CN103085064A - Self-assembly robot and assembly method thereof - Google Patents
Self-assembly robot and assembly method thereof Download PDFInfo
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- CN103085064A CN103085064A CN2013100164539A CN201310016453A CN103085064A CN 103085064 A CN103085064 A CN 103085064A CN 2013100164539 A CN2013100164539 A CN 2013100164539A CN 201310016453 A CN201310016453 A CN 201310016453A CN 103085064 A CN103085064 A CN 103085064A
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Abstract
The invention discloses a self-assembly robot and an assembly method of the self assembly robot. The self-assembly robot comprises at least two mechanical hands, at least two connecting blocks for connecting with each other, and at least one controller for controlling the mechanical hands to act. The mechanical hands comprises at least an active joint for making the mechanical hands move, at least a connecting rod arm and at least a passive joint which move with the active joint, and at least a grasping tool for scraping or releasing the connecting blocks. The controller controls the active joint to rotate and the scraping tool to scrap or release the connecting blocks. According to the self-assembly robot and the assembly method of the self assembly robot, the robot can effectively change self geometric shape and a topological structure, and self-reassembly efficiency and flexibility and convenience of the robot are increased and improved.
Description
Technical field
The present invention relates to a kind of self assembly robot and a kind of self assembly robot assemble method.
Background technology
Assembly robot is the industrial robot that assembles for to part or parts, and it is the high-tech product that integrates machinery, microelectronics, control and the communication technology.But when assembly robot destroys because outside or internal cause cause some work, just can not normally execute the task.At this moment, if robot can re-assembly self, the robot after self assembly might rework and continue original task.This is to assistance, and it is particularly important that the robots such as space probation seem.Present self assembly robot also can realize the re-assemblying of self parts, but existing self assembly robot does not have passive joint and linkage unit, so be not easy to produce distortion, causes assembling not freely, and form ossifys.
Summary of the invention
The technical problem to be solved in the present invention is more loaded down with trivial details in order to overcome prior art self assembly robot assembling mode, and form ossifys, and underaction is defective efficiently, and a kind of self assembly robot and a kind of self assembly robot assemble method are provided.
The present invention solves above-mentioned technical problem by following technical proposals:
a kind of self assembly robot, its characteristics are, described self assembly robot comprises at least two manipulators, at least two are used for interconnected contiguous block and at least one controller be used to controlling described manipulator behavior, described manipulator comprises at least one active joint be used to making described robot movement, all be used to follow at least one pitman arm and at least one passive joint of described active joint motions, with at least one gripping apparatus for grasping or discharge described contiguous block, described controller is controlled described active joint rotation, and control described gripping apparatus crawl or discharge described contiguous block.
Preferably, each described active joint comprises a motor that is electrically connected to described controller.
Preferably, each described gripping apparatus comprises a motor that is electrically connected to described controller.
Preferably, described contiguous block comprises be used to the gear unit that described contiguous block is moved, sensor and is used for the control module that receives the signal of described sensor and control described gear unit, described like this contiguous block also can move, and makes described self assembly robot process more multitask.
Preferably, described sensor comprises sound transducer, ultrasonic sensor, temperature sensor and acceleration transducer, can make so described contiguous block sensitiveer, surveys more multi-parameter.
A kind of self assembly robot assemble method, its characteristics be, it comprises the following steps:
Step 2, an assembled described manipulator grasp a described contiguous block;
Step 5, the described manipulator that is used for assembling discharge described contiguous block.
Preferably, each described active joint comprises a motor that is electrically connected to described controller.
Preferably, each described gripping apparatus comprises a motor that is electrically connected to described controller.
Preferably, described contiguous block comprises be used to the gear unit that described contiguous block is moved, for control module and the sensor of controlling described gear unit.
Preferably, described sensor comprises sound transducer, ultrasonic sensor, temperature sensor and acceleration transducer.
Positive progressive effect of the present invention is: by utilization of the present invention, robot can more effective change self geometry and topological structure, improved and improved efficient that the self assembly robot re-assemblies self and flexible convenience.
Description of drawings
Fig. 1 is the structural representation of preferred embodiment of the present invention.
The specific embodiment
The below enumerates preferred embodiment, and comes by reference to the accompanying drawings the clearer the present invention that intactly illustrates.
