RU2166427C2 - Versatile transformable modular robot - Google Patents

Abstract

FIELD: robotics. SUBSTANCE: the transformable modular robot has versatile modules with detachable couplers. The couplers may be coupled and uncoupled for provision of rearrangement of the robot structure directly in the process of operation. The robot is provided with an electronic control circuit with a computer. Actuating devices are installed inside the modules or in separate units provided for their coupling. The modules may be made in the form of telescopic tubes with mechanisms changing their length, flat or volumetric members, permanent length shaped rods. EFFECT: expanded sphere of robot activity, enhanced reliability of them and versatility. 5 cl, 11 dwg

Description

 The technical field to which the invention relates.

The invention relates to robotics, mechanical manipulators. It can be used as:
1. Vehicle on a hard surface.

 2. Transformable housing.

 3. Temporary engineering storage facilities, hangars, bridges, barriers, scaffolding, formwork.

 4. Installation for stage, spectacular effects.

 5. Lifting and mounting mechanism for non-standard loads.

 6. Toy, attraction.

 7. The manual.

 8. The working material of the artist, architect, designer.

 9. Means of fixation in the space of unstable objects.

 10. The kinetic interface of the computer.

 11. Aircraft (including lighter than air) of variable volume and geometry.

 12. Transformable radars, antennas for television and radio signals.

 13. Transformable furniture.

 14. Military installations of widespread use: anti-personnel, mine clearance, etc.

 15. Agricultural installations of wide application, for plowing, irrigation, harvesting, etc.

 16. A variety of space structures.

 17. Installation for clearing rubble in the forest, in the mountains, rescue people after earthquakes.

 18. Installation for lifting sunken ships, underwater highly complex operations.

 19. Ships with variable displacement and hydrodynamic characteristics.

 20. Universal fire installation, for example, to extinguish forest fires, rescue people and extinguish fires in high-rise buildings.

 21. Installation for saving people in a shipwreck.

 22. Installation for selective felling of trees in the forest, careful about other trees.

 23 Decorative surfaces, "active" wallpaper.

State of the art
A well-known universal transforming modular robot containing unified modules equipped with detachable coupling devices, motor devices and an electronic control circuit of the aforementioned motor devices (1).

 This robot is a prototype of the invention.

 The disadvantages of this design include low transformation capabilities due to the limited number of degrees of freedom of the coupling device by rotation around the longitudinal axis, as well as the inability to replace its own faulty modules during operation, since the connections and disconnections of the coupling devices of the modules are made by a person.

SUMMARY OF THE INVENTION
The objective of the present invention is to expand the scope of robots, increasing their reliability and versatility.

This technical result is achieved: by increasing the number of modules to some "excess"value;
placement of motor devices both inside the module (1), and in separate blocks connecting the modules;
design features of the proposed coupling device, which allow the connection and disconnection of the modules directly in the process without human intervention;
the presence in the modules of the electronic control circuit (1) of coupling and motor devices and the presence of a special computer for controlling the robot as a whole.

 The concept of "redundancy" means that the number of modules that make up the robot is obviously greater than the minimum necessary to perform a specific task. This provides a reserve in case of failure of any module, and in conjunction with controlled coupling devices, allows you to replace these modules or rebuild your structure when changing the conditions of the task. The number of modules is limited by the power of the power source and the speed of the control computer.

In different versions of the robot as modules can be used:
1. Telescopic tubes with a mechanism for changing lengths and coupling devices at the ends, each of which has three degrees of freedom.

 2. Flat or volumetric elements with couplers having from one to three degrees of freedom.

 3. Profiled rods of constant length, interconnected using special blocks with motor devices that can move along the rods or move the rods (one block - several rods) in three mutually perpendicular directions.

 4. Flat elements connected to each other in a single plane using flexible controlled hinges.

 Combinations of the above options are possible.

 To solve any specific tasks, various attachments can be used: manipulators - grips, control cameras, inflatable elastic bags (water-rescue system), flexible hoses and containers (fire-fighting system), etc.

 The module design provides for the placement in it of an electronic circuit for controlling the mechanisms of the module itself, as well as attachments. Control commands are generated by a computer connected to one of the coupling nodes of the robot. Teams have addresses corresponding to the addresses of the modules that need to work at the moment. Each module has a set of sensors that send information to the central computer about the health of the module, its size and the orientation of the coupling units. There may also be additional sensors: heating, humidity, mechanical load, etc. Based on this information, a three-dimensional model of the robot is formed in the computer, changing in the process of its real transformation.

 The list of figures of graphic images.

 In FIG. 1 shows a general view of a first embodiment of a module; FIG. 2 is a section thereof, in FIG. 3 is a schematic illustration of a mobile robot built from these modules. FIG. 4 - one of the varieties of the second version of the module. The basis is taken tetrahedron. In FIG. 5 is a schematic illustration of a robot built from modules of the second embodiment. In FIG. 6 shows a projection and two sections of the third version of the module - a profiled rod. In FIG. 7 is a general view of a block with motor devices for profiled rods. In FIG. 8 shows a section through a block along the tunnel axis for a module. In FIG. 9 is a schematic illustration of a mobile robot built from modules of the third embodiment and blocks with motor devices. In FIG. 10 shows a fragment of a robot from modules of the fourth embodiment and a section illustrating one of its possible transformations. In FIG. 11 depicts one way to replace a failed module in the fourth embodiment of the robot.

