CN208439331U - A kind of four module changeable shape mobile robots - Google Patents
A kind of four module changeable shape mobile robots Download PDFInfo
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- CN208439331U CN208439331U CN201820845333.8U CN201820845333U CN208439331U CN 208439331 U CN208439331 U CN 208439331U CN 201820845333 U CN201820845333 U CN 201820845333U CN 208439331 U CN208439331 U CN 208439331U
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Abstract
The utility model relates to mobile robot mechanisms, specifically a kind of four module changeable shape mobile robots, including identical four modules of structure, the driving joint for keeping module mobile is equipped in each module, the two sides of each module are respectively provided with the deflection joint and pitching joint connecting with adjacent block；The rear and front end of each module is equipped with the Athey wheel connected by crawler belt, and the track drive motor being mounted on mobile robot shell is wherein equipped in the Athey wheel of one end, and module pitching motor is equipped in the Athey wheel of the other end, and Athey wheel and motor are rotatablely connected；Module pitching motor imparts power in the pitch link affixed with adjacent block, realizes the pitching movement of fighter toy；Module deflection motor realizes the horizontal deflection campaign of module by the transmission of deflection worm gear, deflection worm screw.The utility model has the characteristics that modularization, restructural, scalability is strong, can be needed to be deformed into complicated configuration according to actual environment.
Description
Technical field
The utility model relates to mobile robot mechanism, specifically a kind of four module changeable shape mobile robots.
Background technique
Currently, the operating environment of mobile robot becomes increasingly complex, working environment both may be city and building
Structured environment, it is also possible to be complicated, unknown changeable non-structure environment under natural conditions, the environment of even some danger
Or extreme environment.When executing certain particular tasks, it is faced with complicated landform and environment, the movement energy of mobile robot platform
Power and adaptive capacity to environment are very crucial.
Utility model content
In order to adapt to mobile robot different operating environment, the purpose of this utility model is to provide a kind of four module changeables
Shape mobile robot.
The purpose of this utility model is achieved through the following technical solutions:
The utility model includes the identical modules A of structure, module B, module C and module D, and being equipped in each module makes mould
The mobile driving joint of block, the two sides of each module are respectively provided with the deflection joint connecting with adjacent block and pitching is closed
Section；The driving joint includes track drive motor, Athey wheel and crawler belt, and the rear and front end of each module, which is equipped with, to be passed through
The Athey wheel of crawler belt connection, is wherein equipped with the track drive motor being mounted on mobile robot shell in the Athey wheel of one end,
The Athey wheel and track drive motor at the end are rotatablely connected, and are connected with the output end of track drive motor；The pitching
Joint includes module pitching motor and pitch link, and module pitching motor is located in the Athey wheel of the other end, the shoe at the end
Belt wheel and module pitching motor are rotatablely connected, and the pitch link is located at the side of module, one end and the module pitching motor
Output end be connected, the connection of the deflection joint of the other end and adjacent block；The deflection joint includes module deflection motor, deflection
Worm screw, deflection worm gear and deflection connecting rod, the module deflection motor are installed in the shell of module, and output end is connected with deflection snail
The wheel shaft of bar, the deflection worm gear is rotatably installed on the shell of module, the deflection worm gear and deflection worm screw engaged transmission,
One end of the deflection connecting rod and the wheel shaft of deflection worm gear interlock, and the other end is connected with the pitch link of adjacent block；
Wherein: the other end of the pitch link of the modules A is connected with the other end of the deflection connecting rod of the side module B, should
The other end of the pitch link of the other side module B is connected with the other end of the deflection connecting rod of the side the module C, and module C is another
The other end of the pitch link of side is connected with the other end of the deflection connecting rod of the side the module D；
The utility model includes modules A, module B, module C and module D, and the drive for keeping module mobile is equipped in each module
Movable joint, wherein module B and module C-structure are identical, and two sides, which are respectively equipped with, deflects joint and pitching joint, and the one of the modules A
Side is equipped with the pitching joint being connected with the deflection joint of module B, and the side of the module D is equipped with the pitching joint phase with module C
Deflection joint even, the pitching joint of the module B is connected with the deflection joint of module C；The driving joint includes that crawler belt drives
