CN105034017B - A kind of reconfigurable modularization robot cellular construction - Google Patents
A kind of reconfigurable modularization robot cellular construction Download PDFInfo
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- CN105034017B CN105034017B CN201510490051.1A CN201510490051A CN105034017B CN 105034017 B CN105034017 B CN 105034017B CN 201510490051 A CN201510490051 A CN 201510490051A CN 105034017 B CN105034017 B CN 105034017B
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Abstract
The invention provides a kind of reconfigurable modularization robot cellular construction, including：Robot fuselage body, is provided with linear telescopic joint on the robot fuselage body, the linear telescopic joint connects rotary joint, and the rotary joint end connects docking facilities；The robot fuselage body is polygon prism framework, the inwall of polygon prism framework is provided with lead screw motor, at least three arm are connected with the outer wall of polygon prism framework, and the arm is distributed in regular polygon, is made up of linear telescopic joint, rotary joint and docking facilities per arm.The telescopic joint of the present invention increases the scope of activities of docking facilities, improves the practical value of modular robot；The cellular construction is succinct, reasonable, easy to control, reliable, and kinematic accuracy and reliability are high.
Description
Technical field
A kind of the present invention relates to robotics, in particular it relates to reconfigurable modularization robot cellular construction.
Background technology
As the progress and the development of science and technology of society, the application of robot are more and more extensive, the research of robot is got over
More to be paid attention to by Chinese scholars.There are numerous species in robot, but in general, various robots are limited to its structure
The factors such as design, can be only done certain specific task.The proposition of modularization robot is to pass through change itself based on robot
Structure adapting to the theory of different working environments and task, in order to reach this purpose, if modularization robot by
Dry identical module composition, is connected by docking mechanism between module and module.Closed by the connection changed between modules
System reaches the purpose for changing robot modeling.
For realizing the maintenance of Wireless power transmission, it is proposed that carry solar power station with modular robot.Each
Individual modular robot is equipped with one piece of solar panel, by having the docking group of mutually isostructural modular robot in a large number
Close, so as to obtain the array of a bulk of space solar cell plate.Each of which modular robot is one and independent patrols
Volume and moving cell, autonomous perception the working condition of itself and environment can be judged, can be realized between module and module mutual
Communication, by reconstruct, replacement that mutual collaborative work can complete intermodule, to adapt to the requirement of work at present.
Find that the research group of current foreign study modularization robot mainly concentrates through the literature search to prior art
In two countries of America and Japan, typically there are Tokyo technical research institute Satoshi Murata et al. to exist《A3-D self-
reconfigurable structure》The M-TRAN series self-reorganization robot modules of middle design and University of Southern California of the U.S.
Wei-Min Shen et al. exist《Multimode locomotion via SuperBot reconfigurable robots》In
The Superbot self-reorganization robots of proposition.Yan Qiong is taken in domestic Shanghai Communications University《The structure of mixed type self-reorganization robot
Design and sports immunology》Propose Double-pillar Self-Reconfigurable Modular Robot.This kind of robot architecture is compact, but due to docking
Device and robot module's body are integral type, and docking facilities do not have autokinetic movement ability, so cause its range of movement limited,
Reconstitution time is long, and there is movement interference, control in actual application.Meanwhile, village et al. is paid special
Profit《The docking mechanism based on pin-shaft wedging for Self-Reconfigurable Module robot》(CN200910308439.X) one is devised in
The high intensity docking facilities that can be used for reconfigurable modular robot are planted, but being a lack of one kind can make docking facilities paleocinetic
Modularization robot cellular construction is used as its carrier, it is difficult to be applied in existing modularization robot.
Content of the invention
For defect of the prior art, it is an object of the invention to provide a kind of reconfigurable modularization robot unit knot
Structure, its are designed succinctly, rationally, and mechanical movement parts are few, and reliability is high, and docking facilities scope of activities is big, being capable of help module
Change robot and rapidly and accurately realize via Self-reconfiguration.
