CN203294226U - Modular robot capable of being assembled into multi-leg wheel-legged robot automatically - Google Patents
Modular robot capable of being assembled into multi-leg wheel-legged robot automatically Download PDFInfo
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- CN203294226U CN203294226U CN2013203458987U CN201320345898U CN203294226U CN 203294226 U CN203294226 U CN 203294226U CN 2013203458987 U CN2013203458987 U CN 2013203458987U CN 201320345898 U CN201320345898 U CN 201320345898U CN 203294226 U CN203294226 U CN 203294226U
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Abstract
The utility model discloses a modular robot capable of being assembled into a multi-leg wheel-legged robot automatically. The modular robot comprises a left leg component, a main body framework and a right leg component, wherein the left leg component and the right leg component are of the same structure, are symmetrically installed on the left side of the main body framework (II) and the right side of the main body framework (II), and respectively have five freedom degrees; the front of the main body framework and the back of the main body framework are both provided with rapid connectors, and therefore the modular robot can be rapidly connected with other modular robots to form the multi-leg wheel-legged robot. The modular robot has multiple motion modes so as to obtain good terrain adaptability and terrain utilization rate, has good maintenance characteristics and good fault tolerance due to the split characteristic, is high in function customizability, and has good market prospects due to the fact that a single module still has the capacity to complete certain task.
Description
Technical field
The utility model belongs to the Robotics field, but is specifically related to the modular robot that a kind of self assembly is the polypody leg-wheel robot.
Background technology
The wheel leg type multi-foot robot is having better alerting ability with respect to wheeled robot and polypody robot aspect landform utilization and adaptation.With respect to wheeled robot, the wheel leg type multi-foot robot can be walked on complex-terrain; With respect to the polypody robot, leg-wheel robot can advance with higher speed at the energy with still less on smooth-riding surface.
But the modular robot mode of motion is the organizational form complexity flexibly, can better complete the needs of different task.It is little that relative ordinary robot has weight, the advantage that the task adaptedness is high.
At present, multiple robot leg and the modular robot of taking turns occurred, the ATHLETE leg-wheel robot of NASA has been arranged as leg-wheel robot; Modular robot has the SamBot of Beijing Institute of Aeronautics.Although ATHLETE has the landform comformability and degree of utilization is superior, build is huge, only can be used as carrier and uses, and the task degree of adaptability is low, very flexible; SamBot can use multiple-task, has good alerting ability, but single module itself is almost without any ability.And after combination, sport efficiency is low.
Summary of the invention
The utility model is for overcoming the deficiencies in the prior art, a kind of have good landform comformability and degree of utilization are provided, simultaneously again can flexible assembling be the polypody leg-wheel robot to adapt to the modular robot of different task needs, and single module itself has still had the ability of certain task.
The utility model, for solving the problems of the technologies described above, is achieved through the following technical solutions:
But a kind of self assembly is the modular robot of polypody leg-wheel robot, comprises left pin components I, main body frame II and right pin components III, and its left pin components I, right pin components III structure are identical, and symmetry is installed on the left and right sides of main body frame II;
Described left pin components I includes foot reducing motor 1, the first steering wheel 2, the second steering wheel 3, shank rod member 4, the 3rd steering wheel 5, thigh rod member 6 and double steering engine joint 7;
Wherein, double steering engine joint 7 includes the first single shaft steering wheel 7-1 and the second single shaft steering wheel 7-2 that vertically connects together, the first single shaft steering wheel 7-1 is connected with main body frame II, the second single shaft steering wheel 7-2 is connected with thigh rod member 6, and then realizes two degree of freedom that thigh rod member 6 can rotate around diaxon;
Shank rod member 4 is connected with thigh rod member 6 by the 3rd steering wheel 5, has a rotary freedom;
Foot reducing motor 1 is connected with shank rod member 4 by the first steering wheel 2, the second steering wheel 3, has two rotary freedoms;
The output shaft of foot reducing motor 1 is connected with wheel 1-1, and then forms leg-wheel robot.
Above-mentioned have a multivariant leg design of taking turns, can realize foot reducing motor 1 any direction in space, to be convenient to modular robot, be assembled into many leg-wheel robots, and make while with the multiwheel vehicle formula, advancing and can turn to all directions, with the walking of sufficient formula can land while advancing in various towards landform.When reality is used, can look actual conditions increase and decrease degree of freedom.
Before and after described main body frame II, front quick coupling 8 and rear quick coupling 9 are installed respectively, with other modular robots, are connected fast, form the polypody leg-wheel robot.