Dynamic motor, Athey wheel and crawler belt, the rear and front end of each module are equipped with the Athey wheel connected by crawler belt, wherein one end
Athey wheel in be equipped with the track drive motor that is mounted on mobile robot shell, the Athey wheel and track drive at the end
Motor rotation connection, and be connected with the output end of track drive motor；The pitching joint includes module pitching motor and pitching
Connecting rod, module pitching motor are located in the Athey wheel of the other end, and the Athey wheel and module pitching motor at the end are rotatablely connected,
The pitch link is located at the side of module, and one end is connected with the output end of the module pitching motor, the other end and adjacent mould
The deflection joint of block connects；The deflection joint includes module deflection motor, deflection worm screw, deflection worm gear and deflection connecting rod, is somebody's turn to do
Module deflection motor is installed in the shell of module, and output end is connected with deflection worm screw, and the wheel shaft of the deflection worm gear rotates peace
On the shell of module, the deflection worm gear and deflection worm screw engaged transmission, one end and the deflection snail of the deflection connecting rod
The wheel shaft of wheel interlocks, and the other end is connected with the pitch link of adjacent block；
Wherein: the wheel shaft both ends of the deflection worm gear pass through bearing and are rotatablely connected with the bearing block being mounted on shell,
The top of the wheel shaft is equipped with the potentiometer of installation on the housing；
End flanges are connected on Athey wheel outside the track drive motor, the end flanges and track drive electricity
The output end of machine is connected, and is rotated by the Athey wheel at the track drive motor driven end, and then drive the other end by the crawler belt
Athey wheel synchronous rotary.
The advantages of the utility model and good effect are as follows:
1. the utility model has the characteristics that modularization, restructural, scalability is strong, can need to be deformed into according to actual environment
Complicated configuration.
2. the utility model is provided with potentiometer as position feedback above the wheel shaft of deflection worm gear and effectively increases
The deformation accuracy of robot.
3. the deflection joint of the utility model has the self-locking function of deflection angle using deflection worm screw and deflection worm-drive
Energy.
Detailed description of the invention
Fig. 1 is that the utility model deforms schematic diagram side by side；
Fig. 2 is the utility model triangular deformation schematic diagram；
Fig. 3 is that the utility model straight line deforms schematic diagram；
Fig. 4 is the utility model symmetric deformation schematic diagram；
Fig. 5 is the schematic diagram of internal structure of the utility model module；
Fig. 6 is the deformation pattern of the utility model；
Wherein: 1 is modules A, and 2 be module B, and 3 be module C, and 4 be module D, and 5 be driving joint, and 501 be track drive electricity
Machine, 502 be Athey wheel, and 6 be to deflect joint, and 601 be module deflection motor, and 602 be deflection worm screw, and 603 be to deflect worm gear, 604
To deflect connecting rod, 7 be pitching joint, and 701 be module pitching motor, and 702 be pitch link, and 8 be middle casing, and 9 be side plate.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
Embodiment one
As shown in figure 5, the utility model includes the identical modules A 1 of structure, module B2, module C3 and module D4, Mei Gemo
Be equipped with the driving joint 5 for keeping module mobile in block, the two sides of each module be respectively provided with connect with adjacent block it is inclined
Turn joint 6 and pitching joint 7.Mobile robot shell is made of the affixed side plate 9 of middle casing 8 and two sides.
Driving joint includes track drive motor 501, Athey wheel 502 and crawler belt, and the rear and front end of each module is equipped with
The Athey wheel 502 connected by crawler belt is wherein equipped with the crawler belt being mounted on mobile robot shell in the Athey wheel 502 of one end
Driving motor 501, the motor cabinet of track drive motor 501 are fixed on the side plate 9 of two sides, and the Athey wheel 502 at the end passes through axis
It holds and is rotatablely connected with the motor cabinet of track drive motor 501；End face is connected on Athey wheel 502 outside track drive motor 501
Flange, the end flanges are connected with the output end of track drive motor 501, and the crawler belt at the end is driven by track drive motor 501
502 rotation of wheel, and then pass through 502 synchronous rotary of Athey wheel of the crawler belt drive other end.
Pitching joint 7 includes module pitching motor 701 and pitch link 702, and module pitching motor 701 is located at the other end
In Athey wheel 502, the motor cabinet of module pitching motor 701 is fixed on the side plate 9 of two sides, and the Athey wheel 502 at the end passes through axis
It holds and is rotatablely connected with module pitching motor 701.Pitch link 702 is located at the side of module, one end and module pitching motor 701
Output end is connected, and the deflection joint 6 of the other end and adjacent block connects, and can carry out pitching movement with drive module.
