheel splint 30, two worm wheel pendulum rods 8 and constitute four-bar linkage with gear motor storehouse 26, U type splint 23 links to each other gear motor storehouse 26 with two worm wheel pendulum rods 8, and simultaneously through increasing a stabilizing connecting rod, the both ends of stabilizing connecting rod 6 are connected on worm wheel pendulum rod 8 to this stability when improving four-bar linkage and rotating. The rotation of the worm gear swing rod 8 changes the included angle between the worm gear swing rod 8 and the speed reducing motor bin 26; the change in shape of the four bar linkage changes the width of the machine, enabling the machine to accommodate movement in pipes of different diameters. The double-output-shaft motor 18 drives the worm wheel 24 and the worm 17 to rotate, and in the rotating process of the worm wheel 24 and the worm 17, in order to prevent the worm wheel swing rod 8 from contacting with the stabilizing connecting rod 6 and the speed reducing motor bin 26 to cause machine damage, a limit switch 33 is arranged on the worm wheel swing rod 8.
Each speed reducing motor bin 26 is provided with three groups of rubber wheels driven by a speed reducing motor 19, each rubber wheel consists of a nylon wheel hub 27 and a rubber tire 28, the speed reducing motor 19 is fixed inside the speed reducing motor bin 26, the speed reducing motor 19 transmits power to the middle group of rubber wheels through a group of conical teeth, and the middle group of rubber wheels and the rear group of rubber wheels are transmitted through an elastic belt 20. When moving on a conventional road surface, the reduction motor 19 drives the rubber wheels, thereby realizing the forward and backward movement and the steering of the machine. According to different working conditions, each group of rubber wheels can be composed of one or two rubber wheels.
The control of the right-angle motor 15 for driving straight teeth transmission, the control of the double-output-shaft motor 18 for driving the worm wheel (24) and the worm 17 and the control of the speed reducing motor 19 for driving the rubber wheel are independent and do not interfere with each other.
As shown in fig. 1, the machine battery 5, the power switch 4, the control module 2, the indicator lamp 3, and the signal receiver 1 are mounted on the machine casing 31. The included angle between the two symmetrical core motion modules is changed along with the rotation of the straight tooth transmission driving core module. When the machine works on a conventional road surface, the two right-angle motors drive the driving gears to rotate, the driving gears drive the driven gears to rotate, so that the included angle between the two symmetrical core motion modules is changed to be smaller than 180 degrees, as shown in figure 3, the speed reducing motor 19 in the speed reducing motor bin 26 drives the rubber wheels to rotate through bevel gear meshing transmission, so that the forward and backward movement of the machine are realized, and the two speed reducing motors control the differential rotation of the two groups of rubber wheels to realize the steering of the machine. The middle group of rubber wheels and the rear group of rubber wheels are driven by an elastic belt. The machine can change the contained angle between the core motion modules and the contained angle between the worm gear swing rod 8 and the gear motor bin 26 according to different road conditions, namely the whole height and width of the machine are changed, and then the gravity center position of the machine is changed to improve the stability of the machine during motion.
As shown in fig. 2, the driving gear 12 drives the driven gear 10 to rotate under the driving of the right-angle motor 15, so that the two core motion modules rotate around the center of the driven gear 10.
