JP2022059706A - Robot module and modular robot system - Google Patents

Abstract

To provide a robot module forming a high rigid modular robot system.SOLUTION: A robot module 2 forming a modular robot system includes: a first block 3 having an electric motor 36 serving as rotation driving means, the first block 3 forming a hexahedron; a second block 4 having an electric motor 46 serving as rotation driving means, the second block 4 forming a hexahedron; and a link 5 which connects the electric motor 36 of the first block 3 with the electric motor 46 of the second block 4.SELECTED DRAWING: Figure 1

Description

The present invention relates to a robot module and a modular robot system composed of a plurality of robot modules.

Traditionally, robots are often used when working in harsh environments where humans cannot work. As such a robot, it is considered to form various structures by connecting / disconnecting a large number of units (robot modules) having the same structure.

The structure composed of robot modules has a two-dimensional shape, and each module can be connected / disconnected from each other by electromagnetic force, changing the relative connection relationship between adjacent modules. This makes it possible to change the two-dimensional shape of the entire structure.

As a robot module of this type, for example, Patent Document 1 includes a coupling / disconnecting device, a first coupling member, and a second coupling member, and both ends are rotatable to a coupling portion of both coupling members. Disclosed is an automatic assembly of a three-dimensional structure comprising a connecting member to be connected to and a driving device for relatively rotationally driving the connecting member and the connecting member.

Japanese Unexamined Patent Publication No. 2001-200989

However, in the conventional robot module described in Patent Document 1, the length of the connecting member is constant. Then, the distance between the connecting members (blocks) becomes constant, and in order to rotate the connecting members (blocks) and change their positions with each other, it is necessary to make the shape of the connecting members (blocks) a semi-cylindrical shape. However, when the shape of the block is made into a semi-cylindrical shape in this way, a gap is created between the blocks, so that the overall rigidity of the modular robot system is low.

Therefore, an object of the present invention is to provide a robot module that constitutes a modular robot system with high rigidity, and a modular robot system that is composed of the robot modules.

In order to achieve the above object, the robot module of the present invention includes a first block having a rotation driving means and forming a hexahedron, a second block having a rotation driving means and forming a hexahedron, and the above. It is provided with a link connecting the rotation driving means of the first block and the rotation driving means of the second block.

As described above, the robot module of the present invention has a rotation driving means and has a first block constituting a hexahedron, a second block having a rotation driving means and constituting a hexahedron, and a first block. It is provided with a link connecting the rotation driving means and the rotation driving means of the second block. Therefore, each surface of the hexahedron becomes a joint surface with each other, so that the modular robot system having high rigidity as a whole is obtained.

It is a perspective view of a robot module. It is an exploded view which disassembled a robot module into a component. It is a perspective view of the robot module in the state where the link is extended. It is a perspective view of the robot module in the state where the link is shortened. It is a perspective view of a robot module in which one block is rotating (revolving). It is a perspective view of a robot module in which one block is rotating (revolving). It is a perspective view of a robot module in which one block has completed rotation (revolution). It is a perspective view explaining the metamorphosis of a modular robot system. (A) is a pre-metamorphosis state, (b) is a metamorphosis in progress state, and (c) is a metamorphosis complete state. It is a perspective view explaining the metamorphosis of a modular robot system. (A) is a pre-metamorphosis state, (b) is a metamorphosis in progress state, and (c) is a metamorphosis complete state. It is a perspective view explaining the metamorphosis of a modular robot system. (A) is a pre-metamorphosis state, (b) is a metamorphosis in progress state, and (c) is a metamorphosis complete state.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the components described in the following examples are examples, and the technical scope of the present invention is not limited to them.

By arranging the robot modules 2 described below in combination, the modular robot system (1) described later is configured. The robot module 2 can be changed into various forms by rotating the two blocks 3 and 4 by 0 to 270 degrees using the electric motor 36. Then, by coordinating and operating the individual robot modules 2, ..., The autonomous modular robot system (1) is capable of a wide variety of overall movements.

Further, the robot module 2 of this embodiment is a robot that is a basic unit of the modular robot system (1) described later, and was developed on the assumption that all the modules are used as a homogeneous type having the same shape. ing. Further, as described below, the robot module 2 can be individually controlled and can be self-reconstructed (separated / recombined) by autonomously changing the mechanical coupling between the modules.

