CN1332787C - Self-reconstitution robot by full gear transmission driving six rotative surfaces of module - Google Patents
Self-reconstitution robot by full gear transmission driving six rotative surfaces of module Download PDFInfo
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- CN1332787C CN1332787C CNB2005101115037A CN200510111503A CN1332787C CN 1332787 C CN1332787 C CN 1332787C CN B2005101115037 A CNB2005101115037 A CN B2005101115037A CN 200510111503 A CN200510111503 A CN 200510111503A CN 1332787 C CN1332787 C CN 1332787C
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Abstract
The present invention relates to a self-reconstruction robot of which an all-gear drive mechanism drives six rotating surfaces of modules, which comprises a box body, a gear set, a drive shaft, engaging and disengaging gears, a motor and connecting surface devices, wherein a flange of the motor is fixed on the box body, a small gear of the gear set is connected with an output shaft of the motor, and a big gear is connected with the drive shaft through a key; conical gears are connected with the drive shaft and four output shafts through keys, both ends of the drive shaft and the four output shafts are provided with six engaging and disengaging gears. The six engaging and disengaging gears are respectively connected with projecting shafts on six connecting surface devices. The present invention designs basic modules after the characteristics of the movement and the reconstruction of the self-reconstruction robot; by the structure, the self-reconstruction robot has simple installation and a compact structure and can complete the rotating movement of the six surfaces of each basic module in all directions. Accordingly, the modules can be quickly and firmly in butt joint to complete the self-reconstruction task.
Description
Technical field
What the present invention relates to is a kind of mechanism of field of mechanical technique, specifically is the self-reorganization robot of six surfacess of revolution of a kind of all-gear drive mechanism's drive module.
Background technology
Self-reorganization robot is made up of the identical basic module of many functions, can dynamically change mutual connection fast and reconstitute various shapes of robots.The design of basic module is crucial, has designed multiple module in the world, has the pluses and minuses of oneself.
Find through literature search prior art, people such as Mark Yim are at " IEEE/ASME TRANSACTIONSON MECHATRONICS (" IEEE/ASME mechano-electronic journal "), VOL.7, NO.4, in December, 2002 " in publish an article " Connecting and Disconnecting for ChainSelf-Reconfiguration With PolyBot " (" butt joint and the disconnection of chain type self-reorganization robot ' PolyBot ' "), introduced a kind of overall structure of self-reorganization robot basic module, this module has only two just the same joint faces for butt joint, four holes that four axles are set on the face and are complementary with it, adopt memorial alloy to come the size of control hole then, thereby make the axis hole energy smoothly, securely to connecting.Though this design has feasible part, the cost cost is too high, and the setting that four holes are four makes that also the equipment precision of axis hole is difficult to guarantee that it has only two joint faces, can not guarantee the connection of a plurality of modules of dimensional orientation, and it is the chain type robot, difficult the realization from reconstruct.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, the self-reorganization robot of six surfacess of revolution of a kind of all-gear drive mechanism's drive module has been proposed, make it include a centerbody and six surfacess of revolution, adopt all-gear drive mechanism to drive the motion of six surfacess of revolution of module, each face adopts the butt joint of single hole single shaft, thereby has proposed a kind of novel solution for solving the problem that exists in the background technology.
The present invention is achieved by the following technical solutions, the present invention includes: casing, gear train, power transmission shaft, arrangement of clutch, motor, joint face device.Gear train comprises: three big angular wheels, two bevel pinions, pinion, cluster gear, the first, second, third and the 4th output shaft.Connected mode is: the flange of motor is fixed on the casing, and the two ends of power transmission shaft and four output shafts are provided with six arrangement of clutch, and six arrangement of clutch link to each other with six joint face devices respectively.Pinion is connected on the motor output shaft with key, be used for transmitting motion, pinion and cluster gear engagement, cluster gear is connected an end of power transmission shaft with key, with first, second bevel pinion engagement that is parallel to each other, two bevel pinions link to each other with first, second output shaft with key respectively.Second largest angular wheel links to each other by key with power transmission shaft, simultaneously it again respectively be parallel to each other first, the engagement of the third-largest angular wheel, the first, the third-largest angular wheel links to each other with key and the 3rd, the 4th output shaft, the rotation of power transmission shaft is delivered on first, second, third, fourth output shaft through commutation, makes the rotation of output shaft and motor synchronous.Like this rotation of motor is delivered to six different directions, thus the motion of an available Electric Machine Control six direction.
