CN1709658A - Self-reconstructed self-repair robot basic analogue space transmission - Google Patents
Self-reconstructed self-repair robot basic analogue space transmission Download PDFInfo
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- CN1709658A CN1709658A CN 200510027323 CN200510027323A CN1709658A CN 1709658 A CN1709658 A CN 1709658A CN 200510027323 CN200510027323 CN 200510027323 CN 200510027323 A CN200510027323 A CN 200510027323A CN 1709658 A CN1709658 A CN 1709658A
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- angular wheel
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Abstract
A kind of space transmission device of the self regroup robot basic module is used in the field of engine and electric set technique. The invention comprises the crust, big fastigiated gear group, small fastigiated gear group, transmission shaft, clutch and electromotor. The connection manner is that the axe of the electromotor fixed on the crust, one end of the small fastigiated gear group connects to the output axe of the electromotor, the other end connects to transmission shaft through bond, at the same time the big fastigiated gear group also connects to it by the same way, at both of the two ends of the transmission axe set a clutch respectively, and at the four output of the big fastigiated gear group and the small fastigiated gear group set a clutch respectively either. The invention designs a kind of space movement transmission device after analysis the movement character of the robot, through the device, we can realize the simple installation of the robot, and has compact structure, fulfill the decompose of six directions, and then fulfill the spin of the basic module at any time in every direction.
Description
Technical field
What the present invention relates to is the driving mechanism in a kind of Robotics field, specifically is a kind of self-reconstructed self-repair robot basic analogue space transmission.
Background technique
The self-reorganization robot of three-dimensional isomorphism, because Isomorphism needs being delivered on six uniform directions that motion is equal to, the design of this spatial mechanism is the key of basic module internal mechanism design.
Find through literature search prior art, people such as Haruhisa Kurokawa are at " IntelligentRobots and Systems, 1998.Proceedings., 1998 IEEE/RSJ InternationalConference " (" artificial-intelligent in the engineering "), 1998 the 02nd phases, P860-865, write articles " A3-Dself-reconfigurable structure and experiments " (" structure of a three-dimensional self-reorganization robot and experiment "), this article has been introduced a kind of driving mechanism, and this transmission is to transmit motion to 12 transmission shafts by speed belt, and each is all installed near the corner of matrix axle, though its available part is arranged, but spatial mechanism's more complicated, and the transmission of many employing bands, structure is compact inadequately, space hold is big, and the tension structure that needs band, implement comparatively loaded down with trivial details, difficulty.
Summary of the invention
The present invention is directed to the deficiencies in the prior art and defective, a kind of self-reconstructed self-repair robot basic analogue space transmission is provided, make its compact structure, spatial arrangement reasonable, be a kind of all-gear drive mechanism, thereby proposed a kind of novel solution for solving the problem that exists in the background technique.
The present invention is achieved by the following technical solutions, the present invention includes: housing, big angular wheel group, the bevel pinion group, transmission shaft, engaging and disengaging gear, motor, its Placement is: the flange of motor is fixed on the housing, bevel pinion group one end links to each other with the output shaft of motor, and the other end links to each other by key with transmission shaft, and simultaneously big angular wheel group is also by key transmission shaft connection therewith, an engaging and disengaging gear is respectively established at the two ends of transmission shaft, and four output terminals of big angular wheel group and bevel pinion group are also respectively established an engaging and disengaging gear.
Big angular wheel group comprises: three angular wheels, first, second output shaft, its Placement is: second angular wheel links to each other by key with transmission shaft, this key passes to second angular wheel to the rotation of transmission shaft, second angular wheel respectively with orthogonal first, third hand tap generating gear engagement, the first, the third hand tap generating gear links to each other with first, second output shaft with key, and the rotation of transmission shaft is delivered on first, second output shaft through commutation, makes the rotation of output shaft and motor synchronous.
The bevel pinion group comprises: small gear, cluster gear, first, second bevel pinion, three, the 4th output shaft, its Placement is: small gear is connected on the motor output shaft with key, be used for transmitting movement, small gear and cluster gear engagement, cluster gear is connected an end of transmission shaft with key, respectively with orthogonal first, second bevel pinion engagement, two bevel pinions link to each other with key and the 3rd, the 4th output shaft, like this rotation of motor are delivered to three different direction, thus the motion of an available Electric Machine Control six direction.