Information confirming the possibility of carrying out the invention
The first version of the robot consists of modules arranged as follows. Inside the telescopically connected tubes 1 that make up the module case, an electric motor with a mechanism for changing the length of the module 2 and an electronic control circuit 3 is installed. At the ends of the module there are coupling devices 4 with electrical connectors, connected to the module by a system of three servomotors with gearboxes 5. This system serves to changes in the position of each coupling device relative to the module. The coupling device can be made, for example, in the form of a truncated pentagonal pyramid so that twelve devices connected by side faces form a dodecahedron.

 In the idle position, the robot takes up a minimum amount. The modules are reduced to the limit and stacked in parallel, forming a single package so that they are all interconnected by at least one coupling device, so the robot is always ready to work. After connecting to one of the free coupling devices of the computer with the appropriate program and supplying the supply voltage, the computer interrogates all the modules about their operability, length and orientation of the coupling units. Such a survey occurs several times per second. As a result, a three-dimensional model of the robot is created in the computer’s RAM, with which the operator further works.

 In the working position, at the command of a computer, some modules begin to change length, the coupling devices are disconnected and connected in other combinations, and a spatial lattice truss is formed. The modules are redistributed inside the robot according to the program until it takes the given shape and structure.

 The second version of the robot is intended mainly for decorative purposes. The second option module consists of a housing 6, couplers 4 and servomotors with gears 5 that change the orientation of the coupler. These servomotors must be powerful enough to move the module in space with the hitch fixed. Inside the module is a control circuit (not shown).

 The third version of the robot consists of two types of equivalent modules: profiled rods and blocks with motor devices. The profiled rod 7 has a square cross section with grooves of complex shape along the entire length of each side, in which gear racks 8 are mounted to move the module and current-carrying tracks 9 to transmit power voltage and control signals.

A block with motor devices consists of a housing 10, a mechanism for moving rods through tunnels 12, and a control circuit 3. The transformation of this version of the robot occurs similarly to the first version with the difference that the movement of the modules relative to the coupling devices (which in this case are blocks with motor devices) not in angular, but in linear mutually perpendicular directions. In this version of the robot, you may need several devices that serve to rotate the rods from one coordinate axis to another, perpendicular to the first, if required by the task performed by the robot. Such a device can be a simplified (with fewer tunnels) block with motor devices, in which the tunnels can rotate one 90 ^° relative to the other.

 The fourth version of the robot consists of flat modules 13 on which electronic control circuits 3 are mounted, interconnected by controlled articulated-flexible joints 14 (for example, bimetallic plates).

 The term "flexibility" means that this connection of modules has, in addition to one controlled degree of freedom, two more uncontrollable ones, which can be realized under the influence of neighboring modules or external forces, for example, gravity.

 Replacement of own modules can be performed as shown in FIG. 11 with the help of special attachments 21 installed on several modules of the robot, a dismountable module - 20.

 Managing each connection individually allows you to get a large number of options for the relief of the plane.

 It is obvious that the sizes of the modules of any of the above robots can vary depending on the application conditions from a few centimeters (“active” wallpapers, furniture) to several meters in power structures (dismantling blockages, etc.).

 In FIG. 3 and 9 depict mobile robots made up of modules of the first and third variants, respectively. The numbers indicate: the actual robot 15, blocks with motor devices for the third option 16, the cabin in which the operator is located, as well as the control computer and electric generator 17, the transported load 18, the surface of the soil 19.

 Due to the ability of robots to transform to the widest extent possible (especially the first option), the ability to control every point in space within reach, they will be especially useful where versatility and high reliability are needed. For example, in space during the development of other planets or on Earth in extreme conditions, during fires, earthquakes, shipwrecks, etc.

Literature
1. Patent EP 0547421 A1, B 25 J 9/08, dated 23.06.1993.

Claims (5)

 1. A universal transforming modular robot containing unified modules equipped with detachable coupling devices for connecting them together, motor devices and an electronic control circuit for said coupling and motor devices, characterized in that the coupling devices of the modules are configured to connect and disconnect them to allow adjustment the structure of the robot directly during operation, the electronic control circuit is equipped with a computer, and motor devices mounted within the modules or provided in separate units that connect the modules.  2. The robot according to claim 1, characterized in that each module is made in the form of a telescopic tube with a mechanism for changing its length, and detachable coupling devices having three degrees of freedom are mounted at the ends of the tubes.  3. The robot according to claim 1, characterized in that each module is made in the form of flat or volumetric elements with couplers having from one to three degrees of freedom.  4. The robot according to claim 1, characterized in that the modules are made in the form of profiled rods of constant length, and the individual modules connecting the modules with motor devices have the ability to move along the said rods in three mutually perpendicular directions.  5. The robot according to claim 3, characterized in that the flat elements are placed in the same plane, and the coupling devices are made in the form of flexible hinges.

Images