Joint 6 is deflected to include module deflection motor 601, deflection worm screw 602, deflection worm gear 603 and deflect connecting rod 604, it should
Module deflection motor 601 is installed in the shell of module, and output end passes through a pair of of spur gear engaged transmission and connects with deflection worm screw 602
It connects, drive deflection worm screw rotation, the wheel shaft both ends of deflection worm gear 603 pass through bearing and rotate with the bearing block being fixed on shell
Connection, the top of the wheel shaft are equipped with the potentiometer being mounted on shell.602 engaged transmission of worm gear 603 and deflection worm screw is deflected, by
Deflecting worm screw 602 drives deflection worm gear 603 to rotate, the final wheel shaft rotation for realizing deflection worm gear 603.Deflect the one of connecting rod 604
End and the wheel shaft of deflection worm gear 603 interlock, and the other end is connected with the pitch link 702 of adjacent block, realizes the water of adjacent block
Flat movement.
The deflection connecting rod 604 of the other end of the pitch link 702 of modules A 1 and the side module B2 is another in the present embodiment
End is connected, the other end phase of the deflection connecting rod 604 of the other end and side module C3 of the pitch link 702 of the other side module B2
Even, the other end of the deflection connecting rod 604 of the other end and side module D4 of the pitch link 702 of the other side module C3 is connected.
The deflection connecting rod 604 and pitch link 702 of the present embodiment are hollow structure inside, and inside can be used by cable
Electrical connection between realization transformable mobile robot adjacent block.
Embodiment two
The difference between this embodiment and the first embodiment lies in: in four modules of the present embodiment, module B2 and module C3 structure
Identical, two sides are respectively equipped with deflection joint 6 and pitching joint 7, and the side of modules A 1 is equipped with to be connected with the deflection joint 6 of module B2
Pitching joint 7, the side of module D4 is equipped with the deflection joint 6 being connected with the pitching joint 7 of module C3, the pitching pass of module B2
Section 7 is connected with the deflection joint 6 of module C3.Remaining is identical with embodiment one.
The deformation method of the utility model are as follows: the module pitching motor 701 in each module works, and passes through pitch link
702 drive adjacent block to carry out pitching motion around the axis of 701 output shaft of module pitching motor；Module in each module is inclined
Rotating motor 601 works, and by the transmission of deflection worm screw 602 and deflection worm gear 603, drives deflection connecting rod 604 around deflection worm gear 603
The axis of wheel shaft is put, and then adjacent block is driven to carry out deflection action；Pass through the module pitching motor 701 and/or mould of each module
Drive module A1, module B2, module C3 and the module D4 of block deflection motor 601 realize 22 kinds of deformations, and after every kind of deformation, until
Track drive motor 501 in a few module works, driving mobile robot walking movement.As shown in fig. 6, specific 22 kinds
Deformation includes:
A is deformed, modules A 1, module B2, module C3 and module D4 are in being arranged side by side, as shown in Figure 1；
B is deformed, the output shaft rotation of the module pitching motor 701 in modules A 1 drives module B2 by pitch link 702
180 °, while module pitching motor 701 in module B2 are rotated around the axis of 701 output shaft of module pitching motor of modules A 1
Output shaft reversely rotates 180 °, and the position of modules A 1, module C3 and module D4 is constant；
C is deformed, the output shaft rotation of the module pitching motor 701 in module B2 drives module C3 by pitch link 702
180 °, while module pitching motor 701 in module C3 are rotated around the axis of 701 output shaft of module pitching motor of module B2
Output shaft reversely rotates 180 °, and the position of modules A 1, module B2 and module D4 is constant；
Deform d, the output shaft rotation of the module pitching motor 701 in modules A 1, the mould of module B2, module C3 and module D4
Block deflection motor 601 and module pitching motor 701 do not work, using the reaction force of module B2, module C3 and module D4,
Realize that modules A 1 rotates 180 ° around the axis of 701 output shaft of own module pitching motor, the position of module B2, module C3 and module D4
It sets constant；
E is deformed, the output shaft rotation of the module pitching motor 701 in module C3 drives module D4 by pitch link 702
Axis around 701 output shaft of module pitching motor of module C3 rotates 180 °, and the position of modules A 1, module B2 and module C3 is not
Become；
