CN107351119A - The joint module structure and its movement technique of reconfigurable modular robot - Google Patents
The joint module structure and its movement technique of reconfigurable modular robot Download PDFInfo
- Publication number
- CN107351119A CN107351119A CN201710832085.3A CN201710832085A CN107351119A CN 107351119 A CN107351119 A CN 107351119A CN 201710832085 A CN201710832085 A CN 201710832085A CN 107351119 A CN107351119 A CN 107351119A
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- China
- Prior art keywords
- chassis
- gear
- episphere
- shell
- hole
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to the joint module structure and its movement technique of reconfigurable modular robot,Episphere shell,The hemisphere face the week side of boss of lower semisphere shell sets connection panel,Adjacent ball-type shell is attached by connecting panel,Lower semisphere chassis coordinates with bearing inner race,Episphere chassis coordinates with bearing outer ring,Lower semisphere is provided with mounting groove on chassis,Chassis lid plate is covered with outside mounting groove,Intermeshing gear wheel is provided with mounting groove,Little gear,Motor is installed on the cover plate of chassis,The output shaft of motor is stretched into mounting groove,Little gear is arranged on the output shaft of motor,The gear wheel includes gear,Axle portion,Axle portion lower end is connected with gear,Gear is located in mounting groove,Axle portion upper periphery is provided with connecting key,Pass through connecting key,The keyway coordinated with connecting key is provided with episphere chassis,Small volume of the present invention,Light weight,Structure is novel.
Description
Technical field
The present invention relates to the joint module structure and its movement technique of a kind of reconfigurable modular robot, belong to engineering structure
Node Fatigue Test Research field.
Background technology
It is largely general design in conventional Robot Design, there is fixed structure and the free degree.This kind of machine
People is typically only used for fixed condition of work and target, is then difficult to realize for new condition of work and target.
But the competition of market globalization, required robot operation strategies are more and more wider, in order to solve such case, modularization machine
The research and development of device people have obtained unprecedented development.
The content of the invention
The purpose of the present invention is to be directed to above weak point, there is provided a kind of joint module knot of reconfigurable modular robot
Structure and its movement technique.
Scheme is a kind of joint module structure of reconfigurable modular robot used by the present invention solves technical problem,
Including ball-type shell, the ball-type shell includes episphere shell, lower semisphere shell, episphere shell, the half of lower semisphere shell
Sphere the week side of boss distinguishes uniform three inclined-planes, is provided with hole portion on inclined-plane, connection panel, adjacent ball-type are provided with the hole portion
Shell is attached by connecting panel, and episphere outer casing bottom is provided with episphere chassis, and lower semisphere outer casing bottom is provided with
Lower semisphere chassis, the episphere undersurface of bottom disc center raise up to form first boss, and first boss medial surface forms counterbore,
First boss upper surface middle part is provided with second boss, is provided with axis hole A in the middle part of second boss, second boss top surface is covered with tooth
Locating cover is taken turns, is provided with the lower convex platform to raise up in the middle part of the lower semisphere chassis, lower convex platform is located in counterbore, lower convex platform periphery
The week side of boss is arranged with, lower semisphere chassis coordinates with bearing inner race, and episphere chassis coordinates with bearing outer ring, on the lower semisphere chassis
Mounting groove is provided with, chassis lid plate is covered with outside mounting groove, intermeshing gear wheel, little gear, bottom is provided with mounting groove
Motor is installed, the output shaft of motor is stretched into mounting groove, and little gear is arranged on the output shaft of motor, lower convex platform on disk cover plate
Middle part is provided with the axis hole B concentric with axis hole A, and the gear wheel includes gear, axle portion, the axle portion lower end and gear
Body is connected, and gear is located in mounting groove, and axle portion stretches into axis hole A through axis hole B, and axle portion upper periphery is provided with connection
Key, the keyway coordinated with connecting key is provided with axis hole A.
Further, the hole portion periphery, which is evenly equipped with, is provided with screw, connection panel through bolt be arranged on episphere shell,
At each hole portion on lower semisphere shell.
Further, the episphere shell is connected by screw with episphere chassis, lower semisphere shell by screw with
Lower semisphere chassis is connected, and chassis cover plate is connected by screw with lower semisphere chassis.
Further, the gear locating cover upper surface middle part is provided with slip ring, and the axle portion axle portion, which is vertically arranged with, passes through
Wear the through hole A of axle portion, gear, through hole B is provided with the middle part of gear locating cover, be provided with through hole C on the cover plate of chassis, through hole A,
Through hole B, through hole C diameters are identical and concentric.
A kind of movement technique of the joint module structure of reconfigurable modular robot：Rotated, driven small by controlled motor
Pinion rotation, little gear drive bull gear drive by gear drive, and gear wheel is coordinated by key drives episphere chassis to rotate,
So as to drive episphere shell to rotate so that upper and lower hemispheres shell relatively rotates.
