CN202378059U - Unit module of modularized self-reconstructed robot - Google Patents
Unit module of modularized self-reconstructed robot Download PDFInfo
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- CN202378059U CN202378059U CN2011205211119U CN201120521111U CN202378059U CN 202378059 U CN202378059 U CN 202378059U CN 2011205211119 U CN2011205211119 U CN 2011205211119U CN 201120521111 U CN201120521111 U CN 201120521111U CN 202378059 U CN202378059 U CN 202378059U
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Abstract
The utility model relates to a unit module of a modularized self-reconstructed robot. The unit module comprises a front arm, a rear arm and a middle frame positioned between the front arm and the rear arm, wherein the front arm and the rear arm all comprise outer frames and inner frames, the inner frames are positioned in the outer frames, two side walls of each inner frame are connected with hinge points on the two side wall of the outer frame, to form two pitching joints, each inner frame is provided with a motor, and an output shaft of the motor and a gear of the middle frame are in gear meshing transmission through the gear to form two axial rotation joints; and the middle frame is internally provided with a motor, an output shaft of the motor and a gear of a central shaft are in gear meshing transmission through the gear, and the two ends, which extend out of the middle frame, of the central shaft are provided with fixed plates so as to form a longitudinal rotary joint. The unit module can be used for realizing the combination of various walking states, thereby ensuring the flexibility of the robot system motion.
Description
Technical field
The utility model relates to a kind of unit module of modularized self-reorganization robot, belongs to the Robotics field.
Background technology
Modularized self-reorganization robot is made up of some unit modules with certain capacity of self-government and perception, and each module possesses unified machinery and electric interfaces, through mutual butt joint assembling, changes overall configuration, thereby realizes different motions and operating function.Have following characteristics: (1) is from reconstruct function (2) self-repair function (3) functional expansionary (4) adaptivity (5) high reliability: (6) good economy.Unit module is the basic element that makes up the modularized self-reorganization robot system, and the locomitivity of module, free degree quantity and module weight all directly influence the coordinated movement of various economic factors and the work capacity of whole robot system.The unit module of self-reorganization robot mainly is divided into 3 types: (1) yi word pattern (2) crystal type (3) mixed type.Have following problem in the unit module design of at present known modularized self-reorganization robot: (1) connected mode is single, and module can not be accomplished from reconstruct, and system's versatility is not high, like GZ-I; (2) monomer module number of degrees of freedom, order is few, and locomitivity is lower, like MTRAN; (3) the unit module corner can not accurately be adjusted, like SuperBot; (4) modular system mechanism is complicated, cost is high, inconvenience is universal and popularization.
Summary of the invention
To the deficiency of prior art, the utility model provides a kind of unit module of modularized self-reorganization robot, it is characterized in that: be provided with forearm, postbrachium and the center between forward and backward arm, be respectively between center and the forward and backward arm and be in transmission connection, wherein:
Forearm comprises ∪ type housing, ∪ type inside casing, and inside casing places in the housing, and the ∪ type bottom surface of housing is defined as initiatively docks the plane; The plane, two side of housing ∪ type is defined as passive butt joint plane; Be connected for hinged bearing between sidewall of inside casing housing sidewall adjacent with its outside, this inside sidewalls of inside casing is provided with motor, and motor is fixed on inboard, inside casing bottom surface through the motor frame; The output shaft of motor and inside casing parallel sidewalls; Towards the inside casing bottom surface, the output shaft end of motor is equipped with gear, and another inside sidewalls of inside casing is provided with the upset steering wheel that contains servomotor; The upset steering wheel is fixed on the housing inside sidewalls through the steering wheel frame; The vertical housing sidewall of the output shaft of servomotor and pass this sidewall of inside casing after with its adjacent housing sidewall in outside between hinged torsion pass be connected, 2 hinged points are positioned on the same straight line perpendicular to the housing two side, the center of inside casing bottom surface is provided with through hole;
The structure of postbrachium is identical with forearm, and riding position is that the inside casing bottom surface of forward and backward arm is relative, and the bottom surface of postbrachium and plane, two side all are defined as passive butt joint plane;
Center is a rectangular shaped rim, at two rectangle long margin frame centers, a cylinder boss is set respectively; This cylinder boss is placed respectively in the centre bore bearing of forward and backward arm inside casing bottom surface, each affixed gear of the top of cylinder boss and with forward and backward arm in the terminal gears engaged of output shaft of inside casing motor, at two rectangle minor face frame centers through hole is set respectively; Be provided with bearing in the through hole, a central shaft is set, be connected with gear on the central shaft; Rectangle minor face frame central through hole bearing is passed at the two ends of central shaft respectively, and each affixed rectangular disk of central shaft top is on the inboard of a side rectangle long margin frame; Be fixed with electric machine support, motor is fixed on the support, motor output shaft and central axes; The motor output shaft top is connected with gear, the gears engaged on this gear and the central shaft.