F is deformed, is rotated by the output shaft of the module pitching motor 701 in module B2 in deformation b, passes through pitch link 702
Module C3 is driven to rotate 180 ° around the axis of 701 output shaft of module pitching motor of module B2, while the module in module C3 is bowed
The output shaft for facing upward motor 701 reversely rotates 180 °, and the position of modules A 1 and module D4 are constant, as shown in Figure 2；Alternatively, by deforming c
The output shaft of module pitching motor 701 in middle modules A 1 rotates, and drives module B2 around the mould of modules A 1 by pitch link 702
The axis of 701 output shaft of block pitching motor rotates 180 °, while the output shaft of the module pitching motor 701 in module B2 reversely revolves
Turn 180 °, the position of modules A 1 and module D4 are constant；
G is deformed, is rotated by the output shaft of the module deflection motor 601 in module B2 in deformation d, by deflecting connecting rod 604
Modules A 1 is driven to rotate 180 ° around the axis of 601 output shaft of module deflection motor of module B2, module B2, module C3 and module D4
Position it is constant；
H is deformed, is rotated by the output shaft of the module pitching motor 701 in modules A 1 in deformation d, passes through pitch link 702
Module B2 is driven to rotate 180 ° around the axis of 701 output shaft of module pitching motor of modules A 1, while the module in module B2 is bowed
The output shaft for facing upward motor 701 reversely rotates 180 °, and the position of module C3 and module D4 are constant；Alternatively, the module as described in deformation e
The output shaft of module pitching motor 701 in B2 rotates, and drives module C3 around the module pitching of module B2 by pitch link 702
The axis of 701 output shaft of motor rotates 180 °, while the output shaft of the module pitching motor 701 in module C3 reversely rotates
180 °, i.e., deformation h is deformed by deforming e；
I is deformed, is rotated by the output shaft of the module pitching motor 701 in module B2 in deformation d, passes through pitch link 702
Module C3 is driven to rotate 180 ° around the axis of 701 output shaft of module pitching motor of module B2, while the module in module C3 is bowed
The output shaft for facing upward motor 701 reversely rotates 180 °, and the position of module B2 and module D4 are constant；Alternatively, by modules A 1 in deformation e
Module pitching motor 701 output shaft rotation, by pitch link 702 drive module B2 around modules A 1 module pitching motor
The axis of 701 output shafts rotates 180 °, while the output shaft of the module pitching motor 701 in module B2 reversely rotates 180 °, i.e.,
Deformation i is deformed by deforming e；
Deform j, rotated by the output shaft of the module deflection motor 601 in deformation e in module D4, modules A 1, module B2 and
The module deflection motor 601 and module pitching motor 701 of module C3 does not work, utilizes the modules A 1, module B2 and module C3
Reaction force, realize module D4 around 601 output shaft of own module deflection motor axis rotate 180 °, modules A 1, module B2
And the position of module C3 is constant；
K is deformed, is rotated by the output shaft of the module pitching motor 701 in module C3 in deformation g, passes through pitch link 702
Module D4 is driven to rotate 180 ° around the axis of 701 output shaft of module pitching motor of module C3, modules A 1, module B2 and module C3
Position it is constant；Alternatively, being rotated by the output shaft of the module pitching motor 701 in modules A 1 in deformation f, module B2, module C3
And the module deflection motor 601 and module pitching motor 701 of module D4 do not work, utilize module B2, module C3 and module
The reaction force of D4 realizes that modules A 1 rotates 180 ° around the axis of 701 output shaft of own module pitching motor, module B2, module
The position of C3 and module D4 are constant；Then, the output shaft rotation of the module deflection motor 601 in module B2, by deflecting connecting rod
604 drive modules A 1 to rotate 180 ° around the axis of 601 output shaft of module deflection motor of module B2, i.e., are deformed by deforming f
Shape k；
Deform l, rotated by the output shaft of the module deflection motor 601 in deformation h in module C3, modules A 1, module B2 and
The module deflection motor 601 and module pitching motor 701 of module D4 does not work, utilizes the reaction of the modules A 1 and module B2
Power realizes axis rotation 180 ° of the module C3 and module D4 around 601 output shaft of module deflection motor of module C3, modules A 1 and mould
The position of block B2 is constant, as shown in Figure 4；
Deform m, rotated by the output shaft of the module pitching motor 701 in deformation j in modules A 1, module B2, module C3 and
The module deflection motor 601 and module pitching motor 701 of module D4 does not work, utilizes module B2, module C3 and module D4
