CN214981054U

CN214981054U - Spherical development platform for self-reconstruction modular robot

Info

Publication number: CN214981054U
Application number: CN202121641983.9U
Authority: CN
Inventors: 陈楚钿; 张瑞; 周嘉搏
Original assignee: Dongguan University of Technology
Current assignee: Dongguan University of Technology
Priority date: 2021-07-19
Filing date: 2021-07-19
Publication date: 2021-12-03
Anticipated expiration: 2031-07-19

Abstract

The utility model discloses a spherical development platform for reconstructing modular robot certainly, including spherical main part, spherical main part comprises last hemisphere shell and lower hemisphere shell, and a little recess is respectively installed at spherical main part both ends, and the recess is circular, and last hemisphere shell respectively has a semicircular groove with lower hemisphere shell, and lower hemisphere shell internally mounted has dolly device, and the platform is installed on dolly device's top, and two tracks are installed to dolly device's bottom, and the track comprises four spacing limits, and spacing limits are installed in last hemisphere shell and lower hemisphere shell internal surface. The utility model discloses a new structure is solved modular robot's among the prior art composition component often more, the structure is comparatively complicated to assembly and follow-up development for the intermodule has brought the problem of the very big degree of difficulty, and this spherical main part has characteristics such as simple structure, easy assembly, easy to go to the hand, and the setting up of platform makes other personnel can continue the development on this basis, and it is perfect to continue, adds the function that oneself needed.

Description

Spherical development platform for self-reconstruction modular robot

Technical Field

The utility model relates to the technical field of robot, in particular to a spherical development platform for self-reconfiguration modular robot.

Background

The modular robot is assembled by a large number of identical modules, and the configuration can be flexibly changed according to different environments and tasks. Each module can be regarded as a simple robot unit, and compared with a traditional fixed-configuration robot, the modular robot can be rapidly changed from a certain geometric configuration to another configuration suitable for a new environment and a new task by adding and removing certain modules or recombining the existing modules.

The existing modular robot has more components and more complex structure, so that great difficulty is brought to assembly and subsequent development among modules, the internal structure of the existing technology is basically filled, and subsequent personnel cannot add required parts on the internal structure, so that required functions are obtained.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to overcome prior art's defect, provide a spherical development platform for reconstructing modular robot certainly.

In order to solve the technical problem, the utility model provides a following technical scheme:

the utility model relates to a spherical development platform for reconstructing modular robot, including spherical main part, spherical main part comprises last hemisphere shell and lower hemisphere shell, a little recess is respectively installed at spherical main part both ends, the recess is circular, last hemisphere shell respectively has a semicircular groove with lower hemisphere shell, hemisphere shell internally mounted has dolly device down, the platform is installed on dolly device's top, two tracks are installed to dolly device's bottom, the track comprises four spacing limits, spacing limit is installed in last hemisphere shell and lower hemisphere shell internal surface.

As a preferred technical scheme of the utility model, the dolly device comprises motor, gyro wheel and universal wheel, the gyro wheel is installed in the both ends of dolly device, the motor is installed in the inboard of gyro wheel, motor and gyro wheel respectively have two, the universal wheel is installed in the one end of dolly device.

As a preferred technical scheme of the utility model, the universal wheel becomes three horn shapes with two gyro wheels, the universal wheel makes dolly device keep balance, the motor drives the gyro wheel and rotates, the speed of two gyro wheels is respectively by respective motor control, the gyro wheel rotates inside the track, the gyro wheel rotates and to drive spherical main part and remove.

As an optimal technical scheme of the utility model, the processing chip is installed to the platform bottom, recess inside installs electro-magnet and laser rangefinder module respectively, the laser rangefinder module is GY-530Vl530x laser rangefinder module.

As a preferred technical scheme of the utility model, electro-magnet and laser rangefinder module are electric connection with processing module, the magnetism of electro-magnet accessible circular telegram outage control electro-magnet, the distance of external component and spherical main part is surveyed to laser rangefinder module accessible recess.

As a preferred technical scheme of the utility model, vision module is installed to laser rangefinder module one end, vision module is electric connection with processing chip, outside environmental information is surveyed to vision module accessible recess.

As an optimal technical scheme of the utility model, the platform is the development platform, lower hemisphere shell internally mounted has four screw holes, the screw hole runs through the hemisphere shell, the hemisphere shell passes through screw hole threaded connection with lower hemisphere shell.