Figure 6 is the machine at the pipeline internal motion working principle picture, and two core motion modules rotate along with driven gear, and when two core motion module contained angles become 180, right angle motor stall, and right angle motor's auto-lock nature can make two core motion modules be in the state of contained angle 180 always, and six rubber tyers of group support in the pipeline inner wall this moment, and gear motor 19 drive rubber tyer rotates, makes the machine can move in the pipeline. The double-output-shaft motor 18 drives the worm gear 25 to rotate, so that the worm gear swing rod 8 rotates around the center of a worm gear, the included angle between the worm gear swing rod 8 and the worm gear clamping plate 30 and the speed reduction motor bin 26 is changed, the structural shape of the four-bar linkage is changed, namely the width of the machine is changed, and the machine can adapt to movement in pipelines with different diameters. When the machine runs in a vertical pipeline, in order to prevent the machine from falling due to gravity factors, when the worm and worm are driven by the double-output-shaft motors to rotate, the width of the machine is adjusted to be the width in the pipeline, pulse signals are continuously input to the two double-output-shaft motors, the output shafts of the double-output-shaft motors are rotated in the direction capable of increasing the width of the machine, the whole width of the machine cannot be changed due to the limitation of the width of the inner diameter of the pipeline, but the rotation of the output shafts of the double-output-shaft motors can be converted into the pressure of six groups of rubber driving wheels on the inner wall of the pipeline, so that the friction force between the rubber driving wheels and the inner wall of the pipeline is increased, and the machine can move in the vertical pipeline.
When the machine moves on a conventional road surface or in a pipeline, the machine can be driven by the rubber wheels, and when the machine moves on a soft and fluffy road surface such as soil, sand and stone, the rubber wheels can be sunk into the soil and the sand and stone by the driving of the rubber wheels. Figure 7 shows a modification of the machine configuration to adapt the machine to the movement of soft and bulky surfaces such as soil or gravel. In the initial state, the two core motion modules rotate along with the driven gear, so that the included angle between the two core motion modules is 180 degrees, and the machine shell 31 is in contact with the road surface, as shown in fig. 7-a. The first step is as follows: two right angle motors 15 drive the two core motion modules to rotate a certain angle away from the road surface, as shown in fig. 7-b; the second step is that: the worm gear swing rod 8 is driven by a motor 18 with double output shafts to rotate a certain angle towards the motion direction of the machine, and is shown in figure 7-c; the third step: the right-angle motor 15 drives the two core motion modules to rotate in the direction close to the road surface until the rubber wheels are contacted with the ground, and the core motion modules continue to rotate under the driving of the right-angle motor, so that the included angle between the two core motion modules is smaller than 180 degrees, and at the moment, the machine shell 31 is away from the road surface by a certain distance, which is shown in fig. 7-d; the fourth step: the worm wheel 24 and the worm 25 rotate to drive the worm wheel swing rod 8 to rotate, and at the moment, six groups of rubber wheels are in contact with the ground to generate contact force, so that the worm swing 8 drives the machine shell 31 to advance for a distance in the moving direction while rotating, and the rubber wheels and the speed reduction motor bin 26 are fixed, as shown in fig. 7-e; the fifth step: the two core motion modules are rotated in a direction away from the road surface by the right angle motor 15 until the machine housing 31 contacts the road surface, as shown in fig. 7-a. At which time a cycle of motion is complete.
The double-output-shaft motor drives the worm gear to rotate, and when the worm gear swing rod rotates and the stabilizing connecting rod or the speed reducing motor bin touches the limit switch, the output shaft of the double-output-shaft motor stops rotating.
As shown in fig. 8, the rubber wheel is composed of a nylon hub 27 and a rubber tire 28, and the shock absorption performance during movement is improved on the premise that the structural strength is satisfied.
As shown in fig. 10, the motor control block diagram is used to perform addition or subtraction summation on the output signal and the feedback signal, i.e. the rotation speed and the rotation angles 1 and 2, to obtain a deviation signal, input the deviation signal into the PID controller, output 3 signals, and respectively transmit the signals to the speed reduction motor, the double-output-shaft motor and the right-angle motor, so as to control the operation of the rubber wheel, the driving gear and the worm wheel.
