CN202225936U - Reconfiguration module of reconfigurable modular robot - Google Patents
Reconfiguration module of reconfigurable modular robot Download PDFInfo
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- CN202225936U CN202225936U CN2011203010191U CN201120301019U CN202225936U CN 202225936 U CN202225936 U CN 202225936U CN 2011203010191 U CN2011203010191 U CN 2011203010191U CN 201120301019 U CN201120301019 U CN 201120301019U CN 202225936 U CN202225936 U CN 202225936U
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Abstract
A reconfiguration module of a reconfigurable modular robot includes a U-shaped outer frame, a U-shaped inner frame, a steering engine frame, an inner frame connecting shaft piece and a steering engine, wherein one side of the U-shaped outer frame is connected with the U-shaped inner frame through the steering engine frame, the other side of the U-shaped outer frame is connected with the U-shaped inner frame through the inner frame connecting shaft piece, the steering engine is mounted and fixed in the steering engine frame, the inner side of a steering engine shaft sleeve at the extended end of the inner frame connecting shaft piece is matched with a spline of a steering engine output shaft through a spline hole, three groups of module combination and connection holes are respectively formed on the two side surfaces and the bottom side of the U-shaped outer frame, a group of module combination and connection full holes are formed on the bottom side of the U-shaped inner frame, and a group of module combination and connection inner ring holes are formed on the inner frame connecting shaft piece. Multiple reconfiguration modules are combined together through the connection inner ring holes or connection outer ring holes to form a modular robot assembly. The reconfiguration module achieves 360-degree continuous relative rotation of the U-shaped outer frame and the U-shaped inner frame, and has the motor function; and multiple modules can be assembled into a chained or meshed configuration, so as to reconfigure robots with snakelike, doglike and other various configurations.
Description
Technical field
The utility model belongs to the Robotics field, particularly the reconstructed module of reconfigurable modular robot use.
Background technology
Reconfigurable modular robot is a kind ofly can reconfigure the robot of configuration according to the variation of the needs and the environment of task.It generally is through connecting to form by many several kinds of a kind of or limited general modules; Each intermodule has unified interface environment; Can be used for transmission power, motion, energy and communicate by letter; Recombinating through the connection opening operation between the module changes whole configuration, and the extension movement form is accomplished multiple motion and operation task.Compare with traditional fastened configuration robot, self-reorganization robot has that adaptive capacity to environment is strong, low cost of manufacture, can repair voluntarily, advantage such as distortion certainly, can be applied to the task of multiple different occasions and the various complicacies of completion.
Since the last century late nineteen eighties, reconstruction robot research has also obtained development rapidly, becomes one of focus of the common concern of Robotics research in recent years.The application space of robot has been expanded in the development of reconstruction robot technology, and making it make aspects such as operation in field, the extreme environment, disaster relief, military field, celestial body detecting in agility all has good prospects for application.Abroad; The modularization robot that representative type is relevant with the utility model has PolyBot (by Mark Yim, at Palo Alto Research Center), SuperBot (by Wei-Min Shen; At the University of Southern California); IMobot (by Harry H.Cheng, at University of California, Davis).The individual module of PolyBot is the square of a kind of profile for about 50mm, has a rotary freedom, and the maximum anglec of rotation is 180 °, and each module has two joint faces and is used for the connection between the module.Through the combination of a plurality of modules, this modular system can be accomplished multiple mode of motion and configuration.But the disadvantage of this module is that individual module is not movable, and only when the combination of more a plurality of modules, just can embody modularization robot single-piece advantage.Similar in shape two PolyBot of the individual module of SuperBot combine; But between two PolyBot, increased a rotary freedom; So each SuperBot has 3 degree of freedom, two can Rotate 180 °, and another degree of freedom can rotate continuously.SuperBot and PolyBot have same shortcoming, but also improve to some extent.Simultaneously, the structure relative complex of SuperBot.IMobot be profile be the cuboid integrated level than higher individual module, each module has four degree of freedom, the motor function of individual module is more intense, has the square wheel of creeping and relying on both sides to rotate two main mode of motion.But, when serving as support, main body requires just that ground is smooth just can wheeledly move because main body and the side wheel of iMobot is onesize.A lot of limitation is also arranged when doing crawling exercises, as move slowly, more high to ground-surface requirement.
Though through the development of decades, modularization reconstruct robot has been made significant headway technically, aspect hardware design, still exists many difficult problems.Be badly in need of most a design that problem is exactly a general module of solution, to improve the Applicable scope of module.