Each joint face device comprises: stationary plane, joint face, projecting shaft, two back shafts, connecting axle, connecting hole, ball, pin.Connected mode is: stationary plane is fixed on each face of casing, links to each other with joint face by two back shafts.Projecting shaft one end is connected by arrangement of clutch with the output shaft of gear train, and the other end links to each other with joint face.Connecting axle and connecting hole center are arranged symmetrically in the two ends of joint face, and connecting axle is a hollow shaft, and the sidewall of axle has three ball holes uniformly, puts into three balls.Pin is arranged in connecting axle.
When the present invention works, the motor shaft rotation, be connected in the pinion rotation on the motor output shaft, pinion and cluster gear engagement, thereby make the cluster gear rotation, cluster gear meshes with two bevel pinions that are parallel to each other respectively, because cluster gear is connected an end of power transmission shaft with key, two bevel pinions link to each other with two output shafts with key, and then the motion of motor drives the motion of power transmission shaft and the motion of two output shafts; The other end of power transmission shaft is with the key second largest angular wheel of ining succession, second largest angular wheel respectively be parallel to each other first, the third-largest angular wheel engagement, coupled output shaft is rotated, thereby the motion of motor is delivered on a power transmission shaft and four output shafts, on the two ends of power transmission shaft and four output shafts an arrangement of clutch is installed respectively, being used for control outputs to motion on certain joint face, can control the different rotations constantly of six direction.Joint face is rotated in place, and the connecting axle on the joint face is inserted in the connecting hole of respective modules joint face, and pin continues motion, and the ball in the extruding connecting axle sidewall is stuck in the connecting hole connecting axle, finishes the butt joint of adjacent two modules.
The characteristics that the present invention is directed to three-dimensional, grid type self-reorganization robot have designed the overall structure of basic module, finished the motor indifference that rotatablely moves has been delivered to six actions on the different directions, thereby drive rotatablely moving of joint face, and connect to dock by the single hole single shaft and finish from the reconstruct task with other modules.It is accurate that total has gearratio, and the internal structure compactness is docked characteristics easily and fast between the module.
Compared with prior art, the present invention has tangible novelty and superiority, is embodied in the space structure compactness, and number of parts is less, is easy to realize, installs, and is fixing and gearratio is accurate, and butt joint is fast convenient and firmly between the module.Thereby by the hollow axial wall ball being set allows it be stuck in to guarantee between the axis hole that the fastness of docking between the module is the idea of a novelty.
Description of drawings
Fig. 1 is a structural representation of the present invention
Fig. 2 is a structural representation of the present invention
Fig. 3 is axis hole butt joint schematic diagram of the present invention
The specific embodiment
As Fig. 1, Fig. 2, shown in Figure 3, the present invention includes: casing 1, gear train 2, power transmission shaft 3, arrangement of clutch 4, motor 5, joint face device 6.Connected mode is: the flange of motor 5 is fixed on the casing 1, an arrangement of clutch 4 is respectively established at the two ends of power transmission shaft 3, the first, second, third and the 4th output shaft 14,15,16,17 is also respectively established an arrangement of clutch 4, and the two ends of power transmission shaft 3 and first, second, third link to each other with six joint face devices 6 by arrangement of clutch 4 with the output of the 4th output shaft 14,15,16,17.