As shown in fig. 11, a control program block diagram of the double-output shaft motor is shown. When the robot gives no instruction, the angle sensor does not generate deviation signals in a static state, and no voltage is output. When the robot is opened outwards by a certain angle theta a When the command is given, the double-output-shaft motor is driven to rotate outwards; actual deflection angle theta of fuselage 1 When the actual steering angle deviates from the preset steering angle Δ θ = θ 1 -θ a The angle sensor outputs a signal proportional to the angle of deviation, on the one hand, when theta 1 <θ a The double-output-shaft motor is driven to rotate outwards to generate torque for outwards rotating, and the deflection angle difference delta theta is reduced; when theta is 1 >θ a The double-output-shaft motor is driven to rotate inwards to generate torque for inward steering, and the deflection angle difference delta theta is reduced; on the other hand, the feedback potentiometer is driven to output a voltage which is in direct proportion to the deflection angle delta theta to the input end, the signal output by the angle sensor is smaller and smaller along with the reduction of the deviation angle delta theta, and the deviation angle delta theta is smaller and smaller until the steering angle returns to the preset value. When inward contraction is given to the robotA certain angle theta a When the command is given, the double-output-shaft motor is driven to rotate inwards; actual deflection angle theta of fuselage 2 When the actual steering angle deviates from the preset steering angle Δ θ = θ 2 -θ a The angle sensor outputs a signal proportional to the angle of deviation, on the one hand, when theta 2 <θ a The double-output-shaft motor is driven to rotate inwards to generate torque for inward steering, and the deflection angle difference delta theta is reduced; when theta is 2 >θ a The double-output-shaft motor is driven to rotate outwards to generate torque for outwards rotating, and the deflection angle difference delta theta is reduced; on the other hand, the feedback potentiometer is driven to output a voltage which is in direct proportion to the deflection angle delta theta to the input end, the signal output by the angle sensor is smaller and smaller along with the reduction of the deviation angle delta theta, and the deviation angle delta theta is smaller and smaller until the steering angle returns to the preset value.
As shown in fig. 12, it is a control program block diagram of the rectangular motor. When the robot gives no instruction, i.e. is in a stationary state, the angle sensor does not generate a deviation signal and no voltage is output. When the robot is toppled forwards by a certain angle theta b When the instruction is given, the right-angle motor rotates forwards; actual deflection angle theta of robot 3 When the actual steering angle deviates from the preset steering angle Δ θ = θ 3 -θ b The angle sensor outputs a signal proportional to the angle of deviation, on the one hand, when theta 3 <θ b The right-angle motor rotates forwards to generate a forward steering torque, and the deflection angle difference delta theta is reduced; when theta is 3 >θ b The right-angle motor rotates backwards to generate a torque for backward steering, and the deflection angle difference delta theta is reduced; on the other hand, the feedback potentiometer is driven to output a voltage which is in direct proportion to the deflection angle delta theta to the input end, along with the reduction of the deviation angle delta theta, the signal output by the angle sensor is smaller and smaller, and the deviation angle delta theta is smaller and smaller until the steering angle returns to the preset value. When the robot is given a certain angle theta of backward falling b When the instruction is given, the right-angle motor rotates backwards; actual deflection angle theta of robot 4 When the actual steering angle deviates from the preset steering angle Δ θ = θ 4 -θ b The angle sensor outputs a signal proportional to the angle of deviation which, on the one hand,when theta is 4 <θ b The right-angle motor rotates backwards to generate a torque for turning backwards, and the deflection angle difference delta theta is reduced; when theta is 4 >θ b The right-angle motor rotates forwards to generate a forward steering torque, and the deflection angle difference delta theta is reduced; on the other hand, the feedback potentiometer is driven to output a voltage which is in direct proportion to the deflection angle delta theta to the input end, along with the reduction of the deviation angle delta theta, the signal output by the angle sensor is smaller and smaller, and the deviation angle delta theta is smaller and smaller until the steering angle returns to the preset value.