This modular robot monomer work can have following several modes:
When this modular robot monomer moves alone, can accelerometer and turn meter be installed on main body frame II, utilize pid algorithm to control foot reducing motor 1 wheels 1-1 and carry out balance, realize that two take turns the balance walking;
When the main body frame II of modular robot heavy burden is larger, can cardan wheel and support be installed on main body frame II, realize the walking of three-wheel vehicle formula;
When modular robot is searched other monomers of element, can use the infrared distance measurement device that is installed on main body frame II, the mode of utilizing triangle to locate is determined the position of other modular robots, then control subject framework II goes to docking with it; During docking, front quick coupling 8 and rear quick coupling 9 can be connected with other modular robots of front and back, thereby form polypody wheel robot leg.
A kind of many leg-wheel robots, can be combined by the above-mentioned modular robot more than 2, for example by three modular robots, can form six sufficient leg-wheel robots; Between each modular robot, by front quick coupling 8 and rear quick coupling 9, combine;
Different modular robots can be installed different functional modules on main body frame II separately, realize different functions; For example, at the modular robot A that is positioned at the place ahead, camera module is installed, the modular robot B in centre installs the smog sensing module.
When leg-wheel robot is walked, can adopt three kinds of modes: the first is the sufficient formula bionic walking for complicated accidental relief, and the second is for the multiwheel vehicle formula walking on smooth artificial road surface, and the third is the compound of first two mode of motion.
Control system of the present utility model is divided into three ranks:
First order control system is highest, for the PC terminal at user place, utilizes radio communication and second stage control system to intercom mutually;
Second stage control system is the MCU module that is installed on modular robot main body frame II, different modular robots can use different MCU, the grade embodiment has just been arranged like this in the modules robot, the modular robot that is loaded with more senior MCU becomes the center of second stage control system, can be controlled by it motion of other modular robots; Second stage control system can be communicated by letter with third stage control system by I2C communications protocol (being Inter-Integrated Circuit bus, is the twin wire universal serial bus by the exploitation of PHILIPS company, be used to connecting microcontroller and external equipment thereof);
Third stage control system comprises the electric machine controller that is installed on each steering wheel, is installed on the bottom control on framing member, as environmental sensor etc.
The beneficial effects of the utility model are:
The utlity model has the multi-motion mode to reach good landform adaptive capacity and landform degree of utilization.Characteristic that can split makes and the utlity model has better maintenance characteristic and better fault tolerance, and brings higher function customizability.And can pass through narrow space, finish the work.Each modular robot of the present utility model itself can complete certain task simultaneously, has certain monomer Processing tasks ability.
The accompanying drawing explanation
Fig. 1 is the structural representation of modular robot monomer of the present utility model;
Fig. 2 is the schematic diagram of left pin components;
Fig. 3 is the schematic diagram in double steering engine joint;
Fig. 4 is the schematic diagram of the six sufficient leg-wheel robots that are assembled into;
Fig. 5 is the system control block diagram.
In figure:
I, left pin components; II, main body frame; III, right pin components;
1, foot reducing motor; 2, the first steering wheel; 3, the second steering wheel; 4, shank rod member;
5, the 3rd steering wheel; 6, thigh rod member; 7, double steering engine joint; 8, front quick coupling; 9, rear quick coupling;
1-1, wheel; 7-1, the first single shaft steering wheel; 7-2, the second single shaft steering wheel;
A, the first modular robot; B, the second modular robot; C, the 3rd modular robot.
The specific embodiment
Below in conjunction with accompanying drawing, utility model is described in detail.
As shown in Figure 1, but be a kind of self assembly of the present utility model modular robot monomer that is the polypody leg-wheel robot, comprise left pin components I, main body frame II and right pin components III, its left pin components I, right pin components III structure are identical, and symmetry is installed on the left and right sides of main body frame II;
Fig. 2 is the schematic diagram of left pin components I, includes foot reducing motor 1, the first steering wheel 2, the second steering wheel 3, shank rod member 4, the 3rd steering wheel 5, thigh rod member 6 and double steering engine joint 7;
Fig. 3 is the schematic diagram in double steering engine joint 7, include the first single shaft steering wheel 7-1 and the second single shaft steering wheel 7-2 that vertically connect together, the first single shaft steering wheel 7-1 is connected with main body frame II, the second single shaft steering wheel 7-2 is connected with thigh rod member 6, and then realizes two degree of freedom that thigh rod member 6 can rotate around diaxon;
Shank rod member 4 is connected with thigh rod member 6 by the 3rd steering wheel 5, has a rotary freedom;
Foot reducing motor 1 is connected with shank rod member 4 by the first steering wheel 2, the second steering wheel 3, has two rotary freedoms;
The output shaft of foot reducing motor 1 is connected with wheel 1-1, and then forms leg-wheel robot.