Summary of the invention
The utility model purpose is to overcome the problems referred to above that the design of modular robot individual module upward exists in the prior art, and a kind of reconfigurable modularization robot reconstructed module is provided.
The reconfigurable modularization robot reconstructed module that the utility model provides comprises, a U type outrigger, a U type internal frame, a steering wheel frame, an internal frame connecting shaft spare and a steering wheel;
One side of U type outrigger has and one group of outrigger bolt hole of steering wheel frame bonded assembly; A knock hole and the pack module cycle hole that is connected; Opposite side has and is installed in the outrigger bearing hole that internal frame connecting shaft spare head bearing matches; And the pack module cycle hole that is connected; The bottom side of U type outrigger is provided with the pack module cycle hole that is connected and is connected inner ring hole with module combinations, and module combinations connects cycle hole and is connected the common composition module of the inner ring hole full hole that is connected with module combinations, and these three kinds of connecting bores are referred to as the module combinations connecting bore; U type internal frame with U type outrigger have a side that outrigger bolt hole face cooperates have be installed in the steering wheel frame on the internal frame bearing hole that matches of bearing; Opposite side has with coaxial being used for of outrigger bearing hole and passes the connecting shaft spare mating holes of internal frame connecting shaft spare pillow block and one group of internal frame bolt hole of captiveing joint with connecting shaft spare, and U type internal frame has a pack module full hole that is connected in the bottom side; One side of steering wheel frame is three stepped pillow blocks; The outer end pillow block is less than the pillow block of inboard, and the outermost end pillow block inserts the knock hole of U type outrigger, the location when being used to assemble; Middle pillow block is used to install the bearing that cooperates with U type internal frame bearing hole; Inboard pillow block is used for the axial location of bearing, the plumber block of steering wheel frame be provided with one group with U type outrigger on the cooresponding steering wheel frame of outrigger bolt hole bolt hole, steering wheel frame and U type outrigger link together through bolt; The inboard of steering wheel frame is a clamping plate shape steering wheel fixed mount, and steering wheel fixed mount internal fixation is installed steering wheel; Internal frame connecting shaft spare integral body is three stepped pillow blocks; The external part of internal frame connecting shaft spare is a steering wheel axle axle sleeve, and the inboard is a splined hole, be used for the steering wheel output shaft on spline fitted; Inboard pillow block inserts in the mating holes of U type internal frame; Plumber block is used to the bearing that cooperates with U type outrigger bearing hole is installed, and outside pillow block is used for the axial location of bearing, and internal frame connecting shaft spare outside pillow block has one group and the cooresponding connecting shaft spare bolt hole of U type internal frame bolt hole; Be used for and U type internal frame bolted connection, the lateral surface of internal frame connecting shaft spare outside pillow block is provided with the pack module inner ring hole that is connected simultaneously.
Described module combinations connects cycle hole and is connected 4 every group of inner ring holes with module combinations.The module combinations of two U type frame bottom sides connects full hole and has 8 holes, and the requirement of the bigger moment of needs increases reliability when connecting in order to satisfy the module bottom side.
Because of internal frame connecting shaft spare and U type internal frame are connected, so connecting inner ring hole, the module combinations on the internal frame connecting shaft spare of assembling back can be regarded as on U type internal frame, directly perceived for describing, claim that this pack module inner ring hole that is connected is the internal frame connecting bore.
The control system of the utility model is two control modules, on U type outrigger and U type internal frame, a control system is arranged respectively, and the control system on U type outrigger is a master control unit, comprises s operation control, steering wheel control and sensing control.On U type internal frame, be loaded with secondary control system, mainly solve the sensing control on the U type internal frame and connect control.Have power supply and control desk separately on U type outrigger and the U type internal frame, the power supply of U type outrigger is a main power source, is responsible for steering wheel power supply and master control board power supply.The power supply of U type internal frame is an accessory feed, only is responsible for the power supply of U type internal frame control desk.Adopt transmission over radio between U type outrigger and the U type internal frame, adopt wireless connections between module and the module.
The utility model design can realize following function
U type outrigger and U type internal frame respectively with the body and the output shaft fixed connection of steering wheel; So U type outrigger and U type internal frame can rotate relatively continuously; All has module combinations connecting bore (cycle hole and/or inner ring hole) on U type outrigger and the U type internal frame; So when a plurality of module reconstruct robot, when the U type outrigger in the module or U type internal frame and main body were connected, another U type frame just can rotate around main body.