As shown in Figure 1, the present embodiment comprises two manipulators, is divided into manipulator 1 and manipulator 2.Manipulator 1 comprises gripping apparatus 11, initiatively joint 12, initiatively joint 13, passive joint 14, pitman arm 15 and pitman arm 16.Manipulator 2 comprises gripping apparatus 21, initiatively joint 22, initiatively joint 23, passive joint 24, pitman arm 25, pitman arm 26 and pitman arm 27.
Pitman arm 27 and pitman arm 16 play respectively the effect of solid mechanical hand 2 and manipulator 1.Initiatively joint 22 drivening rod arm 26 motions, initiatively joint 23 drivening rod arm 25 motions, passive joint 24 is followed pitman arm 25 motions, and drives gripping apparatus 21 motions; Initiatively joint 12 drivening rod arm 15 motions, passive joint 14 is followed initiatively joint 13 motions, and drives gripping apparatus 11 motions.
Initiatively joint 12, initiatively joint 13, initiatively joint 22 and initiatively joint 23 respectively comprise a motor, the rotation by motor realizes motion.Passive joint 14, the neither energy of passive joint 24 oneself rotate.
Described controller is controlled each described motor action, and because manipulator 1 and manipulator 2 respectively have described active joint and described passive joint, manipulator 1 and manipulator 2 substantially can be towards all directions actions like this, thereby more flexible.Gripping apparatus 11 herein and gripping apparatus 12 respectively carry out action control by a motor.Controlling motor movement by described controller is those skilled in the art's conventional means, and and therefore not to repeat here.
In the present embodiment, adopt the controller in the Mindstorms NXT humanoid robot building blocks external member of LEGO company.But each controller in the Mindstorms NXT humanoid robot building blocks external member of LEGO company can only be controlled 3 described active joints (namely 3 motors), so, just need 3 described controllers could control 8 described active joints.Can pass through the bluetooth transmission of information between described controller, make work to coordinate.By expanding described amount controller, can control how described manipulator, assemble simultaneously a plurality of described contiguous blocks, efficient is higher.
In the present embodiment, contiguous block adopts the Mindstorms NXT humanoid robot building blocks external member of LEGO company, comprise be used to the gear unit that described contiguous block is moved, sensor and be used for the control module that receives the signal of described sensor and control described gear unit, described sensor comprises sound transducer, ultrasonic sensor, temperature sensor and acceleration transducer.Described like this contiguous block is sensitiveer, also can move, and can process more multitask, surveys more multi-parameter.
The present embodiment also comprises a kind of self assembly robot assemble method, and it comprises the following steps:
Step 2, manipulator 1 crawl contiguous block 3;
The contiguous block 4 of step 4, manipulator 2 crawls is connected with the contiguous block 3 of manipulator 1 crawl;
Step 5, manipulator 2 release connection pieces 4.
Like this, contiguous block 4 has been connected on contiguous block 3, has completed assembling.In like manner, can constantly connect up new contiguous block, can certainly extract unwanted contiguous block.
Although more than described the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is limited by appended claims.Those skilled in the art can make various changes or modifications to these embodiments under the prerequisite that does not deviate from principle of the present invention and essence, but these changes and modification all fall into protection scope of the present invention.
Claims (10)
1. self assembly robot, it is characterized in that, described self assembly robot comprises at least two manipulators, at least two are used for interconnected contiguous block and at least one controller be used to controlling described manipulator behavior, described manipulator comprises at least one active joint be used to making described robot movement, all be used to follow at least one pitman arm and at least one passive joint of described active joint motions, at least one gripping apparatus for grasping or discharge described contiguous block, described controller is controlled described active joint rotation, and control described gripping apparatus crawl or discharge described contiguous block.
2. self assembly as claimed in claim 1 robot, is characterized in that, each described active joint comprises a motor that is electrically connected to described controller.
3. self assembly as claimed in claim 1 robot, is characterized in that, each described gripping apparatus comprises a motor that is electrically connected to described controller.
4. as the described self assembly of claim 1-3 any one robot, it is characterized in that, described contiguous block comprises be used to the gear unit that described contiguous block is moved, sensor and is used for the control module that receives the signal of described sensor and control described gear unit.
