CN106002992A - Single-wheel driven modular self-reconfiguration mobile robot - Google Patents
Single-wheel driven modular self-reconfiguration mobile robot Download PDFInfo
- Publication number
- CN106002992A CN106002992A CN201610416165.6A CN201610416165A CN106002992A CN 106002992 A CN106002992 A CN 106002992A CN 201610416165 A CN201610416165 A CN 201610416165A CN 106002992 A CN106002992 A CN 106002992A
- Authority
- CN
- China
- Prior art keywords
- robot
- motor
- module base
- bearing
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
The invention discloses a single-wheel driven modular self-reconfiguration mobile robot, and aims to solve the problems of complex structure, weak reliability and incapability of producing in batches in a traditional robot module. A shell includes a module base and four support legs; the module base is a square box; the four support legs are respectively positioned at four corners of the lower surface of the module base; a radial magnet is embedded in each groove; a vertical magnet is embedded in each vertical hole; support feet are arranged at the lower ends of all the support legs; a motor is arranged in a motor groove; an input end of a speed reducer is connected with an output end of a motor; a driving wheel is fixedly mounted on an output shaft of the speed reducer; the lower end of a rotating shaft is connected with a motor base through a connecting element; the middle part of the rotating shaft is supported in a bearing; the bearing is mounted in a bearing base plate; the bearing base plate is fixedly connected with the module base; an outer gear coats the upper end of the rotating shaft; an inner gear is engaged with the outer gear; and the inner gear is fixedly connected with the module base. The invention discloses a general research platform for a self-reconfiguration robot, a deformation robot and a group robot.
Description
Technical field
The present invention relates to a kind of modularized self-reorganization and move robot, the modularized self-reorganization being specifically related to a kind of single wheel drive moves
Mobile robot.
Background technology
From the point of view of moving robot currently for modularized self-reorganization, the design of the bindiny mechanism of intermodule is it is critical that a ring.
Current existing bindiny mechanism is based on mechanical connecting structure mostly, and this structure requires height to kinematic accuracy, quickly connects
Connect poor performance, and multiple joint faces of module individuality have separate electrical motor to drive so that modular structure is the most complicated, power consumption
Greatly, thus causing Module Reliability to reduce, its cost is the highest, is difficult to mass.
Summary of the invention
The present invention solves that existing modularized self-reorganization moves robot, the bindiny mechanism of intermodule is to be mechanically connected knot mostly
Structure is main, and this structure requires height to kinematic accuracy, and quick joint property is poor, and multiple joint faces of module individuality have
Separate electrical motor drives so that modular structure is the most complicated, and power consumption is big, thus causes the problem that Module Reliability reduces, and carries
The modularized self-reorganization going out a kind of single wheel drive moves robot module.
The modularized self-reorganization of a kind of single wheel drive of the present invention moves robot and includes at least two module, and two modules are side by side
Arrange, each module include housing, motor cabinet, motor, decelerator, driving wheel, rotary shaft, bearing, bearing plate,
External gear, internal gear, two connecting elements, four radial magnet, four vertical magnets and four legs, described housing bag
Including module base and four supporting legs, module base is quadrangle box, and quadrangle box upper end is open type cavity, four supporting leg positions respectively
At corner below module base, the centre position, inner side of each sidewall of module base is provided with groove, is embedded in one in each groove
Individual radial magnet, the lower end of each supporting leg is provided with vertical hole, is embedded in a vertical magnet in each vertical hole, each supporting leg
Lower end arranges a leg, and the upper end of motor cabinet is provided with motor slot, and motor is arranged in motor slot, the input of decelerator with
The outfan of motor connects, and driving wheel is packed on the output shaft of decelerator, and connecting element and motor are passed through in the lower end of rotary shaft
Seat connects, and within the bearing, bearing is arranged in bearing plate the midfoot support of rotary shaft, and bearing plate is fixing with module base even
Connecing, outer gear sleeve is contained in the upper end of rotary shaft, and internal gear engages with external gear, and internal gear is fixing with module base to be connected.
The present invention compared with prior art has the advantages that
One, present invention employs the mode of single wheel drive, reduce complexity and the power consumption of mechanism so that individual module
Complexity and cost are substantially reduced, and have been embedded in radial magnet and vertical magnet inside module housing, by radial magnet with vertical
Magnet makes the module adjoined can realize certainly being dynamically connected of Arbitrary Relative orientation, thus ensure that intermodule can quickly, reliably
Connection and disconnection, invention increases entirety reliability.