As shown in fig. 13, a control routine block diagram of the reduction motor is shown. When the robot gives no instruction, namely is in a static state, the rotating speed detector does not generate a deviation signal, and no voltage is output. When the robot is given a command to move forward at a certain speed, the speed reducing motor moves forward at omega a The rotating speed of (2) is rotated; when the actual rotating speed of the speed reducing motor is omega 1 When the actual rotation speed deviates from the preset rotation speed delta omega = omega 1 -ω a The rotation speed detector outputs a signal proportional to the deviation rotation speed, on the one hand, when omega 1 <ω a When the speed reducer is used, the speed reducer motor is driven to rotate forwards, a forward rotating torque is generated, and the deviation rotating speed delta omega is reduced; when ω is 1 >ω a When the speed reducer is used, the speed reducer motor is driven to rotate backwards, backward rotation torque is generated, and deviation rotating speed delta omega is reduced; on the other hand, the feedback potentiometer is driven to output a voltage which is in direct proportion to the deviation rotating speed delta omega to the input end, along with the reduction of the deviation rotating speed delta omega, the signal output by the rotating speed detector is smaller and smaller, and the deviation rotating speed delta omega is smaller and smaller until the actual rotating speed returns to the preset value. When a command is given to the robot to move backwards at a certain speed, the speed reducing motor moves backwards by omega b The rotating speed of (2) is rotated; when the actual rotating speed of the speed reducing motor is omega 2 When the actual rotation speed deviates from the preset rotation speed delta omega = omega 1 -ω b The rotation speed detector outputs a signal proportional to the deviation rotation speed, on the one hand, when omega 2 <ω b When the speed reducer is used, the speed reducer motor is driven to rotate backwards, a torque for rotating backwards is generated, and the deviation rotating speed delta omega is reduced; when ω is 2 >ω b When the speed reducer is driven to rotate forwards, the torque of the forward rotation is generated, and the deviation rotating speed is reducedΔ ω; on the other hand, the feedback potentiometer is driven to output a voltage which is in direct proportion to the deviation rotating speed delta omega to the input end, along with the reduction of the deviation rotating speed delta omega, the signal output by the rotating speed detector is smaller and smaller, and the deviation rotating speed delta omega is smaller and smaller until the actual rotating speed returns to the preset value.

Claims (7)

1. A reconfigurable robot assembly comprises two modules which are symmetrically arranged and have the same structure, and is characterized in that:
the module comprises two driven gears (10), a worm and gear clamping plate (30), two worm gears (24), a worm (17), a worm shaft (29), an elastic coupling (16), a double-output-shaft motor (18), two worm and gear oscillating bars (8), a stabilizing connecting rod (6), two U-shaped clamping plates (23) and a reducing motor bin (26); two output shafts of the right-angle motor (15) are connected with a driving gear shaft (11) through a coupler (13), one end of the driving gear shaft (11) is connected with the coupler (13), a driving gear (12) is arranged at the other end of the driving gear shaft and is connected with a machine shell (31), and the right-angle motor (15) drives the driving gear (12) to rotate; the driven gear (10) is driven by the driving gear (12) to rotate, and the connecting piece (32) connects the driven gear (10) with the worm and gear clamping plate (30); the L end (3201) of the connecting piece is fixed on the worm gear clamping plate (30) through a screw, the other end of the connecting piece (32) is a cylindrical shaft (3202), and the driven gear (10) is arranged on the cylindrical shaft (3202);
the double-output-shaft motor (18) is fixed on a worm gear and worm clamping plate (30), two output shafts of the double-output-shaft motor (18) are connected with a worm shaft (29) through an elastic coupling (16), one end of the worm shaft (29) is connected with the elastic coupling (16), the other end of the worm shaft is provided with a worm (17) and is connected with the worm gear and worm clamping plate (30), the double-output-shaft motor (18) drives a worm gear (24) to rotate the worm (17), a worm gear swing rod (8) is fixedly connected with the worm gear (24), the worm gear swing rod (8) can rotate around the center of the worm gear (24), and the double-output-shaft motor (18) is used for driving the worm gear (24) and the worm (17) to rotate; the worm and gear clamping plate (30), the two worm and gear swing rods (8) and the gear motor bin (26) form a four-bar structure, and the gear motor bin (26) is connected with the two worm and gear swing rods (8) through the U-shaped clamping plate (23);
each speed reducing motor bin (26) is provided with a rotating wheel driven by a speed reducing motor (19); the speed reducing motor (19) is fixed inside the speed reducing motor bin (26), and the speed reducing motor (19) transmits power to the rotating wheel through a group of bevel gears;
the two modules can rotate along with the rotation of the driven gear (10), and the included angle between the modules can be changed.