Reaction force, realize modules A 1 around 701 output shaft of own module pitching motor axis rotate 180 °, module B2, module C3
And the position of module D4 is constant；
N is deformed, is rotated by the output shaft of the module pitching motor 701 in module C3 in deformation l, passes through pitch link 702
Module D4 is driven to rotate 180 ° around the axis of 701 output shaft of module pitching motor of module C3, modules A 1, module B2 and module C3
Position it is constant；
Deform o, rotated by the output shaft of the module deflection motor 601 in deformation i in module D4, modules A 1, module B2 and
The module deflection motor 601 and module pitching motor 701 of module C3 does not work, utilizes the modules A 1, module B2 and module C3
Reaction force, realize module D4 around 601 output shaft of own module deflection motor axis rotate 180 °, modules A 1, module B2
And the position of module C3 is constant；
P is deformed, is rotated by the output shaft of the module pitching motor 701 in module C3 in deformation k, passes through pitch link 702
Module D4 is driven to rotate 180 ° around the axis of 701 output shaft of module pitching motor of module C3, modules A 1, module B2 and module C3
Position it is constant；Then, the output shaft rotation of the module pitching motor 701 in module B2, drives module by pitch link 702
C3 rotates 180 °, while the module pitching motor 701 in module C3 around the axis of 701 output shaft of module pitching motor of module B2
Output shaft reversely rotate 180 °, the position of modules A 1, module B2 and module D4 is constant；Alternatively, by module D in deformation j
The output shaft of module deflection motor 601 rotates, the module deflection motor 601 and module pitching of modules A 1, module B2 and module C3
Motor 701 does not work, using the modules A 1, the reaction force of module B2 and module C3, realizes that module D4 is inclined around own module
The axis of 601 output shaft of rotating motor rotates 180 °, and the position of modules A 1, module B2 and module C3 is constant；Then, in module C3
The output shaft of module pitching motor 701 rotates, and drives module D4 around the module pitching motor of module C3 by pitch link 702
The axis of 701 output shafts rotates 180 °；Then, the output shaft rotation of the module pitching motor 701 in module B2, is connected by pitching
Bar 702 drives module C3 to rotate 180 °, while the mould in module C3 around the axis of 701 output shaft of module pitching motor of module B2
The output shaft of block pitching motor 701 reversely rotates 180 °；Subsequently, the output shaft rotation of the module pitching motor 701 in modules A 1
Turn, the module deflection motor 601 and module pitching motor 701 of module B2, module C3 and module D4 do not work, utilize the module
The reaction force of B2, module C3 and module D4 realize that modules A 1 is rotated around the axis of 701 output shaft of own module pitching motor
180°；Finally, the output shaft rotation of the module deflection motor 601 in module B2, drives modules A 1 around mould by deflection connecting rod 604
The axis of 601 output shaft of module deflection motor of block B2 rotates 180 °, i.e., is deformed into deformation p by deforming j；
Deform q, rotated by the output shaft of the module pitching motor 701 in deformation n in modules A 1, module B2, module C3 and
The module deflection motor 601 and module pitching motor 701 of module D4 does not work, utilizes module B2, module C3 and module D4
Reaction force, realize modules A 1 around 701 output shaft of own module pitching motor axis rotate 180 °, module B2, module C3
And the position of module D4 is constant；
R is deformed, is rotated by the output shaft of the module deflection motor 601 in module B2 in deformation m, by deflecting connecting rod 604
Modules A 1 is driven to rotate 180 ° around the axis of 601 output shaft of module deflection motor of module B2, module B2, module C3 and module D4
Position it is constant；Alternatively, being rotated by the output shaft of the module deflection motor 601 in module D4 in deformation k, modules A 1, module B2
And the module deflection motor 601 and module pitching motor 701 of module C3 do not work, utilize the modules A 1, module B2 and module
The reaction force of C3 realizes that module D4 rotates 180 ° around the axis of 701 output shaft of own module pitching motor, modules A 1, module
The position of B2 and module C3 are constant；
S is deformed, is rotated by the output shaft of the module deflection motor 601 of module B2 in deformation q, by deflecting 604 band of connecting rod
Dynamic model block A1 rotates 180 ° around the axis of 601 output shaft of module deflection motor of module B2, module B2, module C3 and module D4's
Position is constant；Alternatively, being rotated by the output shaft of the module pitching motor 701 of module B2 in deformation p, the mould of module C3 and module D4