Two, module has via Self-reconfiguration characteristic and mobility concurrently, realizes multiple overall configuration by reconstruct between internal module, and
There is wheel type mobile ability.
Three, designed robot is with array modularized self-reorganization robot theoretical model and design reference, can be as via Self-reconfiguration
The Study on general platform of robot, fighter toy and group robot.Configuration restructural and merit in view of self-reorganization robot
Energy adaptive characteristic, designed robot is in complexity, circumstances not known and performances in task such as following rescue and relief work, space probations
Important function.As a kind of physical prototyping of new ideas robot, self-organizing robot can be demonstrated as educational robot, divide
The related notion of cloth robot.
Accompanying drawing explanation
Fig. 1 is the overall structure axonometric chart of the present invention；
Fig. 2 is the axonometric chart of individual module A；
Fig. 3 is the B-B sectional view of Fig. 2；
Fig. 4 is the C-C sectional view of Fig. 2；
Fig. 5 is the annexation schematic diagram of motor cabinet 2, driving wheel 5, rotary shaft 6, bearing 8, bearing plate 9；
Fig. 6 be motor cabinet 2, motor 3, decelerator 4, driving wheel 5, rotary shaft 6, bearing 8, external gear 10 point
Xie Tu；
Fig. 7 is the fundamental diagram of the present invention.
Detailed description of the invention
Detailed description of the invention one: combine Fig. 1～Fig. 6 and illustrate that present embodiment, present embodiment include at least two modules A,
Two modules A are arranged side by side, each modules A include housing 1, motor cabinet 2, motor 3, decelerator 4, driving wheel 5,
Rotary shaft 6, bearing 8, bearing plate 9, external gear 10, internal gear 7, four radial magnet of 11, two connecting elements
12, four vertical magnets 13 and four legs 14, housing 1 includes module base 1-1 and four supporting leg 1-2, module base 1-1
For quadrangle box, quadrangle box upper end is open type cavity 1-1-1, and four supporting leg 1-2 lay respectively at below module base 1-1
Corner at, the centre position, inner side of each sidewall of module base 1-1 is provided with groove 1-1-2, in each groove 1-1-2 be embedded in
One radial magnet 12, the lower end of each supporting leg 1-2 is provided with vertical hole 1-2-1, is embedded in one in each vertical hole 1-2-1
Vertical magnet 13, the lower end of each supporting leg 1-2 arranges a leg 14, and the upper end of motor cabinet 2 is provided with motor slot 2-1, electricity
Machine 3 is arranged in motor slot 2-1, and the input of decelerator 4 is connected with the outfan of motor 3, and driving wheel 5 is packed in and subtracts
On the output shaft of speed device 4, the lower end of rotary shaft 6 is connected with motor cabinet 2 by connecting element 7, and the middle part of rotary shaft 6 is propped up
Support is in bearing 8, and bearing 8 is arranged in bearing plate 9, and bearing plate 9 is fixing with module base 1-1 to be connected, external gear
10 upper ends being sleeved on rotary shaft 6, internal gear 11 engages with external gear 10, and internal gear 11 is fixing with module base 1-1 even
Connect.
Detailed description of the invention two: combine Fig. 1～Fig. 4 and present embodiment is described, four supporting leg 1-2 of present embodiment and mould
Block 1-1 is formed integrally.So design makes housing 1 good stability.Other composition and annexation and detailed description of the invention
One is identical.
Detailed description of the invention three: combine Fig. 4 and Fig. 6 and present embodiment is described, the external gear 10 of present embodiment and rotation
Axle 6 interference fits.Other composition and annexation are identical with detailed description of the invention one or two.
Detailed description of the invention four: combine Fig. 4 and present embodiment is described, the lower end of the module base 1-1 of present embodiment is provided with axle
Bearing plate mounting groove 1-1-3, bearing plate 9 and bearing plate mounting groove 1-1-3 interference fits.Other composition and connection are closed
It is identical with detailed description of the invention three.
Detailed description of the invention five: combine Fig. 3 and present embodiment is described, the radial magnet 12 of present embodiment can be at groove 1-1-2
In freely rotatable.Other composition and annexation are identical with detailed description of the invention four.
Detailed description of the invention six: combine Fig. 3 and present embodiment is described, the vertical magnet 13 of present embodiment can be in vertical hole
In 1-2-1 freely rotatable.Other composition and annexation are identical with detailed description of the invention five.
