CN102189554A - Self-reconfiguration mobile microrobot - Google Patents
Self-reconfiguration mobile microrobot Download PDFInfo
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- CN102189554A CN102189554A CN2011101001313A CN201110100131A CN102189554A CN 102189554 A CN102189554 A CN 102189554A CN 2011101001313 A CN2011101001313 A CN 2011101001313A CN 201110100131 A CN201110100131 A CN 201110100131A CN 102189554 A CN102189554 A CN 102189554A
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Abstract
The invention relates to a self-reconfiguration mobile microrobot in the technical field of robots, which comprises a differential drive mechanism, a universal connector, an alignment device and a control device that are sequentially and fixedly connected, wherein the universal connector comprises a micromotor, an end cover, a base, a latch sheet, an elastic part, a rubine bearing, a connecting shaft and a plug, wherein the base is fixedly arranged on the differential drive mechanism, two ends of the connecting shaft are respectively connected with the end cover and the rubine bearing fixed on the base, front sections of the end cover and the base are provided with spherical grooves which are combined to form a spherical cavity, the base and the rear end of the end cover are respectively connected with two ends of the elastic member, the micromotor is fixedly arranged on the base and an output shaft is fixedly connected with the latch sheet, the end cover is limited and a socket is opened or closed by the position change of the latch sheet, and the plug and the end cover are respectively positioned on two ends of the base. The self-reconfiguration mobile microrobot is modularly designed, has the advantages of simple structure, small volume, high abutting efficiency and the like, and ensures that the robot can be reconfigured under the condition of micro size limit.
Description
Technical field
What the present invention relates to is the device in a kind of Robotics field, specifically be a kind of robot field move microrobot from reconstruct.
Background technology
Self-reorganization robot is made up of many basic modules that carry identical jockey, is different configurations by the connection status restructural of adjusting between each module, thereby adapts to new environment, carry out new task or recover from distress condition.According to its different geometrical configurations, this robotlike's prototype is divided three classes usually: lattice-type, chain type type and mobile model.Lattice-type and chain type type self-reorganization robot be because self overall structure is indivisible, thus be easy to achieve a butt joint, but exist its individual cell because shortage locomotivity and the shortcoming that can not execute the task separately.On the contrary, the mobile model self-reorganization robot is made up of removable unit independently, not only can be joined together to form new configuration, also can separately form distributed robotic systems, therefore possesses self-reorganization robot and distributed robot's advantage simultaneously.For self-reorganization robot, bindiny mechanism and automatic alignment device are two key technologies that himself design.
Find through literature search prior art, " the JL-2:A mobile multi-robot system with docking and manipulating capabilities " that people such as Wang Wei delivered at " International Journal of Advanced Robotic Systems " (international advanced robotic system's magazine) in 2010, (JL-2: have multiple-mobile-robot system) from reconstruct and operational capacity, " the A mobile self-reconfigurable robot based on modularity " that people such as Zhong Ming " High Technology Letters " delivered in 2009, (modularized self-reorganization mobile robot).More than in two literary compositions designed size from the reconstruct mobile robot all bigger, frame for movement is very complicated, and that is adopted all is difficult to be applied to size moving on the microrobot from reconstruct within tens cubic centimetres based on ultrasonic and docking calculation minisize pick-up head.
Summary of the invention
The present invention is directed to the prior art above shortcomings, provide that a kind of robot field's move microrobot from reconstruct, adopt modularized design, have simple in structure, volume is little, butt joint efficient advantages of higher, and robot can be realized from reconstruct under the condition of microsize restriction.The present invention can be by power and two kinds of relay cooperation modes of radio communication, expand the investigative range of mobile microrobot integral body, its portability different sensors is entered into replace the human work of finishing some danger, complexity, repetition in the bigger small space of scope.
The present invention is achieved by the following technical solutions, the present invention includes: the differential driving mechanism that is fixedly connected sequentially, joint coupling, alignment device and control device, wherein:
Described differential driving mechanism comprises: micro motor, two move wheel, castor and circular base plate, wherein: two are moved wheel and castor and are arranged at the below of circular base plate in the rounded projections arranged mode, and two micro motors are separately fixed at the below of circular base plate and continuous with corresponding mobile wheel.
Described joint coupling comprises: end cap, base, door bolt sheet, elastomeric element, ruby bearing, connecting axle and plug, wherein: base is fixedly set on the differential driving mechanism, the two ends of connecting axle link to each other with ruby bearing on being fixed in base with end cap respectively, the leading portion of end cap and base is equipped with ball recess and constitutes spherical hollow space, the rear end of base and end cap links to each other with the two ends of elastomeric element respectively, and plug and end cap lay respectively at the two ends of base.
