CN215881639U - Series chain type self-reconfiguration modular robot - Google Patents
Series chain type self-reconfiguration modular robot Download PDFInfo
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- CN215881639U CN215881639U CN202121642009.4U CN202121642009U CN215881639U CN 215881639 U CN215881639 U CN 215881639U CN 202121642009 U CN202121642009 U CN 202121642009U CN 215881639 U CN215881639 U CN 215881639U
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Abstract
The utility model discloses a serial chain type self-reconstruction modular robot which comprises a robot main body, wherein the robot main body is a square shell, the robot main body is composed of an upper half shell, a lower half shell and a groove belt, a conveying belt is arranged in the groove belt and wound on the surface of the groove belt, electromagnets are respectively arranged on the surfaces of the conveying belt except the bottom surface, two wheels are arranged on two sides in the lower half shell, a steering engine and a machine vision module are respectively arranged on the bottom sides of the two wheels, a battery is arranged in the upper half shell, and a main control board is arranged at one end of the battery. The self-reconfigurable modular robot solves the problems of complex mechanism, low movement efficiency, high cost, inconvenience in popularization and promotion and the like of the serial chain type self-reconfigurable modular robot in the prior art, and the self-reconfigurable modular robot provided by the utility model is a serial chain type, can form a snake-shaped robot configuration, has strong narrow space passing capacity and certain environment sensing capacity, and can carry some equipment.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a serial chain type self-reconstruction 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 considered as a simple robot cell. Compared with the traditional fixed-configuration robot, the modular robot can be quickly changed from a certain geometric configuration to another configuration suitable for a new environment and a new task by adding or removing certain modules or recombining the existing modules.
However, the existing modular robot has the disadvantages of complex mechanism, low movement efficiency, high cost, inconvenience in popularization and promotion, the existing robot cannot lift up another robot through one robot after being connected to complete various complex operations, and the existing robot has a complex structure and is difficult to maintain.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provides a serial chain type self-reconfigurable modular robot.
In order to solve the technical problems, the utility model provides the following technical scheme:
the utility model discloses a serial chain type self-reconstruction modular robot which comprises a robot main body, wherein the robot main body is a square shell, the robot main body is composed of an upper half shell, a lower half shell and a groove belt, the groove belt is arranged between the upper half shell and the lower half shell, a conveying belt is arranged in the groove belt, the conveying belt is wound on the surface of the groove belt, electromagnets are respectively arranged on the surfaces of the conveying belt except the bottom surface, two wheels are arranged on two sides in the lower half shell, a steering engine and a machine vision module are respectively arranged on the bottom sides of the two wheels, a battery is arranged in the upper half shell, and a main control board is arranged at one end of the battery.
As a preferred technical scheme, a cross-shaped steering wheel is arranged in the steering engine, the cross-shaped steering wheel of the steering engine is embedded into the rectangular hole of the conveyor belt, the steering engine is in transmission connection with the conveyor belt, and the steering engine is electrically connected with the main control board.
As a preferred technical solution of the present invention, the main control board is electrically connected to a battery, the battery is electrically connected to an electromagnet, and the electromagnet is used to connect to a plurality of robot bodies.
As a preferable technical scheme of the utility model, one end of the upper half shell is provided with a semicircular hole, the semicircular hole penetrates into the upper half shell, a machine vision module is arranged in the semicircular hole, and the height of the machine vision module is greater than that of the lower half shell.
As a preferred technical scheme of the present invention, the machine vision module is mounted on the lower half shell, a camera of the machine vision module is mounted in the semicircular hole, the machine vision module observes the outside through the semicircular hole, the machine vision module is electrically connected to the main control board, and the machine vision module is an OPENMV module.
As a preferred technical scheme of the present invention, a driving rotary machine is installed at one end of the wheel, the wheel is in transmission connection with the driving rotary machine, and the main control board is electrically connected with the driving rotary machine.
As a preferred technical scheme of the present invention, a wireless transmission module is installed inside the main control board, and the robot main bodies are wirelessly connected through the wireless transmission module inside the main control board.
Compared with the prior art, the utility model has the following beneficial effects:
the self-reconfigurable modular robot solves the problems that a serial chain type self-reconfigurable modular robot in the prior art is complex in mechanism, low in movement efficiency, high in cost, inconvenient to popularize and the like, is in a serial chain type, can form a snake-shaped robot configuration, has strong narrow space passing capacity and certain environment sensing capacity, can carry some equipment, and has a good application prospect in the field of disaster relief robots.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model and not to limit the utility model. 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 upper shell half of the present invention;
FIG. 3 is a schematic view of the lower half shell structure of the present invention;
FIG. 4 is a side view of a partial structure of the present invention;
FIG. 5 is a schematic representation of the conveyor belt construction of the present invention;
in the figure: 1. a robot main body; 2. an upper half shell; 201. a battery; 202. a main control board; 203. a semicircular hole; 3. a lower half shell; 301. a steering engine; 302. a wheel; 303. a machine vision module; 4. a grooved belt; 401. A conveyor belt; 402. an electromagnet.