For realizing that object above, the present invention provide a kind of reconfigurable modularization robot cellular construction, including：Robot
Fuselage body, is provided with linear telescopic joint on the robot fuselage body, the linear telescopic joint connects rotary joint,
The rotary joint end connects docking facilities；
The robot fuselage body is polygon prism framework, and the inwall of polygon prism framework is provided with lead screw motor, in polygon prism
The outer wall of framework is connected with least three arm, and the arm is distributed in regular polygon, is closed by linear telescopic joint, rotation per arm
Section and docking facilities are constituted；
The linear telescopic joint include connector, guide rail, slide block, guideway support, T-nut, optoelectronic switch support,
Optoelectronic switch baffle plate and optoelectronic switch, wherein：Guideway support is while be connected on the outer wall of polygon prism framework, another side supports
Guide rail, slide block set is on guide rail；Connector is U-shaped or quadrilateral frame, and the bottom surface of connector is fixedly connected on slide block, connects
The one side of part is connected with the steering wheel of rotary joint, another side and T-nut connect, and T-nut is enclosed within the silk of lead screw motor
On bar, lead screw motor rotary screw rod drives T-nut and connector to move along a straight line；Optoelectronic switch support is while be fixed on many ribs
Optoelectronic switch is installed on the outer wall of post framework, on another side, optoelectronic switch baffle plate setting is done directly on connector and with connector
Line is moved；
The rotary joint includes flat U connector and steering wheel, wherein：Steering wheel is connected with flat U connector, flat
U-shaped connector is connected with U-shaped or quadrilateral frame frame connector；
The docking facilities are connected with the steering wheel in rotary joint；
Straight line back and forth movement is done in the drive lower edge guide rail direction of lead screw motor in linear telescopic joint, and rotary joint is in steering wheel
Driving under realize rotary motion and drive docking facilities along the output shaft rotation of steering wheel.
Preferably, the lead screw motor exposes length and the T-nut linear motion row of the length equal to T-nut of screw mandrel
Journey sum.
Preferably, the motion of the connector is limited with slide block by guide rail, can only carry out straight reciprocating motion.
Preferably, stroke of the distance between the two sides of the connector more than T-nut linear motion.
Preferably, the guideway support is T-shaped or L-type, and guideway support minor face is connected to the outer wall of polygon prism framework
On, guide rail is connected on the long side of guideway support.
Preferably, the long side of the guideway support is wider than other parts near the part of polygon prism framework, so as to ensure
The intensity and rigidity of supporting member；Part away from polygon prism framework is narrower than other parts, so as to ensure that optoelectronic switch will not be kept off
The motion of plate produces interference.
Preferably, the optoelectronic switch support is T-shaped or L-type, and the minor face of optoelectronic switch support is fixed on polygon prism framework
Outer wall on, optoelectronic switch is installed on long side, the mounting distance of the optoelectronic switch is equal to the stroke of T-nut linear motion.
Preferably, the optoelectronic switch baffle plate installation site can pass through two optoelectronic switches to meet, and T-shaped
When nut is in two extreme positions of linear motion, optoelectronic switch baffle plate can just block the optical signal of optoelectronic switch and lead to
Road, the break-make of optical signal feed back to control circuit, control circuit to lead screw motor power-off, so as to ensure the straight of slide block and connector
Line moves the scope without departing from guide rail.
Preferably, the optoelectronic switch baffle plate plane of motion is located between photoelectric switching signal launch point and receiving point.
Compared with prior art, the present invention has following beneficial effect：
The present invention enables docking facilities to have bigger space by increasing the flexible free degree, so as to avoid machine
People produces movement interference when being reconstructed between modular unit and modular unit.Due to driving straight line to transport using lead screw motor
Dynamic, frame for movement is simplified, the complexity of linear telescopic motion is effectively reduced, while there is the constraint of guide rail and slide block, is improved
The precision of linear telescopic motion, enhances its load capacity.Further, optoelectronic switch ensure that the row of linear telescopic motion
Journey, increased the reliability of motion.Therefore the simple frame for movement of this modularization robot cellular construction is imparted to tipping
Put stronger locomitivity.Additionally, the connector and support structure of present invention employing are simple, combination is convenient, to robot
Maintenance is highly beneficial, while reducing cost.
Description of the drawings
The detailed description that non-limiting example is made with reference to the following drawings by reading, the further feature of the present invention,
Objects and advantages will become more apparent upon：
Schematic three dimensional views of the Fig. 1 for one embodiment of the invention；
Top views of the Fig. 2 for one embodiment of the invention；
Structural representations of the Fig. 3 for another embodiment of the present invention；
In figure：Six prism frameworks 1, screw mandrel stepper motor 2, driver 3, T-nut 4, U-shaped connector 5, guide rail 6, slide block
7th, L-type supporting member 8, L-type support 9, optoelectronic switch 10, optoelectronic switch baffle plate 11, flat U connector 12, steering wheel 13, ring flange
14th, docking facilities 15.