Above-mentioned have a multivariant leg design of taking turns, can realize foot reducing motor 1 any direction in space, to be convenient to modular robot, be assembled into many leg-wheel robots, and make while with the multiwheel vehicle formula, advancing and can turn to all directions, with the walking of sufficient formula can land while advancing in various towards landform.When reality is used, can look actual conditions increase and decrease degree of freedom.
Before and after described main body frame II, front quick coupling 8 and rear quick coupling 9 are installed respectively, with other modular robots, are connected fast, form the polypody leg-wheel robot.
This modular robot monomer work can have following several modes:
When this modular robot monomer moves alone, can accelerometer and turn meter be installed on main body frame II, utilize pid algorithm to control foot reducing motor 1 wheels 1-1 and carry out balance, realize that two take turns the balance walking;
When the main body frame II of modular robot heavy burden is larger, can cardan wheel and support be installed on main body frame II, realize the walking of three-wheel vehicle formula;
When modular robot is searched other monomers of element, can use the infrared distance measurement device that is installed on main body frame II, the mode of utilizing triangle to locate is determined the position of other modular robots, then control subject framework II goes to docking with it; During docking, front quick coupling 8 and rear quick coupling 9 can be connected with other modular robots of front and back, thereby form polypody wheel robot leg.
A kind of many leg-wheel robots, can be combined by the above-mentioned modular robot more than 2, as figure, shown in 4, is the six sufficient leg-wheel robots that three modular robots form; Between each modular robot, by front quick coupling 8 and rear quick coupling 9, combine;
Different modular robots can be installed different functional modules on main body frame II separately, realize different functions; For example, at the modular robot A that is positioned at the place ahead, camera module is installed, the modular robot B in centre installs the smog sensing module.
When leg-wheel robot is walked, can adopt three kinds of modes: the first is the sufficient formula bionic walking for complicated accidental relief, and the second is for the multiwheel vehicle formula walking on smooth artificial road surface, and the third is the compound of first two mode of motion.
As shown in Figure 5, control system of the present utility model is divided into three ranks:
First order control system is highest, for the PC terminal at user place, utilizes radio communication and second stage control system to intercom mutually;
Second stage control system is the MCU module that is installed on modular robot main body frame II, different modular robots can use different MCU, the grade embodiment has just been arranged like this in the modules robot, the modular robot that is loaded with more senior MCU becomes the center of second stage control system, can be controlled by it motion of other modular robots; Second stage control system can be communicated by letter with third stage control system by the I2C communications protocol;
Third stage control system comprises the electric machine controller that is installed on each steering wheel, is installed on the bottom control on framing member, as environmental sensor etc.
Above-described embodiment is only be used to illustrating the utility model, wherein the structure of each parts, connection mode etc. all can change to some extent, for example can conversion end wheel and the quantity of foot mechanism, increase and decrease modular robot monomer, can realize the various robots of polypody wheel leg type.Every equivalents of carrying out on the basis of technical solutions of the utility model and improvement, all should not get rid of outside protection domain of the present utility model.
Claims (10)
1. but the modular robot that self assembly is the polypody leg-wheel robot, comprise left pin components (I), main body frame (II) and right pin components (III), it is characterized in that:
Described left pin components (I) is identical with right pin components (III) structure, and symmetry is installed on the left and right sides of main body frame (II);
Described left pin components (I) includes foot reducing motor (1), the first steering wheel (2), the second steering wheel (3), shank rod member (4), the 3rd steering wheel (5), thigh rod member (6) and double steering engine joint (7); Shank rod member (4) is connected with thigh rod member (6) by the 3rd steering wheel (5), has a rotary freedom; Foot reducing motor (1) is connected with shank rod member (4) by the first steering wheel (2), the second steering wheel (3), has two rotary freedoms; The output shaft of foot reducing motor (1) is connected with wheel (1-1), and then forms leg-wheel robot;
Before and after described main body frame (II), front quick coupling (8) and rear quick coupling (9) are installed respectively, with other modular robots, are connected fast, form the polypody leg-wheel robot.
