CN108372499B - Space cell robot self-reconstruction rotary joint module - Google Patents
Space cell robot self-reconstruction rotary joint module Download PDFInfo
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- CN108372499B CN108372499B CN201810459614.4A CN201810459614A CN108372499B CN 108372499 B CN108372499 B CN 108372499B CN 201810459614 A CN201810459614 A CN 201810459614A CN 108372499 B CN108372499 B CN 108372499B
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- robot
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- shell
- reconstruction
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- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000006978 adaptation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a space cell robot self-reconstruction rotating joint module which is mainly used in the field of aerospace and comprises an upper rotating shell, a lower rotating shell, a cover plate, a worm gear, a bearing support, a connecting end face, a connecting turntable, a motor and the like. The upper, lower, left and right surfaces of the module can be connected with the connecting end surface to realize a 180 ℃ swinging or 360 ℃ rotating double rotation mode, the left and right sides of the module are respectively provided with a folding plate, when the connected robot module needs 180 ℃ swinging, the connecting plate is in an open state, and the connecting end surface can be connected with the connecting plate through bolts to realize 180 ℃ swinging; when the connected robot module needs 360 ℃ rotation, the connecting plate is in a folding state, and the connected robot module can realize 360 ℃ rotation by being connected with the connecting end face on the upper and lower rotary shell cover plates; the robot modules with different functions are mutually connected with the connecting end faces in different directions, so that different movement modes and functions of the space cell robot can be realized.
Description
Technical field:
the invention relates to a space cell robot self-reconstruction rotating joint module, and belongs to the technical field of robots.
The background technology is as follows:
the modularized self-reconstruction robot is an emerging subject in the field of robot research in recent years, and is a hot spot of current robot research. Along with the progress and development of science and technology, requirements on functions and environment adaptation capability of robots are continuously improved, traditional robots are difficult to work under complex environments, and in order to adapt to the complex environments, the robots start to develop towards a modularized direction. The modularized self-reconstruction robot consists of a plurality of unit modules which can be combined at will, each unit module is provided with a uniform connecting end surface, and the modules with different functions are connected with each other, so that different movement modes and functions are realized.
The invention comprises the following steps:
the invention discloses a space cell robot self-reconstruction revolute joint module which is mainly used in the field of aerospace. The basic technical scheme is as follows: the space cell robot self-reconstruction rotating joint module consists of an upper rotating shell, a lower rotating shell, a cover plate, a worm gear, a bearing support, a connecting end face, a connecting turntable, a motor support and the like. The left end and the right end of the worm are connected with rolling bearings and fixed on bearing supports, and can rotate through driving of a motor. The worm wheel is connected with one end of the rotating shaft and is fixed in the upper rotating shell, the other end of the rotating shaft is connected with the lower rotating shell through the connecting turntable, and the worm drives the worm wheel to rotate and can drive the lower rotating shell to rotate at different angles. The space cell robot is capable of realizing 180 DEG swinging or 360 DEG rotating double rotation modes by connecting the upper face, the lower face, the left face and the right face of the space cell robot with the connecting end face, when the connected robot module needs 180 DEG swinging, the connecting plate is in an open state, the connecting end face can be connected with the connecting plate through bolts to realize 180 DEG swinging, when the connected robot module needs 360 DEG rotating, the connecting plate is in a folding state, the connected robot module can be connected with the connecting end face on the upper and lower rotating shell cover plates to realize 360 DEG rotating, so that the robot modules with different functions are connected with the connecting end faces in different directions, and different movement modes and functions of the space cell robot can be realized.
The invention has the advantages that:
1. the invention can realize various combinations of different functional robot modules, and improves the flexibility of the movement of the self-reconstruction robot and the capability of adapting to the environment.
2. The invention integrates the double rotation forms on one self-reconstruction robot module, and can realize the swinging and rotation functions of the module at the same time.
3. The invention adopts the worm gear to drive, has good self-locking property, and ensures the safety and stability of the module in the working process.
Description of the drawings:
the mechanism is further described below with reference to the accompanying drawings.