Compared with the prior art, the beneficial effects of the utility model are as follows:

the utility model discloses a new structure is solved modular robot's among the prior art composition component often more, the structure is comparatively complicated to assembly and follow-up development for the intermodule has brought the problem of the very big degree of difficulty, and this spherical main part has characteristics such as simple structure, easy assembly, easy to go to the hand, and the setting up of platform makes other personnel can continue the development on this basis, and it is perfect to continue, adds the function that oneself needed.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the lower hemispherical shell structure of the present invention;

FIG. 3 is a schematic structural view of the cart device of the present invention;

fig. 4 is a schematic view of an upper hemispherical shell structure of the present invention;

fig. 5 is a schematic diagram of the platform structure of the present invention;

in the figure: 1. a spherical body; 2. an upper hemispherical shell; 3. a lower hemispherical shell; 4. a groove; 401. an electromagnet; 402. a laser ranging module; 403. a vision module; 5. a trolley device; 501. a roller; 502. a motor; 503. a universal wheel; 6. a platform; 7. a limiting edge; 701. a track; 8. and (4) screw holes.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

Wherein like reference numerals refer to like parts throughout.

Example 1

As shown in fig. 1-5, the utility model provides a spherical development platform for self-reconfiguration modular robot, including spherical main part 1, spherical main part 1 comprises last hemisphere shell 2 and lower hemisphere shell 3, a little recess 4 is respectively installed at spherical main part 1 both ends, recess 4 is circular, it respectively has a semicircular groove to go up hemisphere shell 2 and

lower hemisphere shell

3, 3 internally mounted of lower hemisphere shell has dolly device 5, platform 6 is installed on the top of dolly device 5, two tracks 701 are installed to dolly device 5's bottom, track 701 comprises four spacing limits 7, spacing limits 7 are installed in

last hemisphere shell

2 and 3 internal surfaces of lower hemisphere shell.

Further, the cart device 5 is composed of a motor 502, two rollers 501 and a universal wheel 503, the rollers 501 are installed at two ends of the cart device 5, the motor 502 is installed at the inner side of the rollers 501, the two motors 502 and the two rollers 501 are respectively provided, the universal wheel 503 is installed at one end of the cart device 5, the universal wheel 503 and the two rollers 501 form a triangle, the universal wheel 503 keeps balance of the cart device 5, the motor 502 drives the rollers 501 to rotate, the speeds of the two rollers 501 are respectively controlled by the respective motors 502, the rollers 501 rotate inside the tracks 701, the rollers 501 rotate to drive the spherical body 1 to move, the motor 502 starts to drive the rollers 501 to rotate, the rollers 501 move inside the two tracks 701, the spherical body 1 moves through friction and changing the center of gravity of the ball, the spherical body 1 completes the moving process, the universal wheel 503 and the two rollers 501 form a triangle, the universal wheel 503 is used for keeping balance of the cart, the trolley device 5 cannot keep balance without the universal wheels 503, the trolley device 5 can not keep balance with the universal wheels 503 in a three-wheel state, the trolley device 5 can keep balance, if the spherical main body 1 wants to turn during moving, the speed of the two rollers 501 is controlled through the working efficiency of the motor 502, the turning is realized through the speed of the rollers 501, and the spherical main body 1 can roll towards the roller 501 with the low rotating speed between the two rollers 501.

The bottom end of the platform 6 is provided with a processing chip, the inside of the groove 4 is respectively provided with an electromagnet 401 and a laser ranging module 402, the electromagnet 401 and the laser ranging module 402 are electrically connected with the processing module, the laser ranging module 402 is a GY-530Vl530x laser ranging module, the electromagnet 401 can control the magnetism of the electromagnet 401 by powering on and off, the laser ranging module 402 can detect the distance between an external part and the spherical main body 1 through the groove 4, one end of the laser ranging module 402 is provided with a vision module 403, the vision module 403 is electrically connected with the processing chip, the vision module 403 can detect external environment information through the groove 4, the control chip can control the electromagnet 401 to be powered on and powered off by controlling the electromagnet 401 to realize the magnetic control of the electromagnet 401, the two spherical main bodies 1 can be magnetically connected through the electromagnet 401, and the electromagnet 401 loses the magnetism after the electromagnet 401 is controlled to be powered off by the control chip, two spherical main parts 1 will break off, and the distance between spherical main part 1 and other article can be detected to laser rangefinder module 402, and visual module 403 will detect external environment through recess 4, and electro-magnet 401 is used for actuation spherical main part 1, and visual module 403 is used for other spherical main parts 1 of discernment location, and laser rangefinder module 402 is used for other spherical main parts 1 of assistance-localization real-time.

Platform 6 is the development platform, and lower hemisphere shell 3 internally mounted has four screw holes 8, and screw hole 8 runs through hemisphere shell 2, and hemisphere shell 2 and lower hemisphere shell 3 pass through screw hole 8 threaded connection, and it has a large amount of spaces to reserve on platform 6, and the user can install various parts on platform 6, reaches required effect through adding oneself required part, and hemisphere shell 2 and lower hemisphere shell 3 pass through screw hole 8 internally mounted screwed connection.