(Robot module configuration)
First, the configuration of the robot module 2 of this embodiment will be described with reference to FIGS. 1 and 2. As shown in FIGS. 1 and 2, the robot module 2 includes a first block 3 of a cube (a regular hexahedron), a second block 4 of a cube (a regular hexahedron), and a first block 3 and a second block. It is composed of a link 5 connecting the block 4 and the link 5.

Of these, the first block 3 constitutes a cube (hexahedron) having high rigidity as an overall outer shape by frames 311 to 322 on each side. That is, the skeleton of the first block 3 is formed by twelve frames 311 to 322 forming each side of the hexahedron. In this embodiment, the first block 3 and the second block 4 have been described as having a frame structure, but the present invention is not limited to this, and each surface of the hexahedron is a surface structure composed of plates. It may be.

Then, magnets 331 to 354 as joining members for joining to the sides of another block (second block 4 or another robot module block) are installed in these 12 frames 311 to 322. There is. That is, two 24 magnets 331 to 354 are arranged in each of the frames 311 to 322 forming each side. The magnets 431 to 454 may be permanent magnets or electromagnets.

The joining member may have any structure as long as it can rotate between blocks while being adsorbed by a predetermined suction force, and may be referred to as a connecting mechanism in that sense. For example, one may have a mechanical claw member and the other may have a hole in which the claw member is locked. In addition, it may have a structure such as a pin and a pin receiving hole (boss).

Further, among the frames 311 to 322, the frames 314, 315, 322, and 318 constituting the front side surface in the drawing are separated via the bridge portion 323, and are necessary for the link (5) to rotate. It is designed to form a large gap. That is, a specific surface facing the rotation axis of the electric motor 36 (a surface composed of frames 314, 315, 322, 318, a surface facing toward the front in FIG. 1) is connected to other parts only by the bridge portion 323. ing. By providing such a gap, the link 5 can rotate in a range of 270 degrees excluding 45 degrees (90 degrees in total) on both sides of the bridge portion 323.

The first block 3 includes an electric motor 36 as a rotation driving means installed inside the frame 311 to 322 via an X-shaped bracket, and a circuit board 37 for controlling the electric motor 36. , And a battery 38 that supplies electric power to the electric motor 36 and the circuit board 37. Therefore, the first block 3 can rotate (revolve) the second block 4 with respect to the first block 3 by rotating itself relative to the link 5, or the first block 3 itself. Can be rotated (rotated) with respect to the link 5. In addition, although not shown, it is also preferable that the first block 3 can be remotely controlled by further providing a communication means. Further, it is also preferable that the first block 3 is provided with a speed reducing device (gear box) between the electric motor 36 and the link 5.

Similarly, the second block 4 constitutes a cube (hexahedron) having high rigidity as an overall outer shape by the frames 411 to 422 on each side. That is, the skeleton of the second block 4 is formed by twelve frames 411 to 422 forming each side of the hexahedron.

Then, magnets 431 to 454 as joining members for joining to the sides of another block (first block 3 or a block of another robot module) are installed in these 12 frames 411 to 422. There is. That is, two 24 magnets 431 to 454 are arranged on each of the frames 411 to 422 forming each side. The magnets 431 to 454 may be permanent magnets or electromagnets.

The joining member may have any structure as long as it can rotate between blocks while being adsorbed by a predetermined suction force, and may be referred to as a connecting mechanism in that sense. For example, one may have a mechanical claw member and the other may have a hole in which the claw member is locked. In addition, it may have a structure such as a pin and a pin receiving hole (boss).

Further, among the frames 411 to 422, the frames 414, 415, 422, and 418 constituting the front side surface in the drawing are separated via the bridge portion 423 and are necessary for the link (5) to rotate. It is designed to form a large gap. That is, a specific surface facing the rotation axis of the electric motor 46 (a surface composed of frames 414, 415, 422, 418, a surface facing toward the front in FIG. 1) is connected to other parts only by the bridge portion 423. ing. By providing the gap in this way, the link 5 can rotate in a range of 270 degrees excluding 45 degrees (90 degrees in total) on both sides of the bridge portion 423.

The second block 4 includes an electric motor 46 as a rotation driving means installed inside the frame 411 to 422 via an X-shaped bracket, and a circuit board 47 for controlling the electric motor 46. It has a battery 48 that supplies electric power to the electric motor 46 and the circuit board 47. Therefore, the second block 4 can rotate (revolve) the first block 3 with respect to the second block 4 by rotating itself relative to the link 5, or the second block 4 itself. Can be rotated (rotated) with respect to the link 5. In addition, although not shown, it is also preferable that the second block 4 can be remotely controlled by further providing a communication means. Further, it is also preferable that the second block 4 is provided with a speed reducing device (gear box) between the electric motor 46 and the link 5.

The link 5 connects the rotation shaft of the electric motor 36 of the first block 3 and the rotation shaft of the electric motor 46 of the second block 4. That is, the link 5 is fixed to the two electric motors 36 and 46. Therefore, by rotating these electric motors 36, 46, the first block 3 or the second block 4 can be moved (revolved), or the first block 3 or the second block 4 can be rotated (rotated). ) Can be done. The link 5 of the present embodiment includes an outer member 51 formed in a sheath shape (cylindrical shape) and an inner member 52 that is removably fitted inside the outer member 51, thereby expanding and contracting. It is freely configured.

More specifically, as shown in FIG. 3, in the state where the link 5 is extended-that is, the lap length of the outer member 51 and the inner member 52 is small-the first block 3 and the second block 4 Is √2 times the length of the sides of a regular hexahedron. Therefore, if the link 5 is rotated by the rotation of the electric motor 36 (46) and the link 5 is extended, the first block 3 and the second block 4 get over the corner portion and are relatively relative to each other. Can rotate.

On the other hand, as shown in FIG. 4, in the state where the link 5 is contracted-that is, the state where the outer member 51 and the inner member 52 have a large lap length-the first block 3 and the second block 4 are the sides of the regular hexahedron. Is one times as long as the length of. Therefore, if the electric motor 36 (46) does not rotate and the link 5 is in a contracted state, the first block 3 and the second block 4 cannot rotate relatively over the corner portion.

Although it has been described here that the link 5 does not have a special power for expanding and contracting, the present invention is not limited to this, and the link 5 may be equipped with a power for expanding and contracting. For example, the rack can be attached to the outer member 51 and can be expanded and contracted by the rotation of the pinion gear supported on the inner member 52 side.

(About metamorphosis)
Next, the transformation operation of the robot module 2 of this embodiment will be described with reference to FIGS. 4 to 7. Here, as an example, an example in which the first block 3 moves from the side of the second block 4 to the top of the second block 4 (rotates clockwise in the figure) will be described.

In the initial state shown in FIG. 4, the first block 3 is located right next to the second block 4, and the link 5 is oriented sideways. Further, the frame 311 of the first block 3 and the frame 413 of the second block 4 are in a state of being adjacent to each other. In this state, the length from the rotation axis of the link 5 to the rotation axis is the shortest state-that is, the same length as the side of the regular hexahedron. Neither the electric motors 36 and 46 are rotating.

By rotating the electric motor 46 of the second block 4 clockwise in the figure from the initial state of FIG. 4, the link 5 also rotates clockwise as shown in FIG. Then, with the rotation of the link 5, the first block 3 rotates clockwise with the tangent line of the frame 311 and the frame 413 as the center of rotation. When the link 5 and the first block 3 rotate in this way, the link 5 extends to enable this rotation. Conversely, if the link 5 does not extend, rotation is impossible.

In the middle state (rotation angle 45 degrees or less) shown in FIG. 5, the first block 3 is located diagonally above the second block 4. In this state, the length from the axis of rotation of the link 5 to the axis of rotation is longer than the shortest state-that is, the same length as the side of the regular hexahedron-and the longest state-that is, √2 times the length of the side of the regular hexahedron. It's shorter than that.

When the electric motor 46 is further rotated from the state in the middle of FIG. 5, the link 5 is further rotated, and the first block 3 is positioned at an angle of 45 degrees above the second block 4. In this state, the length from the rotation axis of the link 5 to the rotation axis is the longest state-that is, √2 times the length of the side of the regular hexahedron. The link 5 gradually extends from the initial state shown in FIG. 4 to the state at an angle of 45 degrees shown in FIG. 6, and then the link 5 is extended from the state shown in FIG. 6 to the completed state shown in FIG. Gradually shrinks.