Each module has four joint faces, five kinds of connection modes.
In U type outrigger and internal frame connecting shaft spare bearing bonded assembly one side; U type outrigger and internal frame connecting shaft spare respectively have the pack module hole that is connected to be used to be connected, and the connection cycle hole of U type outrigger can be connected other modules with U type outrigger, and the connection inner ring hole of internal frame connecting shaft spare can be connected other modules with internal frame; So this mask has two kinds of connection modes; Other three faces respectively have the pack module hole (cycle hole or full hole) that is connected, be connected hole, i.e. five kinds of connection modes of totally five pack modules.
The U type outrigger of individual module and U type internal frame can rotate relatively continuously, in the module reconstructed module U type outrigger are rotated around S. A. as main body U type internal frame, realize individual module reliably craspedodrome motion on the ground.Because U type internal frame is on the ground as special wheeled motion, so to ground-surface less demanding, can move under the multiple road conditions.
Combination for two modules has multiple mode:
1, two module combinations configuration linear patterns, promptly two modules are connected with the bottom side through U type frame bottom side, if the U type outrigger bottom side of two modules interconnects, then two U types are configured to main body outward, two U type internal frames can rotate continuously and carry out special wheeled motion.
2, if the U type internal frame bottom side of two modules is connected each other, then be configured to main body in the two U types, two U type outriggers are as the drive element reciprocally swinging, can realize that two modular robots do crawling exercises.
3, U type outrigger bottom side that can also a reconstructed module is connected with the U type internal frame bottom side of another reconstructed module, to satisfy the various tasks requirement.
4, the combination of two modules is configured as vertical-type, and promptly two modules are not when being connected with the bottom side through U type frame bottom side, because U type outrigger is installed the optional joint face of connecting shaft spare one side with internal frame, has increased more connection mode and has made up, and can produce multiple configuration.If the U type outrigger bottom side of a module is connected with any side of another module; The S. A. of two U type internal frames is vertical each other; Can distribute a U type internal frame to be responsible for straight forward motion, another U type internal frame is responsible for turning to, and promptly two modular robots that reconstruct of this kind mode can arrive the optional position, plane.
For the combination of multiple module, chain type and net formula reconstruction model can be arranged, reconstruct imitative snake robot, bio-robots such as imitative dog robot promptly can reconstruct any configuration that domestic and international this type of modularization robot can reconstruct.And, has better practical application because the optional joint face of U type outrigger and internal frame connecting shaft spare one side has increased more configuration and function.
Advantage of the utility model and good effect:
The utility model is most important to be exactly that individual module has alerting ability and the extraordinary locomotive function of reliability.Realize individual module reliably craspedodrome motion on the ground.Make execute the task before a plurality of modules can be separately or combination in twos arrive the target location, reconstruct required configuration then and finish the work.
Because U type internal frame is on the ground as special wheeled motion, motion process is lower to ground-surface requirement, short of very large obstacle; The gentle slope that some are little; Sand ground, little broken terrain can be stablized and move ahead, and have certain full landform adaptive capacity.
Because the rotation and the multiple connection mode relatively continuously of the U type outrigger of module and U type internal frame make that the combination variety of a plurality of modules is more, are used for multiple different occasions and the task of accomplishing various complicacies.
Because rotating relatively continuously of the U type outrigger of module and U type internal frame improved the expanded application scope of module greatly, such as connecting U type internal frame with wheel, accomplishes real wheeled motion.Can also be as 360 ° of camera The Cloud Terraces that rotate continuously.
Description of drawings
Fig. 1 is reconfigurable modularization robot reconstructed module assembling scheme drawing;
Fig. 2 is the A-A rotation part sectional view among Fig. 1;
Fig. 3 is the general view of individual module
Fig. 4 is a reconstructed module vital parts scheme drawing;
Fig. 5, Fig. 6, Fig. 7 are the decomposing schematic representations of reconstructed module;
Fig. 8 to Figure 11 is the modularization robot motion process scheme drawing that two reconstructed module are combined into;
Among the figure, the 1st, U type outrigger, the 2nd, U type internal frame, 3 steering wheel framves, 4 internal frame connecting shaft spares; 5 steering wheels, 6 outrigger bolts hole, 7 knock holees, 8 outrigger bearing holes, 9 module combinations connecting bores; 10 internal frame bearing holes, 11 connecting shaft spare mating holess, 12 internal frame bolts hole, 13 module combinations connecting bores; 14 steering wheel frame bolts hole, 15 steering wheel axle axle sleeves, 16 connecting shaft spare bolts hole, 17 module combinations connecting bores; A:U type outrigger bottom side module combinations connects full hole, the B:U type outrigger side modules cycle hole that is connected, and the C1:U type outrigger side modules cycle hole that is connected, C2: internal frame connecting shaft spare module combinations connects inner ring hole, and D:U type internal frame bottom side module combinations connects full hole.