Specifically, four limiting edges 7 arranged on the inner wall surfaces of the upper hemispherical shell 2 and the lower hemispherical shell 3 support the outer shell of the spherical main body 1 and simultaneously form two tracks 701, the trolley device 5 keeps balance through a universal wheel 503, the universal wheel 503 and two rollers 501 form a triangular shape, the universal wheel 503 is used for keeping balance of the trolley, only two rollers 501 are arranged without the universal wheel 503, the small trolley device 5 cannot keep balance, the universal wheel 503 is in a three-wheel state, so that the trolley device 5 keeps balance, then the rollers 501 are controlled to rotate through the motor 502, the rollers 501 move inside the two tracks 701, the spherical main body 1 moves through friction and changing the gravity center of the ball, so that the spherical main body 1 completes the moving process, if steering is desired in the moving process of the spherical main body 1, the speeds of the two rollers 501 are controlled through the working efficiency of the motor 502, the turning is realized by the speed of the roller 501, the spherical main body 1 can roll towards the roller 501 with slow rotating speed between the two rollers 501, the laser ranging module 402 can detect the distance between the spherical main body 1 and other objects, the vision module 403 can detect the external environment through the groove 4, the electromagnet 401 is used for attracting the spherical main body 1, the vision module 403 is used for identifying and positioning other spherical main bodies 1, the laser ranging module 402 is used for assisting in positioning other spherical main bodies 1, the two spherical main bodies 1 can be connected through the electromagnet 401, the control chip can realize the magnetic control of the electromagnet 401 by controlling the electrification and the outage of the electromagnet 401, the two spherical main bodies 1 can be magnetically connected through the electromagnet 401, after the electromagnet 401 is controlled by the control chip to be powered off, the electromagnet 401 loses magnetism, the two spherical main bodies 1 are disconnected, and the platform 6 is arranged for a user to add parts, the components are added according to actual requirements to achieve the effect required by a user, the upper part of the platform 6 is the inner space of the upper hemispherical shell 2, and a large amount of space is reserved inside the upper hemispherical shell for the user to add the components at will.

The utility model discloses a new structure is solved modular robot's among the prior art composition component often more, the structure is comparatively complicated to assembly and follow-up development for between the module has brought the problem of the very big degree of difficulty, and this spherical main part 16 has characteristics such as simple structure, easy assembly, easy to go to the hand, and platform 6 sets up and makes other personnel can continue the development on this basis, continues to perfect, adds the function that oneself needed.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a spherical development platform for self-reconfiguration modularization robot, includes spherical main part (1), spherical main part (1) comprises last hemisphere shell (2) and lower hemisphere shell (3), its characterized in that, a little recess (4) are respectively installed at spherical main part (1) both ends, recess (4) are circular, it respectively has a semicircular groove to go up hemisphere shell (2) and lower hemisphere shell (3), hemisphere shell (3) internally mounted has dolly device (5) down, platform (6) are installed on the top of dolly device (5), two tracks (701) are installed to the bottom of dolly device (5), track (701) comprise four spacing limits (7), install in last hemisphere shell (2) and lower hemisphere shell (3) internal surface spacing limits (7).

2. The spherical development platform for the self-reconfigurable modular robot as claimed in claim 1, wherein the trolley device (5) is composed of a motor (502), two rollers (501) and two universal wheels (503), the rollers (501) are mounted at two ends of the trolley device (5), the motor (502) is mounted at the inner side of the rollers (501), the two motors (502) and the two rollers (501) are mounted at one end of the trolley device (5), and the universal wheels (503) are mounted at one end of the trolley device (5).

3. The spherical development platform for the self-reconfigurable modular robot as claimed in claim 2, characterized in that the universal wheel (503) is triangular with two rollers (501), the universal wheel (503) keeps the trolley device (5) balanced, the motor (502) drives the rollers (501) to rotate, the speed of the two rollers (501) is respectively controlled by the respective motor (502), the rollers (501) rotate inside the track (701), and the rollers (501) rotate to drive the spherical body (1) to move.

4. The spherical development platform for the self-reconfigurable modular robot as claimed in claim 1, wherein the bottom end of the platform (6) is provided with a processing chip, the inside of the groove (4) is provided with an electromagnet (401) and a laser ranging module (402), respectively, and the laser ranging module (402) is a GY-530Vl530x laser ranging module.

5. The spherical development platform for the self-reconfigurable modular robot as claimed in claim 4, wherein the electromagnet (401) and the laser ranging module (402) are electrically connected with the processing module, the electromagnet (401) can control the magnetism of the electromagnet (401) by powering on and powering off, and the laser ranging module (402) can detect the distance between an external component and the spherical body (1) through the groove (4).

6. The spherical development platform for the self-reconfigurable modular robot as claimed in claim 4, wherein a vision module (403) is installed at one end of the laser ranging module (402), the vision module (403) is electrically connected with the processing chip, and the vision module (403) can detect external environment information through the groove (4).

7. The spherical development platform for the self-reconfigurable modular robot as claimed in claim 1, wherein the platform (6) is a development platform, four screw holes (8) are installed inside the lower hemispherical shell (3), the screw holes (8) penetrate through the upper hemispherical shell (2), and the upper hemispherical shell (2) and the lower hemispherical shell (3) are in threaded connection through the screw holes (8).