The sidewall top of forward and backward arm ∪ type housing is a circular arc type, and the sidewall of ∪ type inside casing is an isosceles triangle; In the gears engaged structure of center and forward and backward arm, the gear of center is greater than the gear in the forward and backward arm, and the gear in the center on the central shaft is greater than the output shaft gear of motor in the center.
When connecting mutually between the unit module, the active interface of a unit module is implemented to dock with the passive interface of other unit, and docking structure can be taked known configurations such as tongue-and-groove, hook.And, reliable in order to guarantee butt joint, on interface, also sensing device can be set, these are not within narrating content of the present invention.
The utlity model has following advantage and beneficial effect: unit module integral body possesses spatial symmetry, and the interface layout helps the saving in space; Have two pitching joints, three rotary joints can be realized multiple gait combination, guarantee the flexibility of robot system motion; Rotary joint makes unit module possess accurate angle original place adjustment function; Reduce whole cost of processing, be fit in enormous quantities the manufacturing.
Description of drawings
Fig. 1 is unit module overall structure figure;
Fig. 2 is center rotation back unit module overall structure figure;
Fig. 3 is a unit module forearm structure chart;
Fig. 4 is a unit module forearm top view;
Fig. 5 is the center structure chart;
Fig. 6 is the center top view;
Fig. 7 is unit module rear arm structure figure;
Fig. 8 is a unit module postbrachium top view;
Fig. 9 is the rectangular disk (central shaft cogs and draws) at interior central shaft of center and two ends thereof;
Figure 10 is two unit module side docking schemes;
Figure 11 is two unit module front docking schemes;
Figure 12 is two unit module quadrature docking schemes.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is done further explain.
Referring to Fig. 1; The unit module of the utility model comprises forearm 1, center 2 and 3 three parts of postbrachium; Center 2 gear through both sides respectively with forward and backward arm 1,3 in meshed transmission gear, constitute two axial rotary joints, be defined as the original state of unit module.Center 2 rotations 90
0After unit module form such as Fig. 2.
Referring to Fig. 3,4,7,8, forward and backward arm ∪ type housing by bottom surface 101 (301, expression postbrachium in the bracket, down with) with two circular arc sides 102 (303) and 110 (310) compositions, be fixed as one.∪ type inside casing is fixed as one by 106 (307) and two triangular sides 105 (305) in bottom surface and 115 (312) combinations.Inside casing places in the housing; Be connected for hinged bearing 114 (314) between inside casing sidewall 105 (305) and its adjacent housing sidewall 102 (303) in outside; Inside casing sidewall 105 (305) inboards are provided with motor 104 (304); Motor 104 (304) is fixed on 106 (307) inboards, inside casing bottom surface through motor frame 107 (306), and the output shaft end of motor is equipped with gear 108 (308).Another sidewall 115 (312) inboards of inside casing are provided with the upset steering wheel 103 (302) that contains servomotor; The upset steering wheel is fixed on housing sidewall 110 (310) inboards through " L " type steering wheel frame 111 (315); Upset steering wheel output panel 112 (311) is fixedly connected with inside casing sidewall 115 (312) outsides; The sidewall 115 (312) that upset steering wheel output panel 112 (311) passes inside casing is socketed on the output shaft of upset steering wheel 103 (302); This output shaft top is provided with teeth groove, goes up the teeth groove hole that is provided with housing sidewall 110 (310) and cooperates, and forming with the output shaft of upset steering wheel is the hinged torsion pass connection of hinged point.About 2 hinged points be positioned on the same straight line perpendicular to the housing both sides, constitute the pitching joint of housing and inside casing.(center of (307) is provided with through hole 113 (313), is provided with bearing 109 (309) in the hole in inside casing bottom surface 106;