Compared with prior art, the invention has the advantages that：Simple in construction, small volume, light weight, structure is new
Grain husk.
Brief description of the drawings
Patent of the present invention is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is joint module outline drawing；
Fig. 2 is joint module profile top view；
Fig. 3 is joint module profile upward view；
Fig. 4 is joint module cut-away view；
Fig. 5 is the inside modules structure chart without shell.
In figure：
The connection panel of 1- epispheres, 2- episphere shells, 3- slip rings, 4- gear locating covers, 5- gear wheels, 501- axle portions,
502- gears, 503- connecting keys, 6- bearings, 7- epispheres chassis, 8- lower semispheres chassis, 9- lower semisphere shells, the small teeth of 10-
Wheel, 11- chassis cover plate, 12- motors, the connection panel of 13- lower semispheres, 14- through holes A, 15- through hole B, 16- through hole C, 17- installation
Groove, 18- first boss, 19- second boss.
Embodiment
The present invention is further described with reference to the accompanying drawings and detailed description.
As Figure 1-5, the joint module structure of a kind of reconfigurable modular robot, including ball-type shell, the ball-type
Shell includes episphere shell, lower semisphere shell, and episphere shell, uniform three of the hemisphere face the week side of boss difference of lower semisphere shell are oblique
Face, hole portion is provided with inclined-plane, connection panel is provided with the hole portion, adjacent ball-type shell is connected by connecting panel
Connect, episphere outer casing bottom is provided with episphere chassis, and lower semisphere outer casing bottom is provided with lower semisphere chassis, the episphere bottom
Disk bottom center is raised up to form first boss, and first boss medial surface forms counterbore, and first boss upper surface middle part is set
There is second boss, be provided with axis hole A in the middle part of second boss, second boss top surface is covered with gear locating cover, the lower semisphere bottom
The lower convex platform to raise up is provided with the middle part of disk, lower convex platform is located in counterbore, and lower convex platform periphery is arranged with the week side of boss, lower semisphere chassis
Coordinate with bearing inner race, episphere chassis and bearing outer ring coordinate, and are provided with mounting groove on the lower semisphere chassis, outside mounting groove
Chassis cover plate is covered with, intermeshing gear wheel, little gear are provided with mounting groove, motor is installed on the cover plate of chassis, electricity
Machine is connected by screw with chassis cover plate, and the output shaft of motor is stretched into mounting groove, and little gear is arranged on the output shaft of motor,
The axis hole B concentric with axis hole A is provided with the middle part of lower convex platform, the gear wheel includes gear, axle portion, the axle portion lower end
It is connected with gear, gear is located in mounting groove, and axle portion stretches into axis hole A through axis hole B, and axle portion upper periphery is set
There is connecting key, the keyway coordinated with connecting key is provided with axis hole A.
In the present embodiment, the hole portion periphery, which is evenly equipped with, is provided with screw, and connection panel is arranged on episphere through bolt
At each hole portion on shell, lower semisphere shell.
In the present embodiment, the episphere shell is connected by screw with episphere chassis, and lower semisphere shell passes through spiral shell
Nail is connected with lower semisphere chassis, and chassis cover plate is connected by screw with lower semisphere chassis.
In the present embodiment, the gear locating cover upper surface middle part is provided with slip ring, and slip ring is determined by screw and gear
Position lid connection, the axle portion axle portion are vertically arranged with the through hole A through axle portion, gear, are provided with the middle part of gear locating cover
Through hole B, through hole C is provided with the cover plate of chassis, through hole A, through hole B, through hole C diameters are identical and concentric, can lead in through hole A
Wire.
A kind of movement technique of the joint module structure of reconfigurable modular robot：Rotated, driven small by controlled motor
Pinion rotation, little gear drive bull gear drive by gear drive, and gear wheel is coordinated by key drives episphere chassis to rotate,
So as to drive episphere shell to rotate so that upper and lower hemispheres shell relatively rotates.
The object, technical solutions and advantages of the present invention are further described by above-listed preferred embodiment, are answered
Understand, the foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (5)
- A kind of 1. joint module structure of reconfigurable modular robot, it is characterised in that：Including ball-type shell, the ball-type shell Including episphere shell, lower semisphere shell, episphere shell, the hemisphere face the week side of boss of lower semisphere shell distinguish uniform three inclined-planes, Hole portion is provided with inclined-plane, connection panel is provided with the hole portion, adjacent ball-type shell is attached by connecting panel, Episphere outer casing bottom is provided with episphere chassis, and lower semisphere outer casing bottom is provided with lower semisphere chassis, the episphere chassis Bottom center is raised up to form first boss, and first boss medial surface forms counterbore, and first boss upper surface middle part is provided with Second boss, second boss middle part are provided with axis hole A, and second boss top surface is covered with gear locating cover, the lower semisphere chassis Middle part is provided with the lower convex platform to raise up, and lower convex platform is located in counterbore, and lower convex platform periphery is arranged with the week side of boss, lower semisphere chassis with Bearing inner race coordinates, and episphere chassis coordinates with bearing outer ring, and mounting groove, mounting groove enclosing cover are provided with the lower semisphere chassis Provided with chassis cover plate, intermeshing gear wheel, little gear are provided with mounting groove, motor, motor are installed on the cover plate of chassis Output shaft stretch into mounting groove, little gear is arranged on the output shaft of motor, is provided with the middle part of lower convex platform concentric with axis hole A Axis hole B, the gear wheel includes gear, axle portion, and the axle portion lower end is connected with gear, and gear is located at In mounting groove, axle portion stretches into axis hole A through axis hole B, and axle portion upper periphery is provided with connecting key, is provided with and connects on axis hole A The keyway that key coordinates.