What the present invention is directed to three-dimensional, isomorphism has designed the spatial mechanism of basic module from the spatial motion characteristics of reconstruct self-repair robot, finished the motor indifference that rotatablely moves has been delivered to six actions on the different direction, owing to all adopt gear transmission, have accurate velocity ratio, and make the internal structure compactness of basic module.By a conjuncted bevel gear, cleverly motion is decomposed into six direction.
When the present invention works, the motor shaft rotation, be connected in the small gear rotation in the bevel pinion group on the motor output shaft, cluster gear engagement in small gear in the bevel pinion group and the bevel pinion group, thereby make the cluster gear rotation, cluster gear meshes with orthogonal two bevel pinions respectively, because cluster gear is connected an end of transmission shaft with key, two bevel pinions link to each other with two output shafts with key, and then the motion of motor drives the motion of transmission shaft and the motion of two output shafts; The other end of transmission shaft is with in succession a big angular wheel in the big angular wheel group of key, big angular wheel respectively with orthogonal first, third hand tap generating gear engagement, thereby be delivered to big angular wheel group rotatablely moving, coupled output shaft is rotated, thereby on the transmission of movement to of a motor transmission shaft and four output shafts, on the two ends of transmission shaft and four output shafts an engaging and disengaging gear is installed respectively, be used for controlling whether motion is outputed on certain specific face, can control the different rotations constantly of six direction.
Compared with prior art, the present invention has tangible novelty and superiority, is embodied in the spatial structure compactness, number of parts is less, be easy to realize, install, fixing and velocity ratio is accurate, the motion by six intermeshing angular wheel implementation space six directions is the thought of a novelty.
Description of drawings
Fig. 1 structural representation of the present invention
Fig. 2 bevel pinion group of the present invention structural representation
Embodiment
As shown in Figure 1 and Figure 2, the present invention includes: housing 1, big angular wheel group 2, bevel pinion group 3, transmission shaft 4, engaging and disengaging gear 5, motor 6, its Placement is: the flange of motor 6 is fixed on the housing 1, bevel pinion group 3 one ends link to each other with the output shaft of motor 6, and the other end and transmission shaft 4 link to each other by key, simultaneously big angular wheel group 2 also by key therewith transmission shaft 4 connect, an engaging and disengaging gear 5 is respectively established at the two ends of transmission shaft 4, and four output terminals of big angular wheel group 2 and bevel pinion group 3 are also respectively established an engaging and disengaging gear 5.The motion of motor 6 at first is delivered to bevel pinion group 3, and bevel pinion group 3 transmits motion on the big angular wheel group 2 by transmission shaft 4 again, has just transmitted motion on the face of six direction by engaging and disengaging gear 5 at last.
Big angular wheel group 2 comprises: first angular wheel 7, second angular wheel 8, third hand tap generating gear 9, two output shafts 10, its Placement is: second angular wheel 8 and transmission shaft 4 link to each other by key, the rotation of transmission shaft 4 is passed to second angular wheel, 8, the second angular wheels 8 mesh with orthogonal first angular wheel 7 and third hand tap generating gear 9 respectively, first angular wheel 7, third hand tap generating gear 9 usefulness keys link to each other with two output shafts 10.
Bevel pinion group 3 comprises: small gear 11, cluster gear 12, first bevel pinion 13, second bevel pinion 14, two output shafts 15, its Placement is: small gear 11 usefulness keys are connected on motor 6 output shafts, small gear 11 and cluster gear 12 engagements, cluster gear 12 usefulness keys are connected an end of transmission shaft 4, with orthogonal first bevel pinion 13 and 14 engagements of second bevel pinion, first bevel pinion 13, second bevel pinion, 14 usefulness keys link to each other with two output shafts 15 respectively.