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, some deformations and improvement can also be made.These belong to the present invention
Protection domain.
As shown in figure 1, for a specific embodiment structural representation of the invention, adopting six prism frames in the present embodiment
Frame, three arm are constituted, and the invention is not restricted to certainly the embodiment, in other embodiments, or other polygon prism frame
Frame, the arm of other numbers.
Specifically, a kind of reconfigurable modularization robot cellular construction, including：Fuselage body, linear telescopic joint, rotation
Turn joint, docking facilities, wherein：Fuselage body is made up of six prism frameworks 1, screw mandrel stepper motor 2, driver 3；Linear telescopic
Joint is by T-nut 4, U-shaped connector 5, guide rail 6, slide block 7, L-type supporting member 8, L-type support 9, optoelectronic switch 10, optoelectronic switch
Baffle plate 11 is constituted；Rotary joint is made up of flat U connector 12, steering wheel 13.Rotary joint connects docking facilities 15.
In the present embodiment, the six prisms framework 1 includes three leptoprosopy and three wide faces, and leptoprosopy company adjacent with wide face
Connect；Wherein：Screw mandrel stepper motor 2 is installed on the inwall of leptoprosopy, and three screw mandrel stepper motors 2 are in equilateral triangle part (such as Fig. 2 institutes
Show)；The driver 3 is installed on the outer wall in wide face.
As one preferred embodiment, the screw mandrel stepper motor 2 exposes the length of the length equal to T-nut 4 of screw mandrel
Degree and expectation stroke sum.
In the present embodiment, the minor face of the L-type supporting member 8 is connected by screw the outer wall of the leptoprosopy in six prism frameworks 1
On；Guide rail 6 is connected by screw on the long side of L-type supporting member；Slide block 7 is enclosed within guide rail 6；The bottom surface connection of U-shaped connector 5
On slide block 7, the motion of so U-shaped connector 5 is limited with slide block 7 by guide rail 6, can only carry out straight reciprocating motion；U-shaped
The one side of connector 5 is connected with T-nut 4, and T-nut 4 is enclosed within the screw mandrel of screw mandrel stepper motor 2, screw mandrel stepper motor 2
Rotary screw rod drives T-nut 4 and U-shaped connector 5 to move along a straight line；The minor face of L-type support 9 is fixed on six prism frameworks 1
Be connected on leptoprosopy outer wall, on long side two optoelectronic switches 10.
As one preferred embodiment, the distance between the two sides of the U-shaped connector 5 is transported more than T-nut straight line
Dynamic stroke.
As one preferred embodiment, the distance of the optoelectronic switch 10 is equal to the stroke of T-nut linear motion.
In the present embodiment, the optoelectronic switch baffle plate 11 is bonded on the another side of U-shaped connector 5, and therefore light is established by cable
Close baffle plate 11 to move along a straight line with U-shaped connector 5, in the extreme position of linear motion, optoelectronic switch baffle plate 11 is just
The photo-signal channel of optoelectronic switch 10 can be blocked, the break-make of optical signal feeds back to control circuit, and control circuit is to screw mandrel stepping
2 power-off of motor, so that ensure the scope of the linear motion without departing from guide rail 6 of slide block 7 and connector 5.Wherein, docking facilities 15
Moving out (away from center framework) makes slide block 7 dock with another modular unit when moving to limit on the right-right-hand limit position 17, and slide block is inside
Motion (near center framework) is rotated to docking facilities 15 during limit on the left position 18 around rotary shaft 16, the motion model of guide rail slide block 7
Enclose and should ensure that when limit on the left position 18 is moved inwardly to, docking facilities 15 will not produce motion around the rotation of rotary shaft 16 and do
Relate to.
In the present embodiment, the flat U connector 12 is connected with U-shaped connector 5, steering wheel 13 and flat U connector
12 connections.
As one preferred embodiment, the long side of the L-type supporting member 8 is wider near the part of six prism frameworks 1, from
And ensure the intensity and rigidity of supporting member；Part away from six prism frameworks 1 is narrower, so as to ensure will not be to optoelectronic switch baffle plate
11 motion produces interference.
In the present embodiment, the docking facilities 15 are connected with steering wheel 13 by ring flange 14, drive docking by steering wheel 13
Output shaft rotation of the device 15 around steering wheel 13.
It is illustrated in figure 3 another embodiment of the present invention；Wherein：Center framework 1 is eight prisms, motor 2 and driver 3
Quantity is 4, square distribution；The square distribution of four arm, includes T-nut 4, U-shaped connector 5, leads per arm
Rail 6, slide block 7, L-type supporting member 8, L-type support 9, optoelectronic switch 10, optoelectronic switch baffle plate 11, flat U connector 12, steering wheel
13rd, ring flange 14, docking facilities 15；Each part connected mode and every arm and center framework connected mode and Fig. 1 per arm
Illustrated embodiment is identical.
The present invention enables docking facilities to have bigger space by increasing the flexible free degree, so as to avoid machine
People produces movement interference when being reconstructed between modular unit and modular unit.Due to driving straight line to transport using lead screw motor
Dynamic, frame for movement is simplified, the complexity of linear telescopic motion is effectively reduced, while there is the constraint of guide rail and slide block, is improved
The precision of linear telescopic motion, enhances its load capacity.Optoelectronic switch ensure that the stroke of linear telescopic motion, increased
The reliability of motion.Therefore the simple frame for movement of this modularization robot cellular construction imparts the stronger fortune of docking facilities
Kinetic force.Additionally, the connector that present invention employs and support structure are simple, combination is convenient, to the maintenance of robot very
Favorably, while reducing cost.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various modifications or modification within the scope of the claims, this not shadow
Ring the flesh and blood of the present invention.
Claims (9)
1. a kind of reconfigurable modularization robot cellular construction, including：Robot fuselage body, the robot fuselage body
For polygon prism framework, the inwall of polygon prism framework is provided with lead screw motor, is connected with least three arm in the outer wall of polygon prism framework,
And the arm is distributed in regular polygon, it is characterised in that be provided with linear telescopic joint on the robot fuselage body, described
Linear telescopic joint connects rotary joint, and the rotary joint end connects docking facilities；
It is made up of linear telescopic joint, rotary joint and docking facilities per arm；
The linear telescopic joint includes connector, guide rail, slide block, guideway support, T-nut, optoelectronic switch support, photoelectricity
Switch baffle plate and optoelectronic switch, wherein：Guideway support is while be connected on the outer wall of polygon prism framework, another side supporting is led
Rail, slide block set is on guide rail；Connector is U-shaped or quadrilateral frame, and the bottom surface of connector is fixedly connected on slide block, connector
One side be connected with the steering wheel of rotary joint, another side and T-nut connection, T-nut is enclosed within the screw mandrel of lead screw motor
On, lead screw motor rotary screw rod drives T-nut and connector to move along a straight line；Optoelectronic switch support is while be fixed on polygon prism
Optoelectronic switch is installed on the outer wall of framework, on another side, optoelectronic switch baffle plate setting does straight line on connector and with connector
Motion；
The rotary joint includes flat U connector and steering wheel, wherein：Steering wheel is connected with flat U connector, flat U
Connector is connected with U-shaped or quadrilateral frame frame connector；
The docking facilities are connected with the steering wheel in rotary joint；
Straight line back and forth movement, drive of the rotary joint in steering wheel are done in the drive lower edge guide rail direction of lead screw motor in linear telescopic joint
Rotary motion is realized under dynamic and docking facilities is driven along the output shaft rotation of steering wheel.
2. a kind of reconfigurable modularization robot cellular construction according to claim 1, it is characterised in that the screw mandrel
Motor exposes the length and T-nut linear motion stroke sum that the length of screw mandrel is equal to T-nut.
3. a kind of reconfigurable modularization robot cellular construction according to claim 1, it is characterised in that the connection
The motion of part is limited with slide block by guide rail, can only carry out straight reciprocating motion.
4. a kind of reconfigurable modularization robot cellular construction according to claim 3, it is characterised in that the connection
Stroke of the distance between the two sides of part more than T-nut linear motion.
5. a kind of reconfigurable modularization robot cellular construction according to claim 1, it is characterised in that the guide rail
Supporting member is T-shaped or L-type, and guideway support minor face is connected on the outer wall of polygon prism framework, and guide rail is connected to guideway support
Long side on.