Block deflection motor 601 and module pitching motor 701 do not work, using the reaction force of module C3 and module D4, realize mould
Block B2 and modules A 1 are deformed into deformation by deforming p around 180 ° of the axis rotation of 701 output shaft of module pitching motor of module B2
s；
Deform t, rotated by the output shaft of the module deflection motor 601 in deformation o in module C3, modules A 1, module B2 and
The module deflection motor 601 and module pitching motor 701 of module D4 does not work, utilizes the reaction of the modules A 1 and module B2
Power realizes axis rotation 180 ° of the module C3 and module D4 around 601 output shaft of module deflection motor of module C3, modules A 1 and mould
The position of block B2 is constant, i.e., is deformed into deformation t by deforming o；
Deform u, rotated by the output shaft of the module deflection motor 601 in deformation p in module D4, modules A 1, module B2 and
The module deflection motor 601 and module pitching motor 701 of module C3 does not work, utilizes the modules A 1, module B2 and module C3
Reaction force, realize module D4 around 601 output shaft of own module deflection motor axis rotate 180 °, modules A 1, module B2
And the position of module C3 is constant, i.e., is deformed into deformation u by deforming p；Alternatively, by the module pitching motor in module B2 in deformation r
701 output shaft rotation, drives module C3 and module D4 defeated around the module pitching motor 701 of module B2 by pitch link 702
The axis of shaft rotates 180 °, i.e., is deformed into deformation u by deforming r；
V is deformed, is rotated by the output shaft of module deflection motor 601 in module D4 in deformation s, modules A 1, module B2 and mould
The module deflection motor 601 and module pitching motor 701 of block C3 does not work, utilizes the modules A 1, module B2 and module C3
Reaction force is realized that module D4 rotates 180 ° around the axis of 601 output shaft of own module deflection motor, i.e., is deformed by deforming s
V is deformed, as shown in Figure 3；Alternatively, being rotated by the output shaft of module deflection motor 601 in module B2 in deformation t, connected by deflection
Bar 604 drives modules A 1 to rotate 180 ° around the axis of 601 output shaft of module deflection motor of module B2, i.e., is deformed by deforming t
Deform v；Again alternatively, being rotated by the output shaft of module deflection motor 601 in module C3 in deformation u, driven by deflection connecting rod 604
Module B2 and modules A 1 are deformed into around 180 ° of the axis rotation of 601 output shaft of module deflection motor of module C3 by deforming u
Shape v.
The utility model deformation e is deformed into the process of deformation h, can be replaced by following methods, i.e., the module in modules A 1 is bowed
Face upward the output shaft rotation of motor 701, the module deflection motor 601 and module pitching motor 701 of module B2, module C3 and module D4
It does not work, using the reaction force of module B2, module C3 and module D4, realizes modules A 1 around own module pitching motor
The axis of 701 output shafts rotates 180 °, and the position of module B2, module C3 and module D4 are constant；Then, the module in modules A 1 is bowed
The output shaft rotation for facing upward motor 701 drives module B2 to export around the module pitching motor 701 of modules A 1 by pitch link 702
The axis of axis rotates 180 °, while the output shaft of the module pitching motor 701 in module B2 reversely rotates 180 °；Subsequently, mould
The output shaft rotation of module pitching motor 701, drives module D4 around the module pitching of module C3 by pitch link 702 in block C3
The axis of 701 output shaft of motor rotates 180 °, i.e., deformation e is deformed into deformation h.
The utility model deformation e is deformed into the process of deformation i, can be replaced by following methods, i.e., the module in modules A 1 is bowed
Face upward the output shaft rotation of motor 701, the module deflection motor 601 and module pitching motor 701 of module B2, module C3 and module D4
It does not work, using the reaction force of module B2, module C3 and module D4, realizes modules A 1 around own module pitching motor
The axis of 701 output shafts rotates 180 °, and the position of module B2, module C3 and module D4 are constant；Then, module pitching in module C3
The output shaft of motor 701 rotates, and drives module D4 around 701 output shaft of module pitching motor of module C3 by pitch link 702
Axis rotate 180 °；Subsequently, the output shaft rotation of the module pitching motor 701 in module B2, passes through 702 band of pitch link
Dynamic model block C3 rotates 180 °, while the module pitching in module C3 around the axis of 701 output shaft of module pitching motor of module B2
The output shaft of motor 701 reversely rotates 180 °, i.e., is deformed into deformation i by deforming e.