Detailed description of the invention seven: combine Fig. 1～Fig. 4 and present embodiment is described, the open type cavity 1-1-1 of present embodiment
In and be positioned at the bottom of quadrangle box and be provided with cable hole 15 and driving hole 16.Cable hole 15 is for wearing the power line of motor 3
And data wire, driving hole 16 is used for transmitting the motion to gear 11, and motion is passed by the engagement through gear 11 and external gear 10
It is delivered to rotary shaft 6.Other step is identical with detailed description of the invention six.
The operation principle of the present invention: see Fig. 7, driving hole 16 is through internal gear 11 and external gear 10 conjugate control rotary shaft 6
Rotation, and then the axis controlling motor 3 and driving wheel 5 points to.Motor 3 starts, and drives driving wheel by decelerator 4
5 rotate, and arrange vertical magnet owing to arranging in radial magnet 12 and four supporting leg 1-2 on the four of housing 1 joint faces
13 so that adjacent module can realize certainly being dynamically connected of Arbitrary Relative orientation, radial magnet 2 and vertical magnet 3 constitute holding mould
The attachment force of annexation between block, two vertical magnet 3 automatic suctions between adjacent two housings are the most adjacent
Module provides rotating shaft K-K, and driving wheel 5 drives modules A to rotate, and the vertical magnet 13 in the modules A in left side is with right
Vertical magnet 13 in the modules A of side attracts each other so that the modules A of rotation K-K the most around the shaft rotates.
Claims (7)
1. the modularized self-reorganization of single wheel drive moves a robot, and described robot includes at least two module (A),
Two modules (A) are arranged side by side, and each module (A) includes housing (1), motor cabinet (2), motor (3), decelerator
(4), driving wheel (5), rotary shaft (6), bearing (8), bearing plate (9), external gear (10), internal gear (11),
Two connecting elements (7), four radial magnet (12), four vertical magnets (13) and four legs (14), described shell
Body (1) includes module base (1-1) and four supporting legs (1-2), and module base (1-1) is quadrangle box, quadrangle box upper end
For open type cavity (1-1-1), four supporting legs (1-2) lay respectively at module base (1-1) corner below, module base (1-1)
The centre position, inner side of each sidewall be provided with groove (1-1-2), one radial magnet (12) of setting-in in each groove (1-1-2),
The lower end of each supporting leg (1-2) is provided with vertical hole (1-2-1), one vertical magnet (13) of setting-in in each vertical hole (1-2-1),
The lower end of each supporting leg (1-2) arranges a leg (14), and the upper end of motor cabinet (2) is provided with motor slot (2-1), motor
(3) being arranged in motor slot (2-1), the input of decelerator (4) is connected with the outfan of motor (3), driving wheel
(5) being packed on the output shaft of decelerator (4), the lower end of rotary shaft (6) is by connecting element (7) and motor cabinet (2)
Connecting, the midfoot support of rotary shaft (6) is in bearing (8), and bearing (8) is arranged in bearing plate (9), bearing
Seat board (9) is fixing with module base (1-1) to be connected, and external gear (10) is sleeved on the upper end of rotary shaft (6), internal gear (11)
Engaging with external gear (10), internal gear (11) is fixing with module base (1-1) to be connected.
The modularized self-reorganization of a kind of single wheel drive the most according to claim 1 moves robot, it is characterised in that: institute
State four supporting legs (1-2) to be formed integrally with module base (1-1).
The modularized self-reorganization of a kind of single wheel drive the most according to claim 1 and 2 moves robot, it is characterised in that:
Described external gear (10) and rotary shaft (6) interference fits.
The modularized self-reorganization of a kind of single wheel drive the most according to claim 3 moves robot, it is characterised in that: institute
The lower end stating module base (1-1) is provided with bearing plate mounting groove (1-1-3), bearing plate (9) and bearing plate mounting groove (1-1-3)
Interference fits.
The modularized self-reorganization of a kind of single wheel drive the most according to claim 4 moves robot, it is characterised in that: institute
Stating radial magnet (12) can be freely rotatable in groove (1-1-2).
The modularized self-reorganization of a kind of single wheel drive the most according to claim 5 moves robot, it is characterised in that: institute
Stating vertical magnet (13) can be freely rotatable in vertical hole (1-2-1).