By further rotating the electric motor 46 of the second block 4 clockwise in the figure from the state in the middle of FIG. 6, the link 5 also rotates clockwise as shown in FIG. Then, with the rotation of the link 5, the first block 3 further rotates clockwise with the tangent line of the frame 311 and the frame 413 as the rotation center. When the link 5 and the first block 3 rotate in this way, the link 5 extends to enable this rotation. Conversely, if the link 5 does not extend, rotation is impossible.

After that, while transforming from the state in the middle of FIG. 6 to the completed state of FIG. 7, the electric motor 36 of the first block 3 is configured to rotate (rotate) 90 degrees clockwise. In this way, when the first block 3 rotates (= revolves) around the second block 4, the first block 3 rotates (= rotates) at the same time. By rotating the revolving block in this way, the next operation is not hindered (the bridge portions 323 and 423 face each other).

Then, in the completed state shown in FIG. 7, the first block 3 is located directly above the second block 4, and the link 5 is oriented vertically. In this state, the length from the rotation axis of the link 5 to the rotation axis is the shortest state-that is, the same length as the side of the regular hexahedron. The electric motors 36 and 46 are neither rotating.

(Modular robot system)
Next, the configuration of the modular robot system 1 will be described with reference to FIGS. 8 to 10. The modular robot system 1 is composed of a plurality of robot modules 2, .... Here, as the simplest example, a modular robot system 1 composed of two robot modules 2A and 2B will be described.

In the modular robot system 1 of this embodiment, as shown in FIG. 8A, the two robot modules 2A and 2B are arranged so that the rotating surfaces of the links 5 and 5 are aligned in the same direction. Therefore, the deformation is carried out in the plane of this rotating surface. Hereinafter, a modified example in which the robot module 2A on the left side moves beyond the robot module 2B on the right side to the right side will be described.

Specifically, as shown in FIGS. 8A to 8C, first, the first block 3A of the robot module 2A on the left side moves onto the second block 4A. At this time, the link 5A rotates clockwise by the rotation of the electric motor (46) of the second block 4A.

On the way, the link 5A extends from 0 degrees to 45 degrees and contracts from 45 degrees to 90 degrees in terms of rotation angle. That is, when the electric motor 46 gives a moment to the link 5A, the first block 3A tries to rotate about the upper right side, and the link 5A is extended accordingly. In addition, the rotation of the electric motor 36 of the first block 3A causes the first block 3A to rotate so that the bridge portion 323 is located at the uppermost portion.

Subsequently, as shown in FIGS. 8 (c) to 9 (a), the first block 3A of the robot module 2A on the left side moves to the right of the first block 3B of the robot module 2B on the right side. Then, as shown in FIGS. 9A to 9C, the first block 3A of the robot module 2A on the left side moves onto the second block 4B of the module 2B on the right side.

After that, as shown in FIGS. 10A to 10B, the second block 4A of the robot module 2A on the left side moves to the right of the second block 4B of the robot module 2B on the right side. Finally, as shown in FIGS. 10B to 10C, the first block 3A of the robot module 2A on the left side moves to the right of the second block 4A of the module 2A on the left side.

(effect)
Next, the effects of the robot modules 2 (2A, 2B) and the like of this embodiment will be listed and described.

(1) As described above, the robot module 2 of this embodiment has an electric motor 36 as a rotation driving means, and has a first block 3 constituting a hexahedron and an electric motor 46 as a rotation driving means. It has a second block 4 that constitutes a hexahedron, and a link 5 that connects the electric motor 36 of the first block 3 and the electric motor 46 of the second block 4. Therefore, since each surface of the hexahedron becomes a joint surface with each other, it is possible to construct a modular robot system 1 having high rigidity as a whole.

(2) Further, since the link 5 is configured to be expandable and contractible, the first block 3 and the second block 4 can be relatively moved (rotated), and after the movement, the faces of the regular hexahedrons can be moved to each other. The overall rigidity can be increased by contacting with.

(3) Further, the first block 3 and the second block 4 have a hexahedron magnet 331-354 (431-454) as a joining member for joining with the side of the hexahedron of another robot module (2). I have it on the side. According to such a configuration, it is possible to form a fulcrum when the blocks 3 and 4 move (revolve), and after the movement, the overall rigidity can be increased by suction between the joint surfaces.