Gear train 2 comprises: first angular wheel 7, second largest angular wheel 8, the third-largest angular wheel 9, first bevel pinion 10, second bevel pinion 11, pinion 12, cluster gear 13 and the first, second, third and the 4th output shaft 14,15,16,17.Connected mode is: pinion 12 usefulness keys are connected on motor 5 output shafts, be used for transmitting motion, pinion 12 and cluster gear 13 engagements, cluster gear 13 usefulness keys are connected an end of power transmission shaft 3, with first, second bevel pinion 10,11 engagements that are parallel to each other, two bevel pinion 10,11 usefulness keys link to each other with first, second output shaft 14,15 respectively.Second largest angular wheel 8 and power transmission shaft 3 link to each other by key, simultaneously it again respectively be parallel to each other first, 7,9 engagements of the third-largest angular wheel, the first, the third-largest angular wheel 7,9 usefulness keys link to each other with the 3rd, the 4th output shaft 16,17, the rotation of power transmission shaft 3 is delivered on first, second, third, fourth output shaft 14,15,16,17 through commutation, output shaft 3 and motor 5 are rotated synchronously.Like this rotation of motor 5 is delivered to six different directions, thus the motion of an available Electric Machine Control six direction.
Joint face device 6 comprises: stationary plane 18, joint face 19, projecting shaft 20, two back shafts 21, connecting axle 22, connecting hole 23, ball 24, pin 25.Connected mode is: stationary plane 18 is fixed on each face of casing 1, links to each other with joint face 19 by two back shafts 21.First, second, third of projecting shaft 20 1 ends and gear train 2 is connected by arrangement of clutch 4 with the 4th output shaft 14,15,16,17, and the other end links to each other with joint face 19.Connecting axle 22 and connecting hole 23 centers are arranged symmetrically in the two ends of joint face 19, and connecting axle 22 is a hollow shaft, and the sidewall of axle has three ball holes uniformly, puts into three balls 24.Pin 25 is arranged in connecting axle.
Claims (6)
1, the self-reorganization robot of six surfacess of revolution of a kind of all-gear drive mechanism's drive module, comprise: casing (1), gear train (2), power transmission shaft (3), arrangement of clutch (4), motor (5), joint face device (6), it is characterized in that, gear train (2) comprising: first, second, the third-largest angular wheel (7,8,9), first, second bevel pinion (10,11), pinion (12), cluster gear (13) and first, second, third and fourth output shaft (14,15,16,17), pinion (12) is connected on motor (5) output shaft with key, and pinion (12) and cluster gear (13) engagement, first, second bevel pinion (10,11) with key and first, second output shaft (14,15) link to each other, second largest angular wheel (8) links to each other by key with power transmission shaft (3), first, the third-largest angular wheel (7,9) with key and the 3rd, the 4th output shaft (16,17) link to each other, the flange of motor (5) is fixed on the casing (1), an arrangement of clutch (4) is respectively established at the two ends of power transmission shaft (3), first, second, third and fourth output shaft (14,15,16,17) also respectively establish an arrangement of clutch (4), the two ends and first of power transmission shaft (3), second, third and fourth output shaft (14,15,16,17) output links to each other with six joint face devices (6) by arrangement of clutch (4).
2, the self-reorganization robot of six surfacess of revolution of all-gear drive mechanism's drive module according to claim 1, it is characterized in that, second largest angular wheel (8) respectively with first, the third-largest angular wheel (7,9) engagement, first, the third-largest angular wheel (7,9) is parallel to each other.
3, the self-reorganization robot of six surfacess of revolution of all-gear drive mechanism's drive module according to claim 1, it is characterized in that, cluster gear (13) is connected an end of power transmission shaft (3) with key, with first, second bevel pinion (10,11) engagement, first, second bevel pinion (10,11) is parallel to each other respectively.
4, the self-reorganization robot of six surfacess of revolution of all-gear drive mechanism's drive module according to claim 1, it is characterized in that, joint face device (6) comprising: stationary plane (18), joint face (19), projecting shaft (20), two back shafts (21), connecting axle (22), connecting hole (23), ball (24), pin (25), stationary plane (18) is fixed on each face of casing (1), link to each other with joint face (19) by two back shafts (21), four output shafts (14 of projecting shaft (20) one ends and gear train (2), 15,16,17) connect by arrangement of clutch (4), the other end links to each other with joint face (19), connecting axle (22) and connecting hole (23) are arranged in the two ends of joint face (19), be provided with ball (24) in the connecting axle (22), pin (25) is arranged in connecting axle (22).