The utility model deformation f is deformed into the process of deformation k, can be replaced by following methods, i.e., the module in modules A 1 is bowed
Face upward the output shaft rotation of motor 701, the module deflection motor 601 and module pitching motor 701 of module B2, module C3 and module D4
It does not work, using the reaction force of module B2, module C3 and module D4, realizes modules A 1 around own module pitching motor
The axis of 701 output shafts rotates 180 °, and the position of module B2, module C3 and module D4 are constant；Then, the module in modules A 1 is bowed
The output shaft for facing upward motor 701 rotates again, drives module B2 around the module pitching motor 701 of modules A 1 by pitch link 702
The axis of output shaft rotates 180 °, while the output shaft of the module pitching motor 701 in module B2 reversely rotates 180 °；Then,
The output shaft of module pitching motor 701 in module B2 rotates 180 ° again, while the module pitching motor 701 in module C3
Output shaft reversely rotates 180 °, and module C3 is made to rotate 180 ° around the axis of 701 output shaft of module pitching motor of module B2；Again so
Afterwards, the output shaft of the module pitching motor 701 in module C3 rotates 180 °, makes module pitching motor of the module D4 around module C3
The axis of 701 output shafts rotates 180 °；Finally, the output shaft rotation of the module deflection motor 601 in module B2, is connected by deflection
Bar 604 drives modules A 1 to rotate 180 ° around the axis of 601 output shaft of module deflection motor of module B2, i.e., is deformed by deforming f
Deform k.
The utility model deformation k is deformed into the process of deformation p, can be replaced by following methods, i.e. module in module B2 is bowed
The output shaft rotation for facing upward motor 701 drives module C3 to export around the module pitching motor 701 of module B2 by pitch link 702
The axis of axis rotates 180 °, while the output shaft of the module pitching motor 701 in module C3 reversely rotates 180 °；Then, module
The output shaft of module pitching motor 701 in C3 rotates, and drives module D4 around the module pitching of module C3 by pitch link 702
The axis of 701 output shaft of motor rotates 180 °, i.e., is deformed into deformation p by deforming k.
The utility model can flexibly be become according to the needs of mobile robot (movement obstacle detouring, crosses a pit, stair activity etc.)
Shape is to adapt to different terrain.When being used for earthquake relief, different rescue aids such as life-detection instrument, camera shooting can be carried and cooperated
Head, sound pick-up etc., to play a role in rescue site.
Claims (7)
1. a kind of four module changeable shape mobile robots, it is characterised in that: including the identical modules A of structure (1), module B (2),
Module C (3) and module D (4) is equipped with the driving joint (5) for keeping module mobile, the two sides difference of each module in each module
Equipped with the deflection joint (6) and pitching joint (7) for being connect with adjacent block；The driving joint includes track drive motor
(501), Athey wheel (502) and crawler belt, the rear and front end of each module are equipped with the Athey wheel connected by crawler belt
(502), it wherein is equipped with the track drive motor (501) being mounted on mobile robot shell in the Athey wheel (502) of one end, it should
The Athey wheel (502) at end and track drive motor (501) are rotatablely connected, and the output end with track drive motor (501)
It is connected；The pitching joint (7) includes module pitching motor (701) and pitch link (702), module pitching motor (701) position
In in the Athey wheel (502) of the other end, the Athey wheel (502) at the end and module pitching motor (701) are rotatablely connected, described
Pitch link (702) is located at the side of module, and one end is connected with the output end of the module pitching motor (701), the other end with
The deflection joint (6) of adjacent block connects；The deflection joint (6) include module deflection motor (601), deflection worm screw (602),
It deflects worm gear (603) and deflection connecting rod (604), the module deflection motor (601) is installed in the shell of module, output end connection
Have deflection worm screw (602), the wheel shaft of deflection worm gear (603) is rotatably installed on the shell of module, the deflection worm gear (603)
With deflection worm screw (602) engaged transmission, one end of deflection connecting rod (604) and the wheel shaft of deflection worm gear (603) are interlocked,
The other end is connected with the pitch link (702) of adjacent block.