Described micro motor is fixedly set on the base and output shaft is fixedlyed connected with the door bolt sheet, is realized the switching of the spacing and socket of end cap by the position of door bolt sheet.
One end of described plug is movably set in other machines people's the interior universal ball joint that forms of spherical hollow space, realizes the series connection of a plurality of microrobots.
Described alignment device is made up of a comprehensive infrared remote receiver and four infrared transmitters, wherein: comprehensive infrared remote receiver is fixedly set in the upper surface of joint coupling and is positioned on the rotating shaft of Micro-Robot, and four infrared transmitter equal angles are distributed in the four direction that comprehensive infrared remote receiver receives the plane.
In the described infrared transmitter: two infrared transmitters lay respectively at the end cap of joint coupling and socket directly over, realize aligning between the Micro-Robot by surveying the infra-red intensity that is received.
Be provided with microcontroller, motor driver, wireless receiver and power regulator module in the described control device.
The present invention has simplified the structure of Micro-Robot by the design of differential driving mechanism and passive joint coupling; By adopting based on infrared alignment methods, designed docking facilities not only has lower power consumption, smaller volume, and control is simple, has very high efficient and reliability; Under the condition of microsize restriction, relevant control circuit and power supply are integrated compactly, realize that Micro-Robot is autonomous.
Description of drawings
Fig. 1 structure assembling of the present invention schematic diagram.
Fig. 2 joint coupling socket assembling of the present invention schematic diagram.
Fig. 3 alignment device schematic layout pattern of the present invention.
Fig. 4 multi-microcomputer device people schematic diagram of cooperating.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the overall dimensions of the single basic Micro-Robot of present embodiment: the wide * height=46mm*30mm*28mm of long *, this microrobot comprises: the differential driving mechanism 1 that is fixedly connected sequentially, and joint coupling 2, alignment device 3 and control device 4, wherein:
Described differential driving mechanism 1 comprises: micro motor 8, two move 6, castors 22 of wheel and circular base plate 7, wherein: two are moved 6 and castors 22 of wheel and are arranged at the below of circular base plate 7 in the rounded projections arranged mode, and two micro motors 8 are separately fixed at the below of circular base plate 7 and link to each other with corresponding mobile wheel 6.
Described joint coupling 2 comprises: end cap 9, base 10, door bolt sheet 11, elastomeric element 12, ruby bearing 13, connecting axle 14 and plug 15, wherein: base 10 is fixedly set on the differential driving mechanism 1, the two ends of connecting axle 14 link to each other with ruby bearing 13 on being fixed in base 10 with end cap 9 respectively, the leading portion of end cap 9 and base 10 is equipped with ball recess and constitutes spherical hollow space, the rear end of base 10 and end cap 9 links to each other with the two ends of elastomeric element 12 respectively, and plug 15 and end cap 9 lay respectively at the two ends of base 10.
Described micro motor 8 is fixedly set on the base 10 and output shaft is fixedlyed connected with door bolt sheet 11, is realized the switching of the spacing and socket of end cap 9 by the position of door bolt sheet 11.
One end of described plug 15 is movably set in other machines people's the interior universal ball joint that forms of spherical hollow space, realizes the series connection of a plurality of microrobots.
Described alignment device 3 is made up of a comprehensive infrared remote receiver 16 and four infrared transmitters 17, wherein: comprehensive infrared remote receiver 16 is fixedly set in the upper surface of joint coupling 2 and is positioned on the rotating shaft of Micro-Robot, four infrared transmitter 17 equal angles are distributed in the four direction that comprehensive infrared remote receiver 16 receives the plane
In the described infrared transmitter 17: two infrared transmitters 17 lay respectively at the end cap 9 of joint coupling 2 and socket directly over, realize aligning between the Micro-Robot by surveying the infra-red intensity that is received.
Described control device 4 includes microcontroller 18, motor driver 19, wireless receiver 20 and power regulator module 21, thereby realizes that Micro-Robot is from main control.
Micro motor 8 described in the present embodiment adopts two stator single rotor structures, and its diameter is 6.8mm or 4.4mm; The spherosome 32 of plug 15 front ends is made by silicon; End cap 9 and base 10 are made by aluminium alloy; The model of comprehensive infrared remote receiver 16 is the SFH203P of OSRAM company; The model of infrared transmitter 17 is the BPW17N of Vishay company.Microcontroller 18 is the LPC2138 of Philips company; Motor driver 19 is the ATA6836 of Atmel company; Wireless receiver 20 is the Nrf24L01 of Nordic company; Power regulator module 21 mainly is made up of the LM1117T-3.3 and the LM1117T-5 of National Semiconductor company.