(4) Further, the first block 3 and the second block 4 have magnets 331-354 (431-454) as joining members on all sides of the hexahedron to join all the faces. Can be used for. That is, since the robot module 2 has a plurality of locking surfaces, it can be freely locked to the side surface or the upper surface of the mating block.

(5) Further, the first block 3 and the second block 4 include an electric motor 36 (46) as a rotation driving means, a circuit board 37 (47) for controlling the electric motor 36 (46), and an electric motor. It has a battery 38 (48) that supplies power to the 36 (46) and the circuit board 37 (47). According to such a configuration, the robot modules 2 can be individually controlled, and self-reconstruction (separation / recombination) can be performed by autonomously changing the mechanical coupling between the modules.

(6) Further, in the first block 3 and the second block 4, a specific surface of the hexahedron facing the rotation axis of the electric motor 36 is separated via the bridge portion 323 (423), and the link 5 rotates. By forming a gap for the link 5, the link 5 can rotate in a wide movable range of 0 to 270 degrees.

(7) Further, the first block 3 and the second block 4 are made to rotate so that the joint surface with respect to another robot module can be changed, so that the optimum rotation position (posture) is always maintained. ) Is maintained, and it is possible to prepare for the subsequent metamorphosis (revolution / rotation).

(8) Then, in the modular robot system 1 of the present embodiment, the plurality of robot modules 2 and ... described above are arranged by aligning the rotating surfaces of all the links 5 and ... in the same direction. , It is possible to construct a deformable two-dimensional structure as a whole. That is, if the robot module 2 is arranged on the XZ plane, it is possible to move the robot module 2 on the XZ plane in two dimensions.

(9) On the other hand, in the modular robot system (1) of another embodiment, the above-mentioned plurality of robot modules 2, ... By arranging the rotating surface in a different direction, it is possible to construct a three-dimensional structure that can be deformed as a whole. That is, if the robot module 2 is arranged not only on the XY plane but also on the XY plane, it is possible to move in three dimensions by combining the ZZ plane and the XY plane.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes to the extent that the gist of the present invention is not deviated are made in the present invention. included.

For example, the robot module 2 of the embodiment has a specification of rotating in a range of 0 degrees to 270 degrees because it has a bridge portion 323 (423), but the specification is not limited to this, and a hollow shaft or the like can be used. If it has the rotatable connection structure used, it can rotate without limiting the rotation range.

1: Modular robot system 2, 2A, 2B: Robot module 3, 3A, 3B: First block 4, 4A, 4B: Second block 5, 5A, 5B: Link 51: Outer member 52: Inner member 36 , 46: Electric motor 37, 47: Circuit board 38, 48: Battery 311-322: Frame 323: Bridge part 331-354: Magnet 411-422: Frame 423: Bridge part 431-454: Magnet

Claims (9)

A first block having a rotation driving means and constituting a hexahedron,
A second block having a rotation driving means and constituting a hexahedron,
A robot module comprising a link connecting the rotation driving means of the first block and the rotation driving means of the second block. The robot module according to claim 1, wherein the link is stretchably configured. The first block and the second block according to claim 1 or 2, wherein the first block and the second block have a joining member on the side of the hexahedron for joining with the side of the hexahedron of another robot module. Robot module. The robot module according to claim 3, wherein the first block and the second block have the joining member on all sides of the hexahedron. The first block and the second block include an electric motor as a rotation driving means, a circuit board for controlling the electric motor, and a battery for supplying electric power to the electric motor and the circuit board. The robot module according to any one of claims 1 to 4. In the first block and the second block, a specific surface of a hexahedron facing the rotation axis of the electric motor is separated via a bridge portion so as to form a gap for the link to rotate. The robot module according to claim 5. The first block and the second block are made to rotate so that the joint surface with respect to another robot module can be changed, according to any one of claims 1 to 6. The robot module. By arranging the plurality of robot modules according to any one of claims 1 to 7 so that the rotating surfaces of all the links are aligned in the same direction, a deformable two-dimensional structure is configured as a whole. Modular robot system designed to do. The robot module according to any one of claims 1 to 7 can be deformed as a whole by arranging the robot module according to any one of claims 1 to 7 so that the rotating surface of at least one of the links is different from the rotating surface of the other links. A modular robot system designed to form a three-dimensional structure.

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