2. four module changeables shape mobile robot according to claim 1, it is characterised in that: the pitching of the modules A (1)
The other end of connecting rod (702) is connected with the other end of the deflection connecting rod (604) of module B (2) side, the module B (2) other side
The other end of pitch link (702) is connected with the other end of the deflection connecting rod (604) of module C (3) side, module C (3)
The other end of the pitch link (702) of the other side is connected with the other end of the deflection connecting rod (604) of module D (4) side.
3. four module changeables shape mobile robot according to claim 1, it is characterised in that: the deflection worm gear (603)
Wheel shaft both ends pass through bearing and be rotatablely connected with the bearing block that is mounted on shell, the top of the wheel shaft be equipped be mounted on it is described
Potentiometer on shell.
4. four module changeables shape mobile robot according to claim 1, it is characterised in that: the track drive motor
(501) outside end flanges are connected on Athey wheel (502), the output of the end flanges and the track drive motor (501)
End is connected, and drives the Athey wheel (502) at the end to rotate by track drive motor (501), and then another by crawler belt drive
Athey wheel (502) synchronous rotary at end.
5. a kind of four module changeable shape mobile robots, it is characterised in that: including modules A (1), module B (2), module C (3) and
Module D (4) is equipped with the driving joint (5) for keeping module mobile in each module, wherein module B (2) and module C (3) structure phase
Together, two sides are respectively equipped with deflection joint (6) and pitching joint (7), and the side of the modules A (1) is equipped with inclined with module B (2)
Turn joint (6) connected pitching joint (7), the side of the module D (4) is equipped with to be connected with the pitching joint (7) of module C (3)
Deflection joint (6), the pitching joint (7) of the module B (2) is connected with the deflection joint (6) of module C (3)；The driving is closed
Section includes track drive motor (501), Athey wheel (502) and crawler belt, and the rear and front end of each module, which is equipped with, passes through shoe
The Athey wheel (502) of band connection is wherein equipped with the crawler belt being mounted on mobile robot shell and drives in the Athey wheel (502) of one end
Dynamic motor (501), the Athey wheel (502) at the end and track drive motor (501) are rotatablely connected, and with track drive motor
(501) output end is connected；The pitching joint (7) includes module pitching motor (701) and pitch link (702), and module is bowed
It faces upward motor (701) to be located in the Athey wheel (502) of the other end, the Athey wheel (502) at the end and module pitching motor (701)
Rotation connection, the pitch link (702) are located at the side of module, the output end of one end and the module pitching motor (701)
It is connected, deflection joint (6) connection of the other end and adjacent block；The deflection joint (6) include module deflection motor (601),
It deflects worm screw (602), deflection worm gear (603) and deflection connecting rod (604), the module deflection motor (601) and is installed on the shell of module
In vivo, output end is connected with deflection worm screw (602), and the wheel shaft of deflection worm gear (603) is rotatably installed on the shell of module,
The deflection worm gear (603) and the deflection worm screw (602) engaged transmission, one end of deflection connecting rod (604) and deflection worm gear
(603) wheel shaft interlocks, and the other end is connected with the pitch link (702) of adjacent block.
6. four module changeables shape mobile robot according to claim 5, it is characterised in that: the deflection worm gear (603)
Wheel shaft both ends pass through bearing and be rotatablely connected with the bearing block that is mounted on shell, the top of the wheel shaft be equipped be mounted on it is described
Potentiometer on shell.
7. four module changeables shape mobile robot according to claim 5, it is characterised in that: the track drive motor
(501) outside end flanges are connected on Athey wheel (502), the output of the end flanges and the track drive motor (501)
End is connected, and drives the Athey wheel (502) at the end to rotate by track drive motor (501), and then another by crawler belt drive
Athey wheel (502) synchronous rotary at end.
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| CN201820845333.8U CN208439331U (en) | 2018-06-01 | 2018-06-01 | A kind of four module changeable shape mobile robots |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110304161A (en) * | 2019-06-03 | 2019-10-08 | 北京建筑大学 | A kind of deformable cterpillar drive |
| CN110550119A (en) * | 2018-06-01 | 2019-12-10 | 中国科学院沈阳自动化研究所 | four-module deformable mobile robot and deformation method thereof |
-
2018
- 2018-06-01 CN CN201820845333.8U patent/CN208439331U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110550119A (en) * | 2018-06-01 | 2019-12-10 | 中国科学院沈阳自动化研究所 | four-module deformable mobile robot and deformation method thereof |
| CN110304161A (en) * | 2019-06-03 | 2019-10-08 | 北京建筑大学 | A kind of deformable cterpillar drive |
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