Claims (3)
1, a kind of spatial mechanism of self-reorganization robot basic module, comprise: housing (1), transmission shaft (4), engaging and disengaging gear (5), motor (6), it is characterized in that, also comprise: big angular wheel group (2), bevel pinion group (3), the flange of motor (6) is fixed on the housing (1), bevel pinion group (3) one ends link to each other with the output shaft of motor (6), the other end links to each other by key with transmission shaft (4), simultaneously big angular wheel group (2) is also by key transmission shaft (4) connection therewith, an engaging and disengaging gear (5) is respectively established at the two ends of transmission shaft (4), and four output terminals of big angular wheel group (2) and bevel pinion group (3) are also respectively established an engaging and disengaging gear (5).
2, the spatial mechanism of self-reorganization robot basic module according to claim 1, it is characterized in that, big angular wheel group (2) comprising: angular wheel (7), angular wheel (8), angular wheel (9), two output shafts (10), second angular wheel (8) and transmission shaft 4 link to each other by key, second angular wheel (8) meshes with orthogonal first angular wheel (7) and third hand tap generating gear (9) respectively, and first angular wheel (7), third hand tap generating gear (9) link to each other with two output shafts (10) with key.
3, the spatial mechanism of self-reorganization robot basic module according to claim 1, it is characterized in that, bevel pinion group (3) comprising: small gear (11), cluster gear (12), bevel pinion (13), bevel pinion (14), two output shafts (15), small gear (11) is connected on motor (6) output shaft with key, small gear (11) and cluster gear (12) engagement, cluster gear (12) is connected an end of transmission shaft (4) with key, respectively with orthogonal bevel pinion (13) and bevel pinion (14) engagement, bevel pinion (13), bevel pinion (14) links to each other with two output shafts (15) with key.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100273230A CN100348380C (en) | 2005-06-30 | 2005-06-30 | Self-reconstructed self-repair robot basic analogue space transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100273230A CN100348380C (en) | 2005-06-30 | 2005-06-30 | Self-reconstructed self-repair robot basic analogue space transmission |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1709658A true CN1709658A (en) | 2005-12-21 |
| CN100348380C CN100348380C (en) | 2007-11-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2005100273230A Expired - Fee Related CN100348380C (en) | 2005-06-30 | 2005-06-30 | Self-reconstructed self-repair robot basic analogue space transmission |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100354077C (en) * | 2006-03-09 | 2007-12-12 | 上海交通大学 | Double-module robot with variable structure |
| CN101664933B (en) * | 2009-09-25 | 2011-08-31 | 上海大学 | Iso-curvature bent mechanical arm based on gear drive |
| CN104249368A (en) * | 2014-09-09 | 2014-12-31 | 上海交通大学 | Double-column self-reconfigurable modular robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3971266A (en) * | 1973-07-17 | 1976-07-27 | Nippondenso Co., Ltd. | Power transmission device |
| FR2310842A1 (en) * | 1975-05-15 | 1976-12-10 | Renault | HEAD FOR ROBOT OR MANIPULATOR WITH AT LEAST ONE ROTATION AXIS |
| JP3329430B2 (en) * | 1996-04-09 | 2002-09-30 | 株式会社安川電機 | Industrial robot wrist mechanism |
| WO2001051259A2 (en) * | 2000-01-11 | 2001-07-19 | Hai Hong Zhu | Modular robot manipulator apparatus |
| CN1092098C (en) * | 2000-02-25 | 2002-10-09 | 清华大学 | Multielement structure of multirobot mobile system capable of disassembling/reassembling |
| CN1121300C (en) * | 2001-05-28 | 2003-09-17 | 北京邮电大学 | Omnibearing walking mechanism of spherical robot |
-
2005
- 2005-06-30 CN CNB2005100273230A patent/CN100348380C/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100354077C (en) * | 2006-03-09 | 2007-12-12 | 上海交通大学 | Double-module robot with variable structure |
| CN101664933B (en) * | 2009-09-25 | 2011-08-31 | 上海大学 | Iso-curvature bent mechanical arm based on gear drive |
| CN104249368A (en) * | 2014-09-09 | 2014-12-31 | 上海交通大学 | Double-column self-reconfigurable modular robot |
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| Publication number | Publication date |
|---|---|
| CN100348380C (en) | 2007-11-14 |
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Granted publication date: 20071114 Termination date: 20100630 |