CN105599823A - Structure-modifiable robot with two modules - Google Patents
Structure-modifiable robot with two modules Download PDFInfo
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- CN105599823A CN105599823A CN201410672753.7A CN201410672753A CN105599823A CN 105599823 A CN105599823 A CN 105599823A CN 201410672753 A CN201410672753 A CN 201410672753A CN 105599823 A CN105599823 A CN 105599823A
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Abstract
The invention discloses a structure-modifiable robot with two modules in the technical field of machines. The robot comprises a first module, a variation block, a second module, rear wheels and front wheels, wherein the first module comprises a shell, a ball screw, a first clutch, a first bevel gear, a motor, a second clutch, a second bevel gear, a third bevel gear, a fourth bevel gear, a belt wheel and a synchronous belt; the first module and the second module are identical in structure, and are connected by the variation block, and in case of motor driving and clutch acting, the two modules can move up and down relative to the variation block, so that the exterior structure of the robot is changed to perform actions of getting on a step, passing a trench and crossing a barrier; two sides of the first module are fixedly connected with two front wheels by an axle, two sides of the second module are fixedly connected with two rear wheels by an axle, and the motors work to enable the robot to quickly move by transmitting movement of the clutches and the bevel gears. The structure-modifiable robot is compact in spacial structure, few in part number, and easy to implement, install and fix.
Description
Technical field
What the present invention relates to is a kind of mechanism of field of mechanical technique, specifically a kind of double-module robot with variable structure.
Background technology
Double-module robot with variable structure is to condense together and can complete a kind of single robot that complicated task designs according to the organism of many simple structures in biological phenomenon, these single robots are combined becomes group robot, completes the complex task that single robot cannot complete. Design in the world the single robot of several types, there are the pluses and minuses of oneself.
Through the literature search of prior art is found, the people such as MarcoDorigo are at " IEEERoboticsandAutomationMagazine " (" IEEE robot and automation magazine "), " TheCooperationofSwarm-Bots " (" cooperation of Swarm-Bots ") of publishing an article in 2002 6 months, introduce a kind of single robot, it is cylindrical, wheel and crawler belt are equipped with in bottom, removable; Cylinder periphery has designed a paw, and robot can be linked together between two, completes the action that individual machine people cannot complete. Visible, the action that this robot will complete and top bar, cross ditch, obstacle-overpass thing has connected between two by multirobot, causes multiple robots huge structure, cannot embody individual machine people's independence.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of double-module robot with variable structure has been proposed, individual machine people can complete the action of topping bar, crossing ditch, obstacle-overpass thing by the change of self external structure, thereby has proposed a kind of scheme of novelty for solving the problem existing in background technology.
The present invention is achieved by the following technical solutions, the present invention includes: the first module, variation piece, the second module, trailing wheel, front-wheel. Connected mode is: the first module is connected by changing piece with the second module, can move up and down by relative variability piece, and the external structure of robot is changed, thereby completes the action of topping bar, crossing ditch, obstacle-overpass thing. The both sides of the first module connect firmly two front-wheels with axle, and the both sides of the second module connect firmly two trailing wheels with axle, so that this robot can rapid movement.
The first module comprises: housing, ball-screw, first clutch, the first angular wheel, motor, second clutch, the second angular wheel, triconic gear, the 4th angular wheel, belt wheel, Timing Belt. Connected mode is: motor is fixed on housing, and the first angular wheel connects firmly on motor output shaft, rotates with motor output shaft, and the second angular wheel engages with the first angular wheel, is 90 ° of direction rotations. First clutch is enclosed within on the power transmission shaft and ball-screw of the first angular wheel, second clutch is enclosed within on the second angular wheel and triconic gear ground power transmission shaft, the 4th angular wheel engages with triconic gear, the power transmission shaft of the 4th angular wheel is connected with housing by bearing block, belt wheel is connected firmly on the power transmission shaft of the 4th angular wheel by key, and belt wheel is connected with front-wheel with Timing Belt.
The structure of the second module and the first module is identical with connected mode, is connected by variation piece.
When the present invention works, when the motor shaft rotation of the first module, be connected in the first angular wheel rotation on motor output shaft, drive the second angular wheel rotation of engaging with it. First clutch work, second clutch is not worked, ball-screw rotation, drive variation piece to move up and down, thereby drive the second module to move up and down, in like manner also can drive the first module to move up and down, the external structure of robot is changed, the action that robot can complete and top bar, cross ditch, obstacle-overpass thing. First clutch is not worked, second clutch work, and the rotation of triconic gear, drives the 4th angular wheel rotation of engaging with it. On the power transmission shaft of the 4th angular wheel, connecting firmly belt wheel with key, thereby making belt wheel rotation. Belt wheel rotation, by Timing Belt transmission campaign, thereby makes front-wheel rotation. The action of the second module is similar, and front and back wheel is rotated together, orders about robot and moves.
The present invention is directed to the overall structure of the feature design Liao Gai robot of double-module robot with variable structure, completed individual machine people both removable, can complete again the function of topping bar, crossing ditch, obstacle-overpass thing task.
Compared with prior art, the present invention has obvious novelty and superiority, is embodied in space structure compactness, and number of parts is less, is easy to realize, install, fixing. By a variation piece, two modules are moved up and down, the external structure of robot is changed, thereby make individual machine people not only removable, can also top bar, cross ditch, obstacle-overpass thing.
Brief description of the drawings
Fig. 1 is structural representation of the present invention
Fig. 2 is the present invention's the first module and the second modular structure schematic diagram.
Detailed description of the invention
As shown in Figure 1 and Figure 2, the present invention includes: the first module 1, variation piece 2, the second module 3, trailing wheel 4, front-wheel 5. Connected mode is: the first module 1 is connected by variation piece 2 with the second module 3, can move up and down by relative variability piece 2, and the external structure of robot is changed, thereby completes the action of topping bar, crossing ditch, obstacle-overpass thing. The both sides of the first module 1 connect firmly two trailing wheels 4 with the both sides axle that axle connects firmly two front-wheel 5, the second modules 3, so that this robot can rapid movement.
The first module 1 comprises: housing 6, ball-screw 7, first clutch 8, the first angular wheel 9, motor 10, second clutch 11, the second angular wheel 12, triconic gear 13, the 4th angular wheel 14, belt wheel 15, Timing Belt 16. Connected mode is: motor 10 is fixed on housing 6, and the first angular wheel 9 connects firmly on motor 10 output shafts, rotates with motor 10 output shafts, and the second angular wheel 12 engages with the first angular wheel 9, is 90 ° of direction rotations. First clutch 8 is enclosed within on the power transmission shaft and ball-screw 7 of the first angular wheel 9, second clutch 11 is enclosed within on the power transmission shaft of the second angular wheel 12 and triconic gear 13, the 4th angular wheel 14 engages with triconic gear 13, the power transmission shaft of the 4th angular wheel 14 is connected with housing 6 by bearing block, belt wheel 15 is connected firmly on the power transmission shaft of the 4th angular wheel 14 by key, and belt wheel 15 use Timing Belts 16 are connected with front-wheel 5.
The structure of the second module 3 and the first module 1 is identical with connected mode, is connected by variation piece 2.
Claims (6)
1. a double-module robot with variable structure, comprise: the first module (1), variation piece (2), the second module (3), trailing wheel (4), front-wheel (5), described the first module (1) comprising: housing (6), motor (10), second clutch (11), triconic gear (13), the 4th angular wheel (14), belt wheel (15), Timing Belt (16), motor (10) is fixed on housing (6), the 4th angular wheel (14) engages with triconic gear (13), the power transmission shaft of the 4th angular wheel (14) is connected with housing (6) by bearing block, belt wheel (15) is connected firmly on the power transmission shaft of the 4th angular wheel (14) by key, belt wheel (15) is connected with front-wheel (5) with Timing Belt (16), described the second module (3) is identical with connected mode with the structure of the first module (1), and the second module (3) is connected by variation piece (2) with the first module (1), it is characterized in that, described the first module (1) also comprises: ball-screw (7), first clutch (8), the first angular wheel (9), the second angular wheel (12), the first angular wheel (9) connects firmly on motor (10) output shaft, the second angular wheel (12) engages with the first angular wheel (9), first clutch (8) is enclosed within on the power transmission shaft and ball-screw (7) of the first angular wheel (9), second clutch (11) is enclosed within on the power transmission shaft of the second angular wheel (12) and triconic gear (13).
2. double-module robot with variable structure according to claim 1, is characterized in that, the second module (3) relative variability piece (2) moves up and down.
3. according to the double-module robot with variable structure described in claim 1 or 2, it is characterized in that, the both sides of the first module (1) connect firmly two front-wheels (5) with axle.
4. according to the double-module robot with variable structure described in claim 1 or 2, it is characterized in that, the both sides of the second module (3) connect firmly two trailing wheels (4) with axle.
5. double-module robot with variable structure according to claim 1, is characterized in that, the first angular wheel (9) connects firmly on motor (10) output shaft, rotates with motor (10) output shaft.
6. double-module robot with variable structure according to claim 1, is characterized in that, the second angular wheel (12) engages with the first angular wheel (9), is 90 ° of direction rotations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410672753.7A CN105599823A (en) | 2014-11-23 | 2014-11-23 | Structure-modifiable robot with two modules |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410672753.7A CN105599823A (en) | 2014-11-23 | 2014-11-23 | Structure-modifiable robot with two modules |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105599823A true CN105599823A (en) | 2016-05-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410672753.7A Pending CN105599823A (en) | 2014-11-23 | 2014-11-23 | Structure-modifiable robot with two modules |
Country Status (1)
| Country | Link |
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| CN (1) | CN105599823A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909877A (en) * | 2018-06-06 | 2018-11-30 | 中北大学 | A kind of Modularization combined type robot platform |
| CN109773810A (en) * | 2019-03-21 | 2019-05-21 | 创泽智能机器人股份有限公司 | A kind of service robot kinematic system with positioning function |
-
2014
- 2014-11-23 CN CN201410672753.7A patent/CN105599823A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909877A (en) * | 2018-06-06 | 2018-11-30 | 中北大学 | A kind of Modularization combined type robot platform |
| CN109773810A (en) * | 2019-03-21 | 2019-05-21 | 创泽智能机器人股份有限公司 | A kind of service robot kinematic system with positioning function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160525 |