2. The reconfigurable robotic assembly of claim 1, wherein: a boss is arranged on the surface of the L end (3201) of the connecting piece and is used for being embedded into the worm and gear clamping plate (30) so as to increase the connecting strength of the connecting piece (32) and the worm and gear clamping plate (30).
3. The reconfigurable robotic assembly of claim 2, wherein: the driven gear (10) can continuously rotate to enable the included angle of the two modules to be 180 degrees, and the driven gear is used for enabling the robot to reach the maximum width and move in the pipeline.
4. The reconfigurable robotic assembly of claim 3, wherein: two ends of the stabilizing connecting rod (6) are connected to the worm wheel swing rod (8), so that the stability of the four-connecting-rod during rotation is improved.
5. The reconfigurable robotic assembly of claim 4, wherein: a limit switch (33) is arranged on the worm wheel swing rod (8) and used for preventing the machine from being damaged due to the fact that the worm wheel swing rod (8) is in contact with the stabilizing connecting rod (6) and the speed reducing motor bin (26) in the rotating process of the worm wheel (24) and the worm (17).
6. The reconfigurable robotic assembly of claim 5, wherein: the rotating wheels are rubber wheels, at least two groups of the rotating wheels comprise nylon wheel hubs (27) and rubber tires (28); the speed reducing motor (19) transmits power to the middle group of rubber wheels through a group of bevel gears, and the middle group of rubber wheels and the rear group of rubber wheels are transmitted through an elastic belt (20).
7. A reconfigurable robot, characterized by:
applying any of the reconfigurable robotic assemblies of claims 1, 2, 3, 4, 5, or 6;
two structurally identical modules in the reconfigurable robotic assembly are symmetrically mounted on a machine housing (31);
each right-angle motor (15) is fixed on a machine shell (31) through two right-angle motor fixing frames (14), and the right-angle motor fixing frames (14) and the machine shell (31) are fixed through screws; the cylindrical shaft (3202) is connected to the machine shell (31);
when the included angle of the two modules is increased, the overall height of the robot is reduced, the width is increased, and the gravity center is reduced, so that the stability of the robot during working is improved;
the device comprises a control unit for driving a right-angle motor (15), a double-output-shaft motor (18) and a speed reducing motor (19), and the three control units are independent.
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102923204A (en) * 2012-11-19 2013-02-13 北京理工大学 Multi-degree-of-freedom two-wheeled robot with variable gravity center
CN103661669A (en) * 2012-09-26 2014-03-26 中国人民解放军第二炮兵工程大学 Wheel-legged robot chassis suspension device
CN106184469A (en) * 2016-08-16 2016-12-07 中国矿业大学 Double Worm gear mechanism deformable shock-resistant running parts and there is its firefighting movable platform
US20210039726A1 (en) * 2018-12-29 2021-02-11 Shenyang Institute Of Automation, Chinese Academy Of Sciences Reconfigurable joint track compound mobile robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103661669A (en) * 2012-09-26 2014-03-26 中国人民解放军第二炮兵工程大学 Wheel-legged robot chassis suspension device
CN102923204A (en) * 2012-11-19 2013-02-13 北京理工大学 Multi-degree-of-freedom two-wheeled robot with variable gravity center
CN106184469A (en) * 2016-08-16 2016-12-07 中国矿业大学 Double Worm gear mechanism deformable shock-resistant running parts and there is its firefighting movable platform
US20210039726A1 (en) * 2018-12-29 2021-02-11 Shenyang Institute Of Automation, Chinese Academy Of Sciences Reconfigurable joint track compound mobile robot

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