5, the self-reorganization robot of six surfacess of revolution of all-gear drive mechanism's drive module according to claim 4 is characterized in that connecting axle (22) is a hollow shaft, and the sidewall of axle has three ball holes uniformly, puts into three balls (24).
6, the self-reorganization robot of six surfacess of revolution of all-gear drive mechanism's drive module according to claim 4 is characterized in that connecting axle (22) and connecting hole (23) center are arranged symmetrically in the two ends of joint face (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101115037A CN1332787C (en) | 2005-12-15 | 2005-12-15 | Self-reconstitution robot by full gear transmission driving six rotative surfaces of module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101115037A CN1332787C (en) | 2005-12-15 | 2005-12-15 | Self-reconstitution robot by full gear transmission driving six rotative surfaces of module |
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| Publication Number | Publication Date |
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| CN1775489A CN1775489A (en) | 2006-05-24 |
| CN1332787C true CN1332787C (en) | 2007-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2005101115037A Expired - Fee Related CN1332787C (en) | 2005-12-15 | 2005-12-15 | Self-reconstitution robot by full gear transmission driving six rotative surfaces of module |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010070666A1 (en) * | 2008-12-19 | 2010-06-24 | Manush Lochan Madan | Robot building platform |
| CN101462267B (en) * | 2009-01-08 | 2010-08-18 | 上海交通大学 | Three-arm buttjunction module flat lattice type self-reorganization robot |
| CN101549494B (en) * | 2009-05-11 | 2012-05-02 | 北京航空航天大学 | Monomer automatic transformable robot with self-assembly characteristic |
| EP2531327A4 (en) * | 2010-02-05 | 2014-08-06 | Univ California | Four degree of freedom (4-dof) single modular robot unit or joint |
| TWI477706B (en) * | 2012-09-06 | 2015-03-21 | Ind Tech Res Inst | Differential-velocity driving device and mechanical arm applying thereof |
| CN103372860B (en) * | 2012-04-27 | 2015-11-18 | 顿向明 | A kind of multi-joint dispersion driving machine mechanical arm |
| CN108789377A (en) * | 2018-08-09 | 2018-11-13 | 哈尔滨工业大学（威海） | A kind of connection unit of chute-type space via Self-reconfiguration cellular machineries people |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3971266A (en) * | 1973-07-17 | 1976-07-27 | Nippondenso Co., Ltd. | Power transmission device |
| JPS62171550A (en) * | 1986-01-23 | 1987-07-28 | Takashi Takahashi | Change gear for control |
| CN1194604A (en) * | 1996-04-09 | 1998-09-30 | 株式会社安川电机 | Wrist mechanism for an industrial robot |
| CN1318453A (en) * | 2001-05-28 | 2001-10-24 | 北京邮电大学 | Omnibearing walking mechanism of spherical robot |
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2005
- 2005-12-15 CN CNB2005101115037A patent/CN1332787C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3971266A (en) * | 1973-07-17 | 1976-07-27 | Nippondenso Co., Ltd. | Power transmission device |
| JPS62171550A (en) * | 1986-01-23 | 1987-07-28 | Takashi Takahashi | Change gear for control |
| CN1194604A (en) * | 1996-04-09 | 1998-09-30 | 株式会社安川电机 | Wrist mechanism for an industrial robot |
| CN1318453A (en) * | 2001-05-28 | 2001-10-24 | 北京邮电大学 | Omnibearing walking mechanism of spherical robot |
Non-Patent Citations (3)
| Title |
|---|
| 同构阵列式自重构机器人机构设计 吴秋轩，曹广益，费燕琼，夏平，组合机床与自动化加工技术，第9期 2005 * |
| 同构阵列式自重构机器人机构设计 吴秋轩，曹广益，费燕琼，夏平，组合机床与自动化加工技术，第9期 2005;自重构模块化机器人的结构 费燕琼，董庆雷，赵锡芳，上海交通大学学报，第39卷第6期 2005 * |
| 自重构模块化机器人的结构 费燕琼，董庆雷，赵锡芳，上海交通大学学报，第39卷第6期 2005 * |
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| CN1775489A (en) | 2006-05-24 |
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Granted publication date: 20070822 Termination date: 20100115 |