FIG. 1: integral schematic diagram of space cell robot self-reconstruction rotating joint module
Fig. 2: schematic diagram of upper rotary shell of self-reconstruction rotary joint module of space cell robot
Fig. 3: schematic diagram of lower rotary shell of self-reconstruction rotary joint module of space cell robot
Fig. 4: 180-degree swing schematic diagram of space cell robot self-reconstruction rotating joint module
Fig. 5: 360-degree rotation schematic diagram of space cell robot self-reconstruction rotary joint module
Fig. 6: one embodiment of the invention: mechanical arm schematic diagram composed of rotating joint module and connecting module
In the figure: the device comprises a connecting end face 1, a connecting bolt 2, a 3 folding plate, a 4 cover plate, 5 screws, a 6 upper rotating shell, a 7 lower rotating shell, an 8 motor, a 9 motor support, a 10 rolling bearing, an 11 bearing support, a 12 worm, a 13 worm wheel, a 14 rotating shaft, a 15 pinion, a 16 large gear and a 17 connecting turntable, 18 bolts and 19 fastening nuts.
Detailed Description
The components and their interrelationships of the present invention will now be described with reference to the accompanying drawings.
The whole structure of the invention is shown in figures 1, 2 and 3, the upper rotary shell (6) of the space cell robot self-reconstruction rotary joint module is mainly provided with transmission parts, and a motor (8) is arranged in the upper rotary shell (6) by being connected with a motor bracket (9); two ends of the worm (12) are connected with the rolling bearings (10) and then fixed on the bearing support (11), and one end of the worm (12) is connected with the large gear (16) through a flat key after being fixed; an output shaft of the motor (8) is connected with a pinion (15), and the pinion (15) drives the worm (12) to rotate through meshing with a large gear (16); the worm wheel (13) is fixed on the rotating shaft (14), the rotating shaft (14) is arranged in the upper rotating shell (6), the rotating shaft (14) is connected with the connecting turntable (17), the connecting turntable (17) is connected in the lower rotating shell through a bolt (18) and is fastened by a fastening nut (19), the upper rotating shell (6) and the lower rotating shell (7) are further connected together, and the worm (12) drives the worm wheel (13) to rotate and simultaneously drives the lower rotating shell (7) to rotate; the folding plates (3) are connected to the left side and the right side of the module, when the folding plates (3) are in an open state, the connecting end faces (1) can be connected with the folding plates (3) through the connecting bolts (2), and after the connecting end faces (1) are connected with different robot modules, the swinging of the robot modules 180 ℃ can be realized, as shown in fig. 4; the cover plate (4) is connected to the end surfaces of the upper rotary shell (6) and the lower rotary shell (7) through screws (5) and is connected with the connecting end surface (1), and when the folding plate (3) is in a folding state, the rotary motion of the robot module 360 ℃ can be realized, as shown in fig. 5. Fig. 6 is a schematic view of a mechanical arm capable of rotating 360 ° or swinging 180 ° after the connecting end face (1) is connected with other self-reconstruction modules and mechanical arms according to an embodiment of the present invention.
The working mode and working steps of the present invention are described below.
The space cell robot is driven by a motor (8), an output shaft of the motor (8) is connected with a pinion (15), the pinion (15) rotates to drive a large gear (16) to rotate, a worm (12) connected with the large gear (16) is driven to rotate, the worm (12) is meshed with a worm wheel (13), the worm wheel (13) is connected with a rotating shaft (14), the rotating shaft (14) is connected with a lower rotating shell (7) through a connecting turntable (17), the worm wheel (13) rotates to drive the rotating shaft (14) to rotate, and then the lower rotating shell (7) is driven to rotate, so that the self-reconstruction robot module is realized; when the connected robot module needs to swing 180 ℃, the folding plates (3) on the left side and the right side of the self-reconstruction rotating joint module of the space cell robot are in an open state, the opened connecting plate can be connected with the connecting end face (1), and after the connecting end face (1) is connected with the robot module which is swung, the motor (8) starts to drive the worm wheel (13) and the worm (12) to rotate, so that the swing of 180 ℃ is realized; when the robot module that connects needs 360 rotations, the robot module that connects can be connected with connecting terminal surface (1) on rotatory casing's upper and lower both sides apron (4), and folding board (3) of module left and right sides are in folding state this moment, avoid taking place to interfere when 360 rotations, and then realize 360 rotations.