6. a kind of reconfigurable modularization robot cellular construction according to claim 5, it is characterised in that the guide rail
The long side of supporting member is wider than other parts near the part of polygon prism framework, so as to ensure the intensity and rigidity of supporting member；Away from
The part of polygon prism framework is narrower than other parts, so as to ensure will not to produce interference to the motion of optoelectronic switch baffle plate.
7. a kind of reconfigurable modularization robot cellular construction according to any one of claim 1-6, it is characterised in that
The optoelectronic switch support is T-shaped or L-type, and the minor face of optoelectronic switch support is fixed on the outer wall of polygon prism framework, on long side
Optoelectronic switch is installed, the mounting distance of the optoelectronic switch is equal to the stroke of T-nut linear motion.
8. a kind of reconfigurable modularization robot cellular construction according to claim 7, it is characterised in that the photoelectricity
Switch baffle plate installation site can pass through two optoelectronic switches to meet, and two in T-nut in linear motion
During extreme position, optoelectronic switch baffle plate can just block the photo-signal channel of optoelectronic switch, and the break-make of optical signal feeds back to control
Circuit processed, control circuit to lead screw motor power-off, so as to ensure the model of the linear motion without departing from guide rail of slide block and connector
Enclose.
9. a kind of reconfigurable modularization robot cellular construction according to claim 8, it is characterised in that the photoelectricity
Switch baffle plate plane of motion is located between photoelectric switching signal launch point and receiving point.
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| CN201510490051.1A CN105034017B (en) | 2015-08-11 | 2015-08-11 | A kind of reconfigurable modularization robot cellular construction |
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| CN201510490051.1A CN105034017B (en) | 2015-08-11 | 2015-08-11 | A kind of reconfigurable modularization robot cellular construction |
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| CN105034017B true CN105034017B (en) | 2017-03-15 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107116545B (en) * | 2017-06-19 | 2019-09-13 | 哈尔滨工业大学 | A kind of four-degree-of-freedom spherical shape modular unit |
| CN110962956B (en) * | 2019-11-28 | 2020-10-20 | 北京理工大学 | Reconfigurable wheel-foot robot based on parallel modular structure |
| CN110900592B (en) * | 2019-12-17 | 2021-06-22 | 北京化工大学 | Reconfigurable redundant mechanical arm based on rope driving |
| CN115194820A (en) * | 2021-04-08 | 2022-10-18 | 杭州中致高智能科技有限公司 | Mechanism building method of robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5993142A (en) * | 1997-07-10 | 1999-11-30 | Genmark Automation, Inc. | Robot having multiple degrees of freedom in an isolated environment |
| CN101462267B (en) * | 2009-01-08 | 2010-08-18 | 上海交通大学 | Three-arm buttjunction module flat lattice type self-reorganization robot |
| CN101670586B (en) * | 2009-10-19 | 2012-09-05 | 上海交通大学 | Butt joint mechanism for self-reconstruction modular robot based on pin-shaft wedging |
| CN102101297B (en) * | 2009-12-18 | 2013-03-27 | 中国科学院沈阳自动化研究所 | Telescopic joint module for modularized reconfigurable robot |
| CN203305216U (en) * | 2013-05-16 | 2013-11-27 | 天津洪天自动化设备有限公司 | Robot for pressing polishing precious metal jewelry |
| CN203765618U (en) * | 2014-04-14 | 2014-08-13 | 沈阳众拓机器人设备有限公司 | High-temperature pick-up mechanical arm |
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Effective date of registration: 20220913 Address after: 201799 room 344, zone I, floor 3, building 12, No. 1097, Qing'an Road, Qingpu District, Shanghai Patentee after: Shanghai Fanqi enterprise management service center Address before: 200240 No. 800, Dongchuan Road, Shanghai, Minhang District Patentee before: SHANGHAI JIAO TONG University |
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Effective date of registration: 20230627 Address after: 6th Floor, Building 4, No. 85 Mingnan Road, Songjiang District, Shanghai, 201613 Patentee after: Jieruo medical technology (Shanghai) Co.,Ltd. Address before: 201799 room 344, zone I, floor 3, building 12, No. 1097, Qing'an Road, Qingpu District, Shanghai Patentee before: Shanghai Fanqi enterprise management service center |
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