2. but a kind of self assembly according to claim 1 modular robot that is the polypody leg-wheel robot is characterized in that:
Described double steering engine joint (7) includes the first single shaft steering wheel (7-1) and the second single shaft steering wheel (7-2) that vertically connects together, the first single shaft steering wheel (7-1) is connected with main body frame (II), the second single shaft steering wheel (7-2) is connected with thigh rod member (6), and then thigh rod member (6) has two degree of freedom that rotate around diaxon.
But according to claim 1 and 2 in the described a kind of self assembly of any one modular robot that is the polypody leg-wheel robot, it is characterized in that:
Upper accelerometer and the turn meter installed of described main body frame (II), utilize pid algorithm to control foot reducing motor (1) wheels (1-1) and carry out balance, realizes that two take turns the balance walking.
But according to claim 1 and 2 in the described a kind of self assembly of any one modular robot that is the polypody leg-wheel robot, it is characterized in that:
Upper cardan wheel and the support installed of described main body frame (II), realize the walking of three-wheel vehicle formula.
But according to claim 1 and 2 in the described a kind of self assembly of any one modular robot that is the polypody leg-wheel robot, it is characterized in that:
The upper installation infrared distance measuring equipment (DME) of described main body frame (II);
When modular robot is searched other monomers of element, use the infrared distance measurement device to utilize the mode of triangle location to determine the position of other modular robots, then control subject framework (II) goes to docking with it; During docking, front quick coupling (8) and rear quick coupling (9) are connected with other modular robots of front and back respectively, thereby form polypody wheel robot leg.
6. leg-wheel robot more than a kind, is characterized in that: include the above-mentioned modular robot more than two, between each modular robot, by front quick coupling (8) and rear quick coupling (9), combine.
7. a kind of many leg-wheel robots according to claim 6 is characterized in that:
It is the six sufficient leg-wheel robots that are comprised of three modular robots; Between each modular robot, by front quick coupling (8) and rear quick coupling (9), combine.
8. described a kind of many leg-wheel robots of any one according to claim 6 or 7 is characterized in that:
Different modular robot monomers, in the different functional module of the upper installation of main body frame (II) separately, is realized different functions; At the modular robot A that is positioned at the place ahead, camera module is installed, the modular robot B in centre installs the smog sensing module.
9. described a kind of many leg-wheel robots of any one according to claim 6 or 7, it is characterized in that: when leg-wheel robot is walked, can adopt three kinds of modes: the first is the sufficient formula bionic walking for complicated accidental relief, the second is for the multiwheel vehicle formula walking on smooth artificial road surface, and the third is the compound of first two mode of motion.
10. the control system of leg-wheel robot more than a kind, it is characterized in that: it includes three ranks:
First order control system is highest, for the PC terminal at user place, utilizes radio communication and second stage control system to intercom mutually;
Second stage control system is the MCU module that is installed on modular robot main body frame II, different modular robots can use different MCU, the grade embodiment has just been arranged like this in the modules robot, the modular robot that is loaded with more senior MCU becomes the center of second stage control system, can be controlled by it motion of other modular robots; Second stage control system can be communicated by letter with third stage control system by the I2C communications protocol;
Third stage control system comprises the electric machine controller that is installed on each steering wheel, is installed on the bottom control on framing member.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203458987U CN203294226U (en) | 2013-06-17 | 2013-06-17 | Modular robot capable of being assembled into multi-leg wheel-legged robot automatically |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203458987U CN203294226U (en) | 2013-06-17 | 2013-06-17 | Modular robot capable of being assembled into multi-leg wheel-legged robot automatically |
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| CN203294226U true CN203294226U (en) | 2013-11-20 |
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| CN2013203458987U Expired - Fee Related CN203294226U (en) | 2013-06-17 | 2013-06-17 | Modular robot capable of being assembled into multi-leg wheel-legged robot automatically |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273980A (en) * | 2013-06-17 | 2013-09-04 | 吉林大学 | Modular robot capable of being self-assembled into multi-foot wheel-leg robot |
| CN104950894A (en) * | 2015-07-02 | 2015-09-30 | 朱宇晨 | Self-organization robot system |
-
2013
- 2013-06-17 CN CN2013203458987U patent/CN203294226U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273980A (en) * | 2013-06-17 | 2013-09-04 | 吉林大学 | Modular robot capable of being self-assembled into multi-foot wheel-leg robot |
| CN104950894A (en) * | 2015-07-02 | 2015-09-30 | 朱宇晨 | Self-organization robot system |
| CN104950894B (en) * | 2015-07-02 | 2019-05-14 | 朱宇晨 | A kind of self-organizing robot system |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131120 Termination date: 20160617 |
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| CF01 | Termination of patent right due to non-payment of annual fee |