The specific embodiment
Embodiment 1: reconstructed module
Extremely shown in Figure 6 like Fig. 1; This reconstructed module is the cuboid of a 100*100*128; Comprise 1, one U type of U type outrigger internal frame 2, a side of U type outrigger has one group of bolt hole 6 and knock hole 7 that is connected with the steering wheel frame; Opposite side have with internal frame connecting shaft spare on the bearing bonded assembly outrigger bearing hole 8 installed, the both sides of U type outrigger and bottom side are respectively arranged with the pack module hole 9 that is connected.U type internal frame has and steering wheel frame 3 bearing bonded assembly internal frame bearing holes 10 having the side that the bolt hole face cooperates with U type outrigger; Opposite side has with coaxial being used for of outrigger bearing hole and passes the mating holes 11 of internal frame connecting shaft spare 4 inboard pillow blocks and one group of bolt hole 12 of captiveing joint with connecting shaft spare, and U type internal frame has a pack module full hole 13 that is connected in the bottom side.One side of steering wheel frame 3 is for being three layers of stair-stepping pillow block; The outermost end pillow block inserts the knock hole 7 of U type outrigger, the location when being used to assemble, and middle pillow block is used to install the bearing that cooperates with U type internal frame bearing hole; Inboard pillow block is used for the axial location of bearing; Steering wheel frame 3 is connected through one group of bolt hole on plumber block 14 and U type outrigger, and the inboard of steering wheel frame is a clamping plate shape steering wheel fixed mount, and steering wheel fixed mount internal fixation is installed steering wheel 5.Internal frame connecting shaft spare 4 integral body are three stepped pillow blocks; Internal frame connecting shaft spare external part is a steering wheel axle axle sleeve 15; The inboard is a splined hole, and with the spline fitted of steering wheel 5 output shafts, the inboard pillow block of internal frame connecting shaft spare inserts the mating holes 11 of U type internal frame; Plumber block is installed the bearing that cooperates with U type outrigger bearing hole 8; Outside pillow block is used for the axial location of bearing, and internal frame connecting shaft spare outside pillow block has one group of connecting shaft spare bolt hole 16 corresponding to U type internal frame bolt hole and is used for and U type internal frame bolted connection, and the lateral surface of outside pillow block has the pack module inner ring hole 17 (referring to Fig. 1 to Fig. 4) that is connected simultaneously.
In U type outrigger and internal frame connecting shaft spare bearing bonded assembly one side, it is that outer ring C1 is used to be connected with inner ring C2 that U type outrigger and internal frame connecting shaft spare respectively have the pack module hole that is connected, and three faces in U type outrigger opposite side and bottom side and U type internal frame bottom side respectively have a pack module be connected hole B, A, D; It is that A, B, C1, C2 and D are used for being connected of intermodule that four faces have the five pack modules hole that is connected; Wherein A, D are that module combinations connects full hole, and C1, B are cycle hole, and C2 is an inner ring hole; Referring to Fig. 5 and Fig. 6; A:U type outrigger bottom side module combinations connects full hole, the B:U type outrigger side modules cycle hole that is connected, the C1:U type outrigger side modules cycle hole that is connected; C2: internal frame connecting shaft spare module combinations connects inner ring hole, and D:U type internal frame bottom side module combinations connects full hole (referring to Fig. 5 and Fig. 6).
Embodiment 2: reconstructed module robot 1
As shown in Figs. 8 to 11, the U type outrigger bottom side of two modules connects, and reconstitutes linear pattern; Two U types are configured to main body outward, and two U type internal frames can carry out 360 ° of rotations (clockwise turn to right lateral, left-hand revolution is to left lateral) continuously; Carrying out special wheeled motion, is example with the right lateral, and Fig. 8 is the motion beginning; Fig. 9 is the state when turning over an acute angle, and Figure 10 is the state when turning over an obtuse angle, and Figure 11 turns over 180 ° of states when being half cycle; Rotate half cycle once more and get back to initial position and carry out next step and move ahead, so circulation reaches the purpose of right lateral.