The modularized self-reorganization of a kind of single wheel drive the most according to claim 6 moves robot, it is characterised in that: institute
State in open type cavity (1-1-1) and be positioned at the bottom of quadrangle box and be provided with cable hole (15) and driving hole (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610416165.6A CN106002992B (en) | 2016-06-08 | 2016-06-08 | A kind of modularized self-reorganization mobile robot of single wheel drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610416165.6A CN106002992B (en) | 2016-06-08 | 2016-06-08 | A kind of modularized self-reorganization mobile robot of single wheel drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106002992A true CN106002992A (en) | 2016-10-12 |
| CN106002992B CN106002992B (en) | 2018-03-30 |
Family
ID=57087903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610416165.6A Active CN106002992B (en) | 2016-06-08 | 2016-06-08 | A kind of modularized self-reorganization mobile robot of single wheel drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106002992B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040015266A1 (en) * | 2000-12-04 | 2004-01-22 | Hans Skoog | Robot system |
| CN101288951A (en) * | 2008-03-10 | 2008-10-22 | 哈尔滨工业大学 | Double L-shaped cubic modularized self-reconstruction robot based on rotary hook hole |
| CN201597033U (en) * | 2010-02-22 | 2010-10-06 | 侯宇 | Wheeled model snake-shaped robot mechanism |
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| CN105033991A (en) * | 2015-06-05 | 2015-11-11 | 常熟理工学院 | Snake-shaped robot of one-way driven wheel contact mechanisms and control method of snake-shaped robot |
| CN205085966U (en) * | 2015-06-29 | 2016-03-16 | 曹燕军 | From reconsitution modularization movable robot system modular unit |
-
2016
- 2016-06-08 CN CN201610416165.6A patent/CN106002992B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040015266A1 (en) * | 2000-12-04 | 2004-01-22 | Hans Skoog | Robot system |
| CN101288951A (en) * | 2008-03-10 | 2008-10-22 | 哈尔滨工业大学 | Double L-shaped cubic modularized self-reconstruction robot based on rotary hook hole |
| CN201597033U (en) * | 2010-02-22 | 2010-10-06 | 侯宇 | Wheeled model snake-shaped robot mechanism |
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| CN105033991A (en) * | 2015-06-05 | 2015-11-11 | 常熟理工学院 | Snake-shaped robot of one-way driven wheel contact mechanisms and control method of snake-shaped robot |
| CN205085966U (en) * | 2015-06-29 | 2016-03-16 | 曹燕军 | From reconsitution modularization movable robot system modular unit |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106002992B (en) | 2018-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103737587A (en) | Intelligent five-shaft manipulator | |
| CN107214720B (en) | Modular configuration-variable three-finger robot hand | |
| CN102075042B (en) | Ball type motor with three-dimensional topology magnetic pole distribution structure | |
| CN104401415A (en) | Knuckle reconfigurable robot unit module | |
| CN102009413B (en) | TDOF (Three Degrees of Freedom) passive ball joint with attitude detection and applicable to ball motor | |
| CN103252683A (en) | Five-freedom-degree parallel-serial numerically-controlled machine tool | |
| CN104121929A (en) | Novel three-axle swinging platform | |
| CN105014688A (en) | Multifunctional integrated mechanical arm with variable redundant DOF (degree of freedom) arm length | |
| CN108638040A (en) | A kind of reconfigurable type multiple mechanical arm | |
| CN110294043A (en) | A kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system | |
| CN106113003A (en) | A kind of automatization legerity type mechanical arm | |
| CN112208665B (en) | Joint driving mechanism and robot | |
| CN106002992A (en) | Single-wheel driven modular self-reconfiguration mobile robot | |
| CN107021145A (en) | One kind displacement drive mechanism and change posture mobile robot | |
| CN112643660A (en) | Ankle joint structure and robot | |
| CN207997321U (en) | A kind of arrangement joint structure | |
| WO2023005032A1 (en) | Joint unit module and leg robot | |
| CN104385276B (en) | Single motor three freedom degree manipulator arm mechanism | |
| CN204366952U (en) | A kind of automation universal mechanical arm | |
| CN210284436U (en) | Series-parallel hybrid arm/leg mechanism for bionic robot forelimb mechanical system | |
| CN209743494U (en) | Transmission device with single worm and multiple worm wheels | |
| CN208196784U (en) | A kind of movable type mechanical arm pedestal | |
| CN106078802B (en) | For the module housing in the modularized self-reorganization mobile robot of single wheel drive | |
| CN205129837U (en) | Secondary drive's four degree of freedom parallels letter sorting machine people rotates | |
| CN207155798U (en) | Use the mechanical arm R axles rotational structure and mechanical arm of direct driving motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |