CN109465814A - Two-freedom reconfigurable modular robot cellular construction - Google Patents
Two-freedom reconfigurable modular robot cellular construction Download PDFInfo
- Publication number
- CN109465814A CN109465814A CN201811477556.4A CN201811477556A CN109465814A CN 109465814 A CN109465814 A CN 109465814A CN 201811477556 A CN201811477556 A CN 201811477556A CN 109465814 A CN109465814 A CN 109465814A
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- China
- Prior art keywords
- junction plate
- upper junction
- shell
- connecting plate
- cellular construction
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of two-freedom reconfigurable modular robot cellular construction, including spherical shell, the spherical shell is made of the upper hemispherical shell and lower hemisphere shell of rotatable engagement, and the lower hemisphere shell side is provided with lower to connection module；Notch is offered among upper hemispherical shell, swinging frame is hinged in the notch, and the swinging frame upper end is fixedly connected with to connection module.There are two freedom degrees for robot cell's structure tool of the present invention, improve the flexibility of module, structure is simple, portability is good, is easily installed and dismantles, and convenient for control, easy to process, good reliability can be widely applied to occasion.
Description
Technical field
The present invention relates to a kind of two-freedom reconfigurable modular robot cellular constructions.
Background technique
Can not with the development of science and technology, transmission machinery people has a single function, the demand of modern society be adapted to completely, and people start
A kind of multi-functional robot is found to replace, reconfigurable modular robot is made of multiple identical intelligent units, can
To form robot of different shapes, such as multi-foot robot, snake-shaped robot, intelligent object variation is flexible, can explore again,
The fields such as aviation are applied extensively, have developed into our daily lifes and apply at present, such as cooking robot, machine of sweeping the floor
People etc., the following reconfigurable modular robot may be throughout our daily lifes.
Summary of the invention
In view of this, the two-freedom for being easily installed and dismantling can weigh the object of the present invention is to provide a kind of structure is simple
Structure modularization robot cellular construction.
The present invention is realized using following scheme: a kind of two-freedom reconfigurable modular robot cellular construction, including ball
Shape shell, the spherical shell are made of the upper hemispherical shell and lower hemisphere shell of rotatable engagement, and the lower hemisphere shell side is provided with
Under to connection module；Notch is offered among upper hemispherical shell, swinging frame is hinged in the notch, and the swinging frame upper end is fixed to be connected
It is connected to connection module.
Further, the upper junction plate and lower connecting plate of rotatable engagement, the upper half are provided in the middle part of the spherical shell
Spherical shell is fixedly installed on upper junction plate, and the lower hemisphere shell is fixedly installed on lower connecting plate, is installed on the upper junction plate
There is the oscillating motor to drive swinging frame to swing, the rotation to drive upper junction plate to rotate is installed on the lower connecting plate
Motor.
Further, the swinging frame is made of left swing bar and right swing rod, it is described on left swing is fixedly connected on to connection module
Bar and right swing rod upper end；Left swing bar and right swing rod lower end are equipped with same root transmission shaft, both left swing bar and right swing rod and transmission
Pass through spline fitted between axis.
Further, the both ends of the drive shaft rotational installation is passed in the left support frame and right support frame on upper junction plate
Wherein one end extends outward and is sequentially connected with oscillating motor moving axis.
Further, the lower connecting plate downside offers holding tank, and holding tank is provided with the driving gear being meshed
And driven gear, the receiving groove upper cap are equipped with cover board, the rotating electric machine is installed on the cover board, the main shaft of rotating electric machine
It is protruded into holding tank across cover board, the driving gear is installed on the main shaft of rotating electric machine；The upper junction plate and lower connection
Offer axis hole in the middle part of plate, the driven gear upper side, which has, is upward through the convex of upper junction plate and lower connecting plate upper shaft hole
Axis, keyway is provided in the axis hole of the upper junction plate, and the protruding shaft side is provided with the gear key with keyway cooperation.
Further, it is provided with counterbore in the middle part of the upper junction plate downside, counterbore is formed with the axis hole on upper junction plate
Shoulder hole structure, lower connecting plate upper side middle part are provided with the lower convex platform for raising upward and protruding into counterbore, setting in the counterbore
There is the bearing being sleeved on lower convex platform.
Further, the convex platform to raise upward, the convex platform side are provided in the middle part of the upper junction plate upper side
Offer the radial through-hole for passing to keyway, holding screw be equipped in the radial through-hole, offered in the gear key with tightly
Determine the threaded hole of screw threaded one end cooperation inwardly.
Compared with prior art, the invention has the following advantages: there are two robot cell's structure of the present invention tools certainly
By spending, improve the flexibility of module, structure is simple, it is portable it is good, be easily installed and dismantle, it is easy to process convenient for control,
Good reliability can be widely applied to occasion.
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, specific embodiment and phase will be passed through below
Attached drawing is closed, invention is further described in detail.
Detailed description of the invention
Fig. 1 is overall construction perspective view of the present invention；
Fig. 2 is that main view of the embodiment of the present invention makes figure；
Fig. 3 is that the embodiment of the present invention overlooks structural map；
Fig. 4 is side view structural map of the embodiment of the present invention；
Fig. 5 is upper hemispherical shell structural map of the embodiment of the present invention；
Fig. 6 is lower hemisphere shell structural map of the embodiment of the present invention；
Fig. 7 is internal explosion structural map of the embodiment of the present invention；
Fig. 8 is upper junction plate of the embodiment of the present invention and lower connecting plate cooperation sectional view；
Figure label explanation: the right swing rod of 1-；2- transmission shaft；3- right support frame；4- bearing；5- upper junction plate；6- lower connecting plate；7-
Driving gear；8- cover board；9- rotating electric machine；10- driven gear；11- bearing；12- oscillating motor；13- left support frame；14- is left
Swing rod；15- upper hemispherical shell；16- lower hemisphere shell；17- is upper to connection module；To connection module under 18-；19- holding tank, 20- notch,
21- protruding shaft, 22- keyway, 23- gear key, 24- lower convex platform, 25- convex platform.
Specific embodiment
As shown in Fig. 1 ~ 8, a kind of two-freedom reconfigurable modular robot cellular construction, including spherical shell, it is described
Spherical shell is made of the upper hemispherical shell 15 and lower hemisphere shell 16 of rotatable engagement, and 16 side of lower hemisphere shell is provided with lower docking
Module 18, it is lower to connection module totally three, and distribution triangular in shape, one of them is active mating module, and the other two are passive
It is lower that connection module 18 is fixedly connected on lower hemisphere shell by bolt and nut to connection module, it is provided on lower hemisphere shell to even
Connect the lower flange arrangement to connection module 18；Notch 20 is offered among upper hemispherical shell 15, notch is in U-shape, hinge in the notch 20
Be connected to swinging frame, the swinging frame upper end is fixedly connected with to connection module 17, on to connection module 17 be active mating module, on
Rotary joint is formed between hemispherical Shell and lower hemisphere shell, and swinging joint, the pendulum of swinging frame are formed between swinging frame and upper hemispherical shell
Dynamic center line is vertical with the rotary centerline between upper hemispherical shell 15 and lower hemisphere shell 16；Robot cell's structure of the present invention has
Two freedom degrees improve the flexibility of module, and structure is simple, portability is good, is easily installed and dismantles, convenient for control, easily
In processing, good reliability can be widely applied to occasion.
In the present embodiment, the upper junction plate 5 and lower connecting plate 6 of rotatable engagement, institute are provided in the middle part of the spherical shell
Upper hemispherical shell 15 is stated to be fixedly installed on upper junction plate 5, the lower hemisphere shell 16 is fixedly installed on lower connecting plate 6, it is described on
Oscillating motor 12 to drive swinging frame to swing is installed on connecting plate 5, is equipped on to drive on the lower connecting plate
The rotating electric machine 9 of connecting plate rotation, oscillating motor is stepper motor, and rotating electric machine is direct current generator.
In the present embodiment, the swinging frame is made of left swing bar 14 and right swing rod 1, it is described on fixed to connection module 17 connect
It is connected to 1 upper end of left swing bar 14 and right swing rod；Left swing bar and right swing rod lower end are equipped with same root transmission shaft 2, left swing bar and right pendulum
Pass through spline fitted between both bars and transmission shaft.
In the present embodiment, 2 both ends of the transmission shaft rotational installation is in left support frame 13 and right support on upper junction plate
On frame 3, left support frame 13 and 3 both ends of right support frame are fixedly connected on upper hemispherical shell side wall by bolt and nut, transmission shaft 2 its
Middle one end extends outward and is sequentially connected with oscillating motor 12, and oscillating motor 12 passes through a pair of gear and transmission shaft being meshed
Transmission connection, the both ends of transmission shaft by bearing 4 respectively with 3 rotatable engagement of left support frame 13 and right support frame；It is embodied again
In the process, it is coaxially connected can also to stretch out one end with transmission shaft for the main shaft of oscillating motor.
In the present embodiment, 6 downside of lower connecting plate offers holding tank 19, and holding tank 19, which is provided with, to be meshed
Driving gear 7 and driven gear 10,19 upper cover of holding tank are equipped with cover board 8, and the rotating electric machine 9 is installed on the cover board
On, the main shaft of rotating electric machine 9 passes through cover board and protrudes into holding tank, and the driving gear 7 is installed on the main shaft of rotating electric machine 9；
The middle part of the upper junction plate 5 and lower connecting plate 6 offers axis hole, and the driven gear upper side, which has, is upward through connection
The protruding shaft 21 of plate and lower connecting plate upper shaft hole is provided with keyway 22, the protruding shaft side setting in the axis hole of the upper junction plate
There is the gear key 23 with keyway cooperation.
In the present embodiment, counterbore, the axis hole on counterbore and upper junction plate are provided in the middle part of 5 downside of upper junction plate
Shoulder hole structure is formed, is provided with the lower convex platform 24 for raising upward and protruding into counterbore, the counterbore in the middle part of lower connecting plate upper side
Inside it is provided with the bearing 11 being sleeved on lower convex platform, the lower convex platform interference fit of 11 inner hole of bearing and lower connecting plate, bearing
The counterbore inner wall of 11 peripheral parts and upper junction plate interference fit；Rotary joint movement step: the rotating electric machine drives driving tooth
Wheel rotation, the driving gear engagement driven gear drive upper junction plate rotation by bearing 11, and the upper and lower hemispherical Shell is opposite
Rotation；Swinging joint movement step: oscillating motor drives transmission shaft rotation, and the transmission shaft drives left and right swing rod to move up and down.
In the present embodiment, it is provided with the convex platform 25 to raise upward in the middle part of the upper junction plate upper side, it is described convex
Platform side offers the radial through-hole (not shown) for passing to keyway, is equipped with holding screw (in figure in the radial through-hole
It is not shown), the threaded hole (not shown) with holding screw threaded one end cooperation inwardly is offered in the gear key, it is described
Driven gear and upper junction plate are linked together by holding screw.
Any technical solution disclosed in aforementioned present invention unless otherwise stated, if it discloses numberical range,
Disclosed numberical range is preferred numberical range, and any it should be appreciated by those skilled in the art preferred numberical ranges
The only obvious or representative numerical value of technical effect in many enforceable numerical value.It, can not since numerical value is more
Exhaustion, so the present invention just discloses technical solution of the component values to illustrate the present invention, also, the above-mentioned numerical value enumerated is not
The limitation to the invention protection scope should be constituted.
If the present invention is open or relates to the components or structural member of connection fastened to each other, unless otherwise stated,
It is fixedly connected it is to be understood that connection (such as connecting using bolt or screw) can be removedly fixed, it is understood that are as follows:
It is non-removable to be fixedly connected with (such as riveting, welding), certainly, connection fastened to each other or integral structure (such as make
Manufactured with casting technique is integrally formed) replaced (obviously can not be using except integrally formed technique).
In addition, for indicating the art of positional relationship or shape applied in any technical solution disclosed in aforementioned present invention
Its meaning includes approximate with its, similar or close state or shape to language unless otherwise stated.
Either component provided by the invention by multiple individual component parts either assembled, or one
The separate part that forming technology manufactures.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (7)
1. a kind of two-freedom reconfigurable modular robot cellular construction, it is characterised in that: including spherical shell, the spherical shape
Shell is made of the upper hemispherical shell and lower hemisphere shell of rotatable engagement, and the lower hemisphere shell side is provided with lower to connection module；Upper half
Notch is offered among spherical shell, swinging frame is hinged in the notch, and the swinging frame upper end is fixedly connected with to connection module.