Claims (1)
1. The space cell robot is self-reconstruction rotary joint module, the upper rotary shell (6) is mainly provided with transmission parts, and the motor (8) is arranged in the upper rotary shell (6) through being connected with the motor bracket (9); two ends of the worm (12) are connected with the rolling bearings (10) and then fixed on the bearing support (11), and one end of the worm (12) is connected with the large gear (16) through a flat key after being fixed; an output shaft of the motor (8) is connected with a pinion (15), and the pinion (15) drives the worm (12) to rotate through meshing with a large gear (16); the worm wheel (13) is fixed on the rotating shaft (14), the rotating shaft (14) is arranged in the upper rotating shell (6), the rotating shaft (14) is connected with the connecting turntable (17), the connecting turntable (17) is connected in the lower rotating shell through a bolt (18) and is fastened by a fastening bolt (19), the upper rotating shell (6) and the lower rotating shell (7) are further connected together, and the worm (12) drives the worm wheel (13) to rotate and simultaneously drives the lower rotating shell (7) to rotate; the method is characterized in that: the folding plates (3) are connected to the left side and the right side of the module, when the folding plates (3) are in an open state, the connecting end faces (1) can be connected with the folding plates (3) through the connecting bolts (2), and after the connecting end faces (1) are connected with different robot modules, the swinging of the robot module 180 ℃ can be realized; the cover plate (4) is connected to the end surfaces of the upper rotary shell (6) and the lower rotary shell (7) through screws (5) and is connected with the connecting end surface (1), and when the folding plate (3) is in a folding state, the rotary motion of the robot module 360 ℃ can be realized;
the working steps of the space cell robot self-reconstruction rotating joint module are as follows: the self-reconstruction robot module is driven by a motor (8), an output shaft of the motor (8) is connected with a pinion (15), the pinion (15) rotates to drive a large gear (16) to rotate, a worm (12) connected with the large gear (16) is driven to rotate, the worm (12) is meshed with a worm wheel (13), the worm wheel (13) is connected with a rotating shaft (14), the rotating shaft (14) is connected with a lower rotating shell (7) through a connecting turntable (17), the rotating shaft (14) is driven to rotate by the worm wheel (13), and the lower rotating shell (7) is driven to rotate, so that the self-reconstruction robot module is rotated; when the connected robot module needs to swing 180 ℃, the folding plates (3) on the left side and the right side of the self-reconstruction rotating joint module of the space cell robot are in an open state, the opened connecting plate can be connected with the connecting end face (1), and after the connecting end face (1) is connected with the robot module which is swung, the motor (8) starts to drive the worm wheel (13) and the worm (12) to rotate, so that the swing of 180 ℃ is realized; when the robot module that connects needs 360 rotations, the robot module that connects can be connected with connecting terminal surface (1) on rotatory casing's upper and lower both sides apron (4), and folding board (3) of module left and right sides are in folding state this moment, avoid taking place to interfere when 360 rotations, and then realize 360 rotations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810459614.4A CN108372499B (en) | 2018-05-15 | 2018-05-15 | Space cell robot self-reconstruction rotary joint module |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810459614.4A CN108372499B (en) | 2018-05-15 | 2018-05-15 | Space cell robot self-reconstruction rotary joint module |
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| CN108372499A CN108372499A (en) | 2018-08-07 |
| CN108372499B true CN108372499B (en) | 2024-02-27 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890635B (en) * | 2018-09-20 | 2019-08-02 | 哈尔滨理工大学 | A kind of interstitial cell being bi-directionally connected for spatial cell robot |
| CN109015614A (en) * | 2018-09-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of spatial cell robot for the in-orbit assembling of truss |
| CN110524529B (en) * | 2018-11-16 | 2022-09-20 | 南京工程学院 | Method for realizing multi-position connection of self-reconfigurable robot |
| CN109227598B (en) * | 2018-11-27 | 2024-01-30 | 福州大学 | Reconfigurable modularized robot connecting mechanism and connecting method |
| CN113184232B (en) * | 2021-05-18 | 2022-01-11 | 哈尔滨理工大学 | Unit module of space cell robot reconstruction platform |
| CN114460950B (en) * | 2021-05-31 | 2024-06-21 | 哈尔滨工业大学（威海） | Self-reconstruction cellular star device |
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