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 described herein for the purpose of illustration and explanation and not limitation.
Wherein like reference numerals refer to like parts throughout.
Example 1
As shown in fig. 1-5, the utility model provides a serial chain type self-reconfigurable modular robot, which comprises a robot main body 1, wherein the robot main body 1 is a square shell, the robot main body 1 is composed of an upper half shell 2, a lower half shell 3 and a groove belt 4, the groove belt 4 is arranged between the upper half shell 2 and the lower half shell 3, a conveyor belt 401 is arranged in the groove belt 4, the conveyor belt 401 is wound on the surface of the groove belt 4, electromagnets 402 are respectively arranged on the surfaces of the conveyor belt 401 except the bottom surface, two wheels 302 are arranged on two sides in the lower half shell 3, a steering engine 301 and a machine vision module 303 are respectively arranged on the bottom sides of the two wheels 302, a battery 201 is arranged in the upper half shell 2, and a main control board 202 is arranged at one end of the battery 201.
Further, steering wheel 301 internally mounted has cross steering wheel, inside the rectangular hole of steering wheel 301's cross steering wheel embedding conveyer belt 401, steering wheel 301 is connected for the transmission with conveyer 401 area, steering wheel 301 is electric connection with main control board 202, control steering wheel 301 through main control board 202 and start, the cross steering wheel card of steering wheel 301 is in the rectangular hole of conveyer belt 401, drive conveyer belt 401 around the shell motion, for example after 1 actuation of two module robot main parts, one of them robot main part 1 just can be through control steering wheel 301, lift another robot directly over, accomplish actions such as cooperation climbing.
The main control board 202 is electrically connected with the battery 201, the battery 201 is electrically connected with the electromagnet 402, the electromagnet 402 is used for being connected with the plurality of robot main bodies 1, the battery 201 supplies power to internal components of the robot main bodies 1, when the two robot main bodies 1 want to be connected, the battery 201 is controlled by the main control board 202 to supply power to the electromagnet 402 for connection, the electromagnet 402 generates magnetism, and the plurality of robot main bodies 1 are connected in a magnetic attraction mode.
The semicircular hole 203 is installed at one end of the upper half shell 2, the semicircular hole 203 penetrates into the upper half shell, the machine vision module 303 is installed inside the semicircular hole 203, the height of the machine vision module 303 is larger than that of the lower half shell 3, the machine vision module 303 is installed on the lower half shell 3, a camera of the machine vision module 303 is installed in the semicircular hole 203, the machine vision module 303 observes the outside through the semicircular hole 203, the information is transmitted to the main control board 202, the main board judges the outside environment and controls the next action, the machine vision module 303 adopts an OPENMV module, the OPENMV module is an open source, the cost is low, the powerful machine vision module 303, the STM32F767CPU is used as a core, the OV7725 camera chip is integrated, on a small hardware module, the C language is used for efficiently realizing a core machine vision algorithm, a Python programming interface is provided, and a user can use the machine vision function provided by OPENMV through the Python language, so that the special competitiveness of own products and inventions is increased.
The driving rotating machine is installed at one end of the wheel 302, the wheel 302 is in transmission connection with the driving rotating machine, the main control board 202 is in electric connection with the driving rotating machine, the main control board 202 is started by controlling the driving rotating machine, and the driving rotating machine drives the wheel 302 to roll, so that the effect that the robot main body 1 can move is achieved.
The main control board 202 is internally provided with a wireless transmission module, the robot main bodies 1 are wirelessly connected through the wireless transmission module inside the main control board 202, and the robot main bodies 1 are in data connection through the wireless transmission module arranged on the main control board 202.
Specifically, a modularized robot is composed of a plurality of robot main bodies 1, the configuration can be flexibly changed according to different environments and tasks, the robot main bodies 1 are connected through a wireless transmission module arranged on a main control board 202, electromagnets 402 arranged between groove belts 4 are connected, a battery 201 is controlled through the main control board 202 to supply power to the electromagnets 402 for connection, the electromagnets 402 generate magnetism, the robot main bodies 1 are connected through magnetic attraction, after the robot main bodies 1 are connected, when climbing and other actions are needed, the main control board 202 in one of the robot main bodies 1 controls a steering engine 301, the steering engine 301 drives a conveyor belt 401 to move around the robot main body 1, another robot is lifted right above, cooperative climbing and other actions are completed, the robot main body 1 can be composed into a snake-shaped robot configuration, have stronger narrow space throughput capacity to have certain environmental perception ability, can carry on some equipment, the robot main part 1 is observed outside through semicircle orifice 203 through machine vision module 303, with information transfer to main control board 202, main control board 202 control robot main part 1 carries out action on next step, and during the removal, main control board 202 control drive changes the quick-witted start, and the drive changes the quick-witted drive wheel 302 rotation, makes robot main part 1 can remove.