Referring to Fig. 5,6; Center is a rectangular shaped rim, at two rectangle long margin frames, 202,210 centers, a cylinder boss is set respectively; This cylinder boss is placed respectively in the centre bore bearing 109,309 of forward and backward arm inside casing bottom surface; Each affixed gear wheel 201,209 of the top of cylinder boss, and respectively with terminal gear 108,308 engaged transmission of the output shaft of forward and backward arm inside casing motor, constitute two axial rotary joints.At two rectangle minor face frame 204,212 centers through hole is set respectively; Be provided with bearing 205,215 in the through hole; One central shaft 206 is set; Be connected with gear 214 on the central shaft, rectangle minor face frame central through hole bearing 205,215 is passed at the two ends of central shaft respectively, each affixed rectangular disk 203,213 of central shaft 206 two ends.Be fixed with L type electric machine support in the inboard of a side rectangle long margin frame 210; Motor 207 is fixed on the support, motor output shaft and central axes, and the motor output shaft top is connected with gear 211; Gear 214 engaged transmission on this gear and the central shaft 206 constitute vertical rotary joint.
Referring to Fig. 9, each an affixed rectangular disk 203,213, two rectangular disk 203 of center central shaft 206 two ends, the distance between 213 are greater than the forward and backward arm height that is positioned at its both sides, form " load is chosen ", like Fig. 1.When a rectangular disk landed rotation, forward and backward arm sling was empty, original place rotation thereupon.This moment, a unit module of modularized self-reorganization robot used as robot separately.
Referring to shown in Figure 10, two unit module side butt joints, the forearm left surface of a unit module (passive interface) docks with the forearm bottom surface (initiatively interface) of another unit module.
Figure 11 is the chain butt joint under the two unit module original states, and dock with the postbrachium bottom surface of another unit module the forearm bottom surface of a unit module.Figure 12 is that the postbrachium half-twist of a unit module docks with the forearm of another unit module.
Shown in Fig. 1 or Fig. 2, be the installment state of unit module.The pitching joint of forearm and postbrachium all is to control through the output of upset steering wheel (servomotor) to spin upside down angle; Control the output shaft anglec of rotation of forearm and postbrachium upset steering wheel and the direction of rotation respectively; Come the control module self-reorganization robot unit module spin upside down angle, steering wheel control method commonly used is pwm pulse control.Cooperatively interact between two pitching joints that forearm and postbrachium constitute can so that unit module accomplish forward and move backward.
The motor of forearm and postbrachium is direct current generator, and independently circuit and programme-control are arranged separately.Keep center and postbrachium motionless, the electric rotating machine of control forearm makes the unit module forearm rotate separately, and the electric rotating machine of postbrachium is identical with the control method of forearm.Forearm and postbrachium are overturn downwards, make the center rotating disc break away from ground, the electric rotating machine interoperation of arm before and after controlling then can be so that the unit module of modularized self-reorganization robot be as shown in Figure 2 by the transformation of configuration among Fig. 1.When unit module in the raw the time (as shown in Figure 1), the center rotating disc with whole of unit module overhead, the rotation of electric rotating machine in the control center, unit module can realize that 360 ° of original places rotate.
Through the unit module quantity of adjusting module self-reorganization robot, can form the robot system of different sizes.When being base unit with the unit module, can distributed parallel work, robot can have through the wireless network remote control can be through its self-movement of MCU control of himself, but because the restriction of himself mechanism is relatively poor to the rugged topography locomitivity.Thereby unit module can be combined into other configuration, like snakelike, four-footed shape or the like, through the control of the coordination between unit module, makes the entire machine robot system possess stronger locomitivity.