- 2. the joint module structure of reconfigurable modular robot according to claim 1, it is characterised in that：Outside the hole portion It is evenly equipped with week and is provided with screw, connection panel is through bolt at each hole portion on episphere shell, lower semisphere shell.
- 3. the joint module structure of reconfigurable modular robot according to claim 1, it is characterised in that：The episphere Shell is connected by screw with episphere chassis, and lower semisphere shell is connected by screw with lower semisphere chassis, and chassis cover plate passes through Screw is connected with lower semisphere chassis.
- 4. the joint module structure of reconfigurable modular robot according to claim 1, it is characterised in that：The gear is determined Slip ring is provided with the middle part of the cap upper surface of position, the axle portion axle portion is vertically arranged with the through hole A through axle portion, gear, gear Through hole B is provided with the middle part of locating cover, through hole C is provided with the cover plate of chassis, through hole A, through hole B, through hole C diameters are identical and coaxial The heart.
- 5. a kind of movement technique of the joint module structure of reconfigurable modular robot, using can weigh as claimed in claim 1 The joint module structure of structure modular robot, it is characterised in that：Rotated by controlled motor, drive pinion rotation, little gear Bull gear drive is driven by gear drive, gear wheel is coordinated by key drives episphere chassis to rotate, so as to drive episphere Shell rotates so that upper and lower hemispheres shell relatively rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710832085.3A CN107351119B (en) | 2017-09-15 | 2017-09-15 | Joint module structure of reconfigurable modular robot and movement method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710832085.3A CN107351119B (en) | 2017-09-15 | 2017-09-15 | Joint module structure of reconfigurable modular robot and movement method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107351119A true CN107351119A (en) | 2017-11-17 |
| CN107351119B CN107351119B (en) | 2023-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710832085.3A Active CN107351119B (en) | 2017-09-15 | 2017-09-15 | Joint module structure of reconfigurable modular robot and movement method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352637A (en) * | 2018-12-05 | 2019-02-19 | 福州大学 | Three Degree Of Freedom reconfigurable modular robot cellular construction |
| CN109465814A (en) * | 2018-12-05 | 2019-03-15 | 福州大学 | Two-freedom reconfigurable modular robot cellular construction |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030038607A1 (en) * | 2001-08-24 | 2003-02-27 | Xerox Corporation | Robotic toy modular system |
| CN104326031A (en) * | 2014-10-29 | 2015-02-04 | 北京可以科技有限公司 | Cell robot |
| CN105171720A (en) * | 2015-10-12 | 2015-12-23 | 北京可以科技有限公司 | Multi-freedom-degree mechanical arm based on cell robot monomers |
| CN105172932A (en) * | 2015-10-12 | 2015-12-23 | 北京可以科技有限公司 | Quadruped robot based on cell robot units |
| CN107116545A (en) * | 2017-06-19 | 2017-09-01 | 哈尔滨工业大学 | A kind of spherical modular unit of four-degree-of-freedom |
-
2017
- 2017-09-15 CN CN201710832085.3A patent/CN107351119B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030038607A1 (en) * | 2001-08-24 | 2003-02-27 | Xerox Corporation | Robotic toy modular system |
| CN104326031A (en) * | 2014-10-29 | 2015-02-04 | 北京可以科技有限公司 | Cell robot |
| CN105171720A (en) * | 2015-10-12 | 2015-12-23 | 北京可以科技有限公司 | Multi-freedom-degree mechanical arm based on cell robot monomers |
| CN105172932A (en) * | 2015-10-12 | 2015-12-23 | 北京可以科技有限公司 | Quadruped robot based on cell robot units |
| CN107116545A (en) * | 2017-06-19 | 2017-09-01 | 哈尔滨工业大学 | A kind of spherical modular unit of four-degree-of-freedom |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352637A (en) * | 2018-12-05 | 2019-02-19 | 福州大学 | Three Degree Of Freedom reconfigurable modular robot cellular construction |
| CN109465814A (en) * | 2018-12-05 | 2019-03-15 | 福州大学 | Two-freedom reconfigurable modular robot cellular construction |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107351119B (en) | 2023-05-12 |
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