Claims (2)
1. a reconfigurable modularization robot reconstructed module is characterized in that this reconstructed module comprises a U type outrigger, a U type internal frame, a steering wheel frame, an internal frame connecting shaft spare and a steering wheel; One side of U type outrigger has and one group of outrigger bolt hole of steering wheel frame bonded assembly; A knock hole and the pack module cycle hole that is connected; Opposite side has and is installed in the outrigger bearing hole that internal frame connecting shaft spare head bearing matches; And the pack module cycle hole that is connected, the bottom side of U type outrigger is provided with the pack module cycle hole that is connected and is connected inner ring hole with module combinations, and module combinations connection cycle hole is connected the common composition module of the inner ring hole full hole that is connected with module combinations; U type internal frame with U type outrigger have a side that outrigger bolt hole face cooperates have be installed in the steering wheel frame on the internal frame bearing hole that matches of bearing; Opposite side has with coaxial being used for of outrigger bearing hole and passes the connecting shaft spare mating holes of internal frame connecting shaft spare pillow block and one group of internal frame bolt hole of captiveing joint with connecting shaft spare, and U type internal frame has a pack module full hole that is connected in the bottom side; One side of steering wheel frame is three stepped pillow blocks; The outer end pillow block is less than the pillow block of inboard, and the outermost end pillow block inserts the knock hole of U type outrigger, the location when being used to assemble; Middle pillow block is used to install the bearing that cooperates with U type internal frame bearing hole; Inboard pillow block is used for the axial location of bearing, the plumber block of steering wheel frame be provided with one group with U type outrigger on the cooresponding steering wheel frame of outrigger bolt hole bolt hole, steering wheel frame and U type outrigger link together through bolt; The inboard of steering wheel frame is a clamping plate shape steering wheel fixed mount, and steering wheel fixed mount internal fixation is installed steering wheel; Internal frame connecting shaft spare integral body is three stepped pillow blocks; The external part of internal frame connecting shaft spare is a steering wheel axle axle sleeve, and the inboard is a splined hole, be used for the steering wheel output shaft on spline fitted; Inboard pillow block inserts in the mating holes of U type internal frame; Plumber block is used to the bearing that cooperates with U type outrigger bearing hole is installed, and outside pillow block is used for the axial location of bearing, and internal frame connecting shaft spare outside pillow block has one group and the cooresponding connecting shaft spare bolt hole of U type internal frame bolt hole; Be used for and U type internal frame bolted connection, the lateral surface of internal frame connecting shaft spare outside pillow block is provided with the pack module inner ring hole that is connected simultaneously.
2. reconfigurable modularization robot reconstructed module according to claim 1 is characterized in that described module combinations connects cycle hole and is connected 4 every group of inner ring holes with module combinations; Two U type frame bottom sides have module combinations simultaneously and connect cycle hole and module combinations connection inner ring hole, totally 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203010191U CN202225936U (en) | 2011-08-18 | 2011-08-18 | Reconfiguration module of reconfigurable modular robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2011203010191U CN202225936U (en) | 2011-08-18 | 2011-08-18 | Reconfiguration module of reconfigurable modular robot |
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| CN202225936U true CN202225936U (en) | 2012-05-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011203010191U Expired - Fee Related CN202225936U (en) | 2011-08-18 | 2011-08-18 | Reconfiguration module of reconfigurable modular robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| CN104401415A (en) * | 2014-10-23 | 2015-03-11 | 天津理工大学 | Knuckle reconfigurable robot unit module |
| CN106313103A (en) * | 2016-10-21 | 2017-01-11 | 上海未来伙伴机器人有限公司 | Joint connection structure for humanoid robot |
| CN112026953A (en) * | 2020-10-12 | 2020-12-04 | 山东大学 | Modular self-reconstruction hexapod robot |
-
2011
- 2011-08-18 CN CN2011203010191U patent/CN202225936U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| CN104401415A (en) * | 2014-10-23 | 2015-03-11 | 天津理工大学 | Knuckle reconfigurable robot unit module |
| CN104401415B (en) * | 2014-10-23 | 2017-01-11 | 天津理工大学 | Knuckle reconfigurable robot unit module |
| CN106313103A (en) * | 2016-10-21 | 2017-01-11 | 上海未来伙伴机器人有限公司 | Joint connection structure for humanoid robot |
| CN112026953A (en) * | 2020-10-12 | 2020-12-04 | 山东大学 | Modular self-reconstruction hexapod robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120523 Termination date: 20120818 |