2. two-freedom reconfigurable modular robot cellular construction according to claim 1, it is characterised in that: the ball
Shape housing central section is provided with the upper junction plate and lower connecting plate of rotatable engagement, and the upper hemispherical shell is fixedly installed in upper junction plate
On, the lower hemisphere shell is fixedly installed on lower connecting plate, is equipped on the upper junction plate to drive swinging frame to swing
Oscillating motor is equipped with the rotating electric machine to drive upper junction plate to rotate on the lower connecting plate.
3. two-freedom reconfigurable modular robot cellular construction according to claim 2, it is characterised in that: the pendulum
Moving frame is made of left swing bar and right swing rod, it is described on left swing bar and right swing rod upper end are fixedly connected on to connection module；Left swing bar and
Right swing rod lower end is equipped with same root transmission shaft, and both left swing bar and right swing rod pass through spline fitted between transmission shaft.
4. two-freedom reconfigurable modular robot cellular construction according to claim 3, it is characterised in that: the biography
End shaft is rotatablely installed in the left support frame and right support frame on upper junction plate, and wherein one end extends outward simultaneously transmission shaft
It is sequentially connected with oscillating motor.
5. two-freedom reconfigurable modular robot cellular construction according to claim 2, it is characterised in that: under described
Connecting plate downside offers holding tank, and holding tank is provided with the driving gear and driven gear being meshed, on the holding tank
It is covered with cover board, the rotating electric machine is installed on the cover board, and the main shaft of rotating electric machine passes through cover board and protrudes into holding tank, institute
Driving gear is stated to be installed on the main shaft of rotating electric machine；Axis hole is offered in the middle part of the upper junction plate and lower connecting plate, it is described
Driven gear upper side, which has, is upward through the protruding shaft of upper junction plate and lower connecting plate upper shaft hole, in the axis hole of the upper junction plate
It is provided with keyway, the protruding shaft side is provided with the gear key with keyway cooperation.
6. two-freedom reconfigurable modular robot cellular construction according to claim 5, it is characterised in that: on described
Counterbore is provided in the middle part of connecting plate downside, the axis hole on counterbore and upper junction plate forms shoulder hole structure, lower connecting plate upside
Middle face is provided with the lower convex platform for raising upward and protruding into counterbore, and the bearing being sleeved on lower convex platform is provided in the counterbore.
7. two-freedom reconfigurable modular robot cellular construction according to claim 5 or 6, it is characterised in that: institute
It states and is provided with the convex platform to raise upward in the middle part of upper junction plate upper side, the convex platform side offers the radial direction for passing to keyway
Through-hole is equipped with holding screw in the radial through-hole, offers that threaded one end is matched inwardly with holding screw in the gear key
The threaded hole of conjunction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811477556.4A CN109465814A (en) | 2018-12-05 | 2018-12-05 | Two-freedom reconfigurable modular robot cellular construction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811477556.4A CN109465814A (en) | 2018-12-05 | 2018-12-05 | Two-freedom reconfigurable modular robot cellular construction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109465814A true CN109465814A (en) | 2019-03-15 |
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ID=65675545
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811477556.4A Pending CN109465814A (en) | 2018-12-05 | 2018-12-05 | Two-freedom reconfigurable modular robot cellular construction |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112356017A (en) * | 2020-10-29 | 2021-02-12 | 广州大学 | Reconfigurable robot unit module and reconfigurable robot |
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| CN106313105A (en) * | 2016-11-02 | 2017-01-11 | 中国农业大学 | Two-freedom-degree joint structure |
| CN206326600U (en) * | 2016-11-28 | 2017-07-14 | 张州逸 | A kind of modular combination multi-spindle machining people |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112356017A (en) * | 2020-10-29 | 2021-02-12 | 广州大学 | Reconfigurable robot unit module and reconfigurable robot |
| CN112356017B (en) * | 2020-10-29 | 2022-01-04 | 广州大学 | Reconfigurable robot unit module and reconfigurable robot |
| WO2022088891A1 (en) * | 2020-10-29 | 2022-05-05 | 广州大学 | Reconfigurable robot unit module and reconfigurable robot |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190315 |
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| RJ01 | Rejection of invention patent application after publication |