Claims (7)
1. one kind is moved microrobot from reconstruct, comprising: the differential driving mechanism that is fixedly connected sequentially, and joint coupling, alignment device and control device is characterized in that:
Described joint coupling comprises: end cap, base, door bolt sheet, elastomeric element, ruby bearing, connecting axle and plug, wherein: base is fixedly set on the differential driving mechanism, the two ends of connecting axle link to each other with ruby bearing on being fixed in base with end cap respectively, the leading portion of end cap and base is equipped with ball recess and constitutes spherical hollow space, the rear end of base and end cap links to each other with the two ends of elastomeric element respectively, and plug and end cap lay respectively at the two ends of base.
2. according to claim 1ly move microrobot from reconstruct, it is characterized in that, described differential driving mechanism comprises: micro motor, two move wheel, castor and circular base plate, wherein: two are moved wheel and castor and are arranged at the below of circular base plate in the rounded projections arranged mode, and two micro motors are separately fixed at the below of circular base plate and continuous with corresponding mobile wheel.
3. according to claim 2ly move microrobot from reconstruct, it is characterized in that, described micro motor is fixedly set on the base and output shaft is fixedlyed connected with the door bolt sheet, is realized the switching of the spacing and socket of end cap by the position of door bolt sheet.
4. according to claim 1ly move microrobot from reconstruct, it is characterized in that, an end of described plug is movably set in other machines people's the spherical hollow space and forms universal ball joint, realizes the series connection of a plurality of microrobots.
5. according to claim 1ly move microrobot from reconstruct, it is characterized in that, described alignment device is made up of a comprehensive infrared remote receiver and four infrared transmitters, wherein: comprehensive infrared remote receiver is fixedly set in the upper surface of joint coupling and is positioned on the rotating shaft of Micro-Robot, and four infrared transmitter equal angles are distributed in the four direction that comprehensive infrared remote receiver receives the plane.
6. according to claim 1ly move microrobot from reconstruct, it is characterized in that, in the described infrared transmitter: two infrared transmitters lay respectively at the end cap of joint coupling and socket directly over, realize aligning between the Micro-Robot by surveying the infra-red intensity that is received.
7. according to claim 1ly move microrobot, it is characterized in that, be provided with microcontroller, motor driver, wireless receiver and power regulator module in the described control device from reconstruct.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011101001313A CN102189554A (en) | 2011-04-20 | 2011-04-20 | Self-reconfiguration mobile microrobot |
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| CN2011101001313A CN102189554A (en) | 2011-04-20 | 2011-04-20 | Self-reconfiguration mobile microrobot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103942937A (en) * | 2014-01-07 | 2014-07-23 | 东南大学 | Communication apparatus of modularization self-configuration robot and communication method thereof |
| CN105015287A (en) * | 2015-07-07 | 2015-11-04 | 哈尔滨工业大学（威海） | Mobile self-reconfigurable micro robot |
| CN107127747A (en) * | 2017-05-24 | 2017-09-05 | 大鹏高科（武汉）智能装备有限公司 | A kind of devices, systems, and methods of auxiliary unmanned boat recycling machine people |
| CN108772830A (en) * | 2018-06-25 | 2018-11-09 | 湖南粤港模科实业有限公司 | A kind of multifunctional modular product structure |
| CN110291299A (en) * | 2016-11-16 | 2019-09-27 | 捷普有限公司 | Equipment, system and method for component or the air-supported platform of device |
| CN110695967A (en) * | 2019-10-16 | 2020-01-17 | 徐州木牛流马机器人科技有限公司 | Robot base convenient to combination |
| CN110802581A (en) * | 2019-11-29 | 2020-02-18 | 山东大学 | Reconfigurable modular robot side connecting mechanism and robot |
| WO2020228028A1 (en) * | 2019-05-16 | 2020-11-19 | 深圳市大疆创新科技有限公司 | Detachable robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103942937A (en) * | 2014-01-07 | 2014-07-23 | 东南大学 | Communication apparatus of modularization self-configuration robot and communication method thereof |
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| CN107127747A (en) * | 2017-05-24 | 2017-09-05 | 大鹏高科（武汉）智能装备有限公司 | A kind of devices, systems, and methods of auxiliary unmanned boat recycling machine people |
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| CN110695967A (en) * | 2019-10-16 | 2020-01-17 | 徐州木牛流马机器人科技有限公司 | Robot base convenient to combination |
| CN110802581A (en) * | 2019-11-29 | 2020-02-18 | 山东大学 | Reconfigurable modular robot side connecting mechanism and robot |
| CN110802581B (en) * | 2019-11-29 | 2021-02-09 | 山东大学 | Reconfigurable modular robot side connecting mechanism and robot |
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Application publication date: 20110921 |