Claims (3)
1. the unit module of a modularized self-reorganization robot is characterized in that: is provided with forearm, postbrachium and the center between forward and backward arm, is respectively between center and the forward and backward arm and is in transmission connection, wherein:
Forearm comprises ∪ type housing, ∪ type inside casing, and inside casing places in the housing, and the ∪ type bottom surface of housing is defined as initiatively docks the plane; The plane, two side of housing ∪ type is defined as passive butt joint plane; Be connected for hinged bearing between sidewall of inside casing housing sidewall adjacent with its outside, this inside sidewalls of inside casing is provided with motor, and motor is fixed on inboard, inside casing bottom surface through the motor frame; The output shaft of motor and inside casing parallel sidewalls; Towards the inside casing bottom surface, the output shaft end of motor is equipped with gear, and another inside sidewalls of inside casing is provided with the upset steering wheel that contains servomotor; The upset steering wheel is fixed on the housing inside sidewalls through the steering wheel frame; The vertical housing sidewall of the output shaft of servomotor and pass this sidewall of inside casing after with its adjacent housing sidewall in outside between hinged torsion pass be connected, 2 hinged points are positioned on the same straight line perpendicular to the housing two side, the center of inside casing bottom surface is provided with through hole;
The structure of postbrachium is identical with forearm, and riding position is that the inside casing bottom surface of forward and backward arm is relative, and the bottom surface of postbrachium and plane, two side all are defined as passive butt joint plane;
Center is a rectangular shaped rim, at two rectangle long margin frame centers, a cylinder boss is set respectively; This cylinder boss is placed respectively in the centre bore bearing of forward and backward arm inside casing bottom surface, each affixed gear of the top of cylinder boss and with forward and backward arm in the terminal meshed transmission gear of output shaft of inside casing motor, at two rectangle minor face frame centers through hole is set respectively; Be provided with bearing in the through hole, a central shaft is set, be connected with gear on the central shaft; Rectangle minor face frame central through hole bearing is passed at the two ends of central shaft respectively, and each affixed rectangular disk of central shaft top is on the inboard of a side rectangle long margin frame; Be fixed with electric machine support, motor is fixed on the support, motor output shaft and central axes; The motor output shaft top is connected with gear, the meshed transmission gear on this gear and the central shaft.
2. the unit module of modularized self-reorganization robot according to claim 1, it is characterized in that: the sidewall top of forward and backward arm ∪ type housing is a circular arc type, and the sidewall of ∪ type inside casing is an isosceles triangle.
3. the unit module of modularized self-reorganization robot according to claim 1 and 2; It is characterized in that: in the gears engaged structure of center and forward and backward arm; The gear of center is greater than the gear in the forward and backward arm, and the gear in the center on the central shaft is greater than the output shaft gear of motor in the center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205211119U CN202378059U (en) | 2011-12-13 | 2011-12-13 | Unit module of modularized self-reconstructed robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205211119U CN202378059U (en) | 2011-12-13 | 2011-12-13 | Unit module of modularized self-reconstructed robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202378059U true CN202378059U (en) | 2012-08-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205211119U Withdrawn - After Issue CN202378059U (en) | 2011-12-13 | 2011-12-13 | Unit module of modularized self-reconstructed robot |
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| Country | Link |
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| CN (1) | CN202378059U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102416626A (en) * | 2011-12-13 | 2012-04-18 | 东南大学 | Unit module for modular self-reconstruction robot |
| CN106393167A (en) * | 2016-12-01 | 2017-02-15 | 东华大学 | Self-reconfiguration robot connecting device |
| CN108909877A (en) * | 2018-06-06 | 2018-11-30 | 中北大学 | A kind of Modularization combined type robot platform |
-
2011
- 2011-12-13 CN CN2011205211119U patent/CN202378059U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102416626A (en) * | 2011-12-13 | 2012-04-18 | 东南大学 | Unit module for modular self-reconstruction robot |
| CN102416626B (en) * | 2011-12-13 | 2014-10-08 | 东南大学 | Unit module for modular self-reconstruction robot |
| CN106393167A (en) * | 2016-12-01 | 2017-02-15 | 东华大学 | Self-reconfiguration robot connecting device |
| CN106393167B (en) * | 2016-12-01 | 2018-10-23 | 东华大学 | A kind of attachment device of self-reorganization robot |
| CN108909877A (en) * | 2018-06-06 | 2018-11-30 | 中北大学 | A kind of Modularization combined type robot platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120815 Effective date of abandoning: 20141008 |
|
| RGAV | Abandon patent right to avoid regrant |