According to the utility model, through the arrangement of the steering engine 301 and the conveyor belt 401, the other robot main body 1 can be lifted up through one robot main body 1, various complex actions are completed under the cooperation of the wheels 302, and meanwhile, the robot main bodies 1 can be connected through the electromagnet 402 and can be connected with a plurality of robot main bodies 1, a snake-shaped robot configuration can be formed, the robot has stronger narrow space passing capacity and certain environment sensing capacity, can carry some equipment, has a good application prospect in the field of disaster relief robots, and simultaneously solves the problems of complexity, low movement efficiency, high cost, inconvenience in popularization and the like of a serial chain type self-reconstruction modular robot in the prior art.
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 changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the utility model. 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 (7)
1. A serial chain type self-reconstruction modular robot comprises a robot main body (1), the robot main body (1) is a square outer shell, the robot main body (1) is composed of an upper half shell (2), a lower half shell (3) and a groove belt (4), characterized in that a groove belt (4) is arranged between the upper half-shell (2) and the lower half-shell (3), a conveyor belt (401) is arranged in the groove belt (4), the conveyor belt (401) is wound on the surface of the groove belt (4), electromagnets (402) are respectively arranged on the other surfaces of the conveyor belt (401) except the bottom surface, two wheels (302) are arranged on two sides in the lower half shell (3), a steering engine (301) and a machine vision module (303) are respectively arranged on the bottom sides of the two wheels (302), the upper half shell (2) is internally provided with a battery (201), and one end of the battery (201) is provided with a main control board (202).
2. The series chain type self-reconfigurable modular robot as claimed in claim 1, wherein a cross-shaped rudder disc is mounted inside the steering engine (301), the cross-shaped rudder disc of the steering engine (301) is embedded inside a rectangular hole of the conveyor belt (401), the steering engine (301) is in transmission connection with the conveyor belt (401), and the steering engine (301) is electrically connected with the main control board (202).
3. The serial chain type self-reconfigurable modular robot according to claim 1, wherein the main control board (202) is electrically connected with a battery (201), the battery (201) is electrically connected with an electromagnet (402), and the electromagnet (402) is used for connecting a plurality of robot bodies (1).
4. The self-reconfigurable modular robot with chain-type structure according to claim 1, wherein a semicircular hole (203) is installed at one end of the upper half shell (2), the semicircular hole (203) penetrates to the inside, a machine vision module (303) is installed inside the semicircular hole (203), and the height of the machine vision module (303) is greater than that of the lower half shell (3).
5. The serial chain type self-reconfigurable modular robot according to claim 4, wherein the machine vision module (303) is mounted on the lower half shell (3), a camera of the machine vision module (303) is mounted in the semicircular hole (203), the machine vision module (303) observes the outside through the semicircular hole (203), the machine vision module (303) is electrically connected with the main control board (202), and the machine vision module (303) is an OPENMV module.
6. The serial chain type self-reconfigurable modular robot as claimed in claim 1, wherein a driving rotary machine is mounted at one end of each wheel (302), the wheels (302) are in transmission connection with the driving rotary machine, and the main control board (202) is electrically connected with the driving rotary machine.
7. The serial chain type self-reconfigurable modular robot according to claim 1, wherein a wireless transmission module is installed inside the main control board (202), and the robot main bodies (1) are wirelessly connected through the wireless transmission module inside the main control board (202).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121642009.4U CN215881639U (en) | 2021-07-19 | 2021-07-19 | Series chain type self-reconfiguration modular robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121642009.4U CN215881639U (en) | 2021-07-19 | 2021-07-19 | Series chain type self-reconfiguration modular robot |
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| CN215881639U true CN215881639U (en) | 2022-02-22 |
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| CN202121642009.4U Active CN215881639U (en) | 2021-07-19 | 2021-07-19 | Series chain type self-reconfiguration modular robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114714323A (en) * | 2022-04-18 | 2022-07-08 | 中国矿业大学 | Wheeled module assembly suitable for reconfiguration modular robot |
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2021
- 2021-07-19 CN CN202121642009.4U patent/CN215881639U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114714323A (en) * | 2022-04-18 | 2022-07-08 | 中国矿业大学 | Wheeled module assembly suitable for reconfiguration modular robot |
| CN114714323B (en) * | 2022-04-18 | 2024-02-06 | 中国矿业大学 | Wheeled module assembly suitable for reconfiguration modularization robot |
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