5. self assembly as claimed in claim 4 robot, is characterized in that, described sensor comprises sound transducer, ultrasonic sensor, temperature sensor and acceleration transducer.
6. self assembly robot assemble method, it adopts self assembly as claimed in claim 1 robot to realize, and it is characterized in that, it comprises the following steps:
Step 1, one is used for the described manipulator crawl one described contiguous block of assembling;
Step 2, an assembled described manipulator grasp a described contiguous block;
Step 3, the described manipulator that is used for assembling move towards assembled described manipulator;
Step 4, be used for the described contiguous block of the described manipulator crawl of assembling, be connected with the described contiguous block of assembled described manipulator crawl;
Step 5, the described manipulator that is used for assembling discharge described contiguous block.
7. self assembly as claimed in claim 6 robot assemble method, is characterized in that, each described active joint comprises a motor that is electrically connected to described controller.
8. self assembly as claimed in claim 6 robot assemble method, is characterized in that, each described gripping apparatus comprises a motor that is electrically connected to described controller.
9. as the described self assembly of claim 6-8 any one robot assemble method, it is characterized in that, described contiguous block comprises be used to the gear unit that described contiguous block is moved, is used for controlling control module and the sensor of described gear unit.
10. self assembly as claimed in claim 9 robot assemble method, is characterized in that, described sensor comprises sound transducer, ultrasonic sensor, temperature sensor and acceleration transducer.
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| CN2013100164539A CN103085064A (en) | 2013-01-16 | 2013-01-16 | Self-assembly robot and assembly method thereof |
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| CN2013100164539A CN103085064A (en) | 2013-01-16 | 2013-01-16 | Self-assembly robot and assembly method thereof |
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Citations (7)
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| JPS6268293A (en) * | 1985-09-20 | 1987-03-28 | 株式会社明電舎 | Manipulator shoulder mechanism |
| EP0402599A1 (en) * | 1989-04-26 | 1990-12-19 | Hitachi, Ltd. | Working machine system comprising detachable manipulating arms |
| JPH04217478A (en) * | 1990-02-09 | 1992-08-07 | Hitachi Ltd | Manipulator system and manipulator assembly/ disassembly method and position/posture detection method of manipulator detaching face |
| US5145130A (en) * | 1991-10-23 | 1992-09-08 | The United States Of America As Represented By The Administrator Of The National Aeronautics & Space Administration | Robot serviced space facility |
| JPH11157497A (en) * | 1997-11-28 | 1999-06-15 | Hitachi Ltd | Spacecraft and orbital service system therewith |
| CN101410227A (en) * | 2006-01-18 | 2009-04-15 | Abb研究有限公司 | Method and apparatus for engine piston installation by use of industrial robots |
| CN101549494A (en) * | 2009-05-11 | 2009-10-07 | 北京航空航天大学 | Monomer automatic transformable robot with self-assembly characteristic |
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2013
- 2013-01-16 CN CN2013100164539A patent/CN103085064A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6268293A (en) * | 1985-09-20 | 1987-03-28 | 株式会社明電舎 | Manipulator shoulder mechanism |
| EP0402599A1 (en) * | 1989-04-26 | 1990-12-19 | Hitachi, Ltd. | Working machine system comprising detachable manipulating arms |
| JPH04217478A (en) * | 1990-02-09 | 1992-08-07 | Hitachi Ltd | Manipulator system and manipulator assembly/ disassembly method and position/posture detection method of manipulator detaching face |
| US5145130A (en) * | 1991-10-23 | 1992-09-08 | The United States Of America As Represented By The Administrator Of The National Aeronautics & Space Administration | Robot serviced space facility |
| JPH11157497A (en) * | 1997-11-28 | 1999-06-15 | Hitachi Ltd | Spacecraft and orbital service system therewith |
| CN101410227A (en) * | 2006-01-18 | 2009-04-15 | Abb研究有限公司 | Method and apparatus for engine piston installation by use of industrial robots |
| CN101549494A (en) * | 2009-05-11 | 2009-10-07 | 北京航空航天大学 | Monomer automatic transformable robot with self-assembly characteristic |
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Application publication date: 20130508 |