CN106002992B - A kind of modularized self-reorganization mobile robot of single wheel drive - Google Patents

Abstract

A modular self-reconfigurable mobile robot driven by a single wheel is designed to solve the problems of complex structure, poor reliability and incapable mass production of existing robot modules. The housing includes a module seat and four legs, the module seat is a square box, the four legs are respectively located at the four corners of the module seat, a radial magnet is embedded in each groove, and each vertical hole A vertical magnet is embedded in the middle, a foot is set at the lower end of each leg, the motor is set in the motor slot, the input end of the reducer is connected with the output end of the motor, the driving wheel is fixed on the output shaft of the reducer, and the rotation The lower end of the shaft is connected with the motor seat through the connecting element, the middle part of the rotating shaft is supported in the bearing, the bearing is installed in the bearing seat plate, the bearing seat plate is fixedly connected with the module seat, the external gear is set on the upper end of the rotating shaft, the internal gear and the external The gears mesh, and the internal gear is fixedly connected with the module seat. The invention can be used as a general research platform for self-reconfigurable robots, deformable robots and group robots.

Description

A modular self-reconfigurable mobile robot driven by a single wheel

technical field

The invention relates to a modular self-reconfigurable mobile robot, in particular to a single-wheel-driven modular self-reconfigurable mobile robot.

Background technique

At present, for modular self-reconfigurable mobile robots, the design of the connection mechanism between modules is a crucial part. At present, most of the existing connection mechanisms are mainly mechanical connection structures. This structure requires high motion precision and poor fast connection performance. Moreover, multiple connection surfaces of individual modules are driven by separate motors, which makes the module structure too complex and functional. The consumption is large, which leads to the reduction of module reliability, and its cost is also high, making it difficult to mass-produce.

Contents of the invention

The present invention solves the problem of existing modular self-reconfigurable mobile robots. Most of the connection mechanisms between modules are based on mechanical connection structures. This structure requires high motion precision and poor fast connection performance. All are driven by a separate motor, which makes the module structure too complex and consumes a lot of power, which leads to the problem of reduced reliability of the module. A single-wheel drive modular self-reconfigurable mobile robot is proposed.

A modular self-reconfigurable mobile robot driven by a single wheel of the present invention includes at least two modules, the two modules are arranged side by side, and each module includes a housing, a motor base, a motor, a reducer, a driving wheel, a rotating shaft, and a bearing , bearing seat plate, external gear, internal gear, two connecting elements, four radial magnets, four vertical magnets and four feet, the housing includes a module seat and four legs, the module seat is a square box The upper end of the square box is an open cavity, and the four legs are respectively located at the four corners under the module seat. There is a groove in the middle of each side wall of the module seat, and a diameter is embedded in each groove. The lower end of each leg is provided with a vertical hole, and a vertical magnet is embedded in each vertical hole. A leg is arranged at the lower end of each leg. The upper end of the motor base is provided with a motor slot. In the motor slot, the input end of the reducer is connected to the output end of the motor, the driving wheel is fixed on the output shaft of the reducer, the lower end of the rotating shaft is connected to the motor seat through a connecting element, the middle part of the rotating shaft is supported in the bearing, and the bearing Installed in the bearing seat plate, the bearing seat plate is fixedly connected with the module seat, the external gear is set on the upper end of the rotating shaft, the internal gear meshes with the external gear, and the internal gear is fixedly connected with the module seat.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention adopts a single-wheel drive mode, which reduces the complexity and power consumption of the mechanism, and greatly reduces the complexity and cost of a single module. Radial magnets and vertical magnets are embedded in the module housing, and the The orientation magnet and the vertical magnet enable the automatic connection of the adjacent modules in any relative orientation, thereby ensuring fast and reliable connection and disconnection between the modules, and the present invention increases the overall reliability.

2. The modules have both self-reconfiguration and mobility characteristics. Various overall configurations can be realized through reconfiguration between internal modules, and it has wheeled mobility.

3. The designed robot is based on the theoretical model and design reference of the array modular self-reconfigurable robot, which can be used as a general research platform for self-reconfigurable robots, deformable robots and swarm robots. In view of the configuration reconfigurability and function adaptive characteristics of self-reconfigurable robots, the designed robots will play an important role in future rescue and disaster relief, space exploration and other complex and unknown environments and tasks. As a physical prototype of a new concept robot, it can be used as an educational robot to demonstrate related concepts of self-organizing robots and distributed robots.

Description of drawings

Fig. 1 is a perspective view of the overall structure of the present invention;

Fig. 2 is a perspective view of a single module A;

Fig. 3 is the B-B sectional view of Fig. 2;

Fig. 4 is the C-C sectional view of Fig. 2;

Fig. 5 is a schematic diagram of the connection relationship between the motor base 2, the drive wheel 5, the rotating shaft 6, the bearing 8, and the bearing seat plate 9;

Fig. 6 is an exploded view of the motor base 2, the motor 3, the reducer 4, the drive wheel 5, the rotating shaft 6, the bearing 8, and the external gear 10;

Fig. 7 is a working principle diagram of the present invention.

Detailed ways

Specific Embodiment 1: This embodiment is described with reference to FIGS. 1 to 6. This embodiment includes at least two modules A, and the two modules A are arranged side by side. Each module A includes a housing 1, a motor base 2, a motor 3, a speed reducer Device 4, driving wheel 5, rotating shaft 6, bearing 8, bearing seat plate 9, external gear 10, internal gear 11, two connecting elements 7, four radial magnets 12, four vertical magnets 13 and four legs 14. The housing 1 includes a module seat 1-1 and four legs 1-2, the module seat 1-1 is a square box, the upper end of the square box is an open cavity 1-1-1, four legs 1 -2 are respectively located at the four corners below the module seat 1-1, the inner middle of each side wall of the module seat 1-1 is provided with a groove 1-1-2, and each groove 1-1-2 is embedded A radial magnet 12, the lower end of each leg 1-2 is provided with a vertical hole 1-2-1, a vertical magnet 13 is embedded in each vertical hole 1-2-1, each leg 1 The lower end of -2 is provided with a leg 14, and the upper end of motor base 2 is provided with motor groove 2-1, and motor 3 is arranged in the motor groove 2-1, and the input end of speed reducer 4 is connected with the output end of motor 3, and driving wheel 5 Fixed on the output shaft of the reducer 4, the lower end of the rotating shaft 6 is connected with the motor base 2 through the connecting element 7, the middle part of the rotating shaft 6 is supported in the bearing 8, the bearing 8 is installed in the bearing seat plate 9, and the bearing seat plate 9 is fixedly connected with the module seat 1-1, the external gear 10 is sleeved on the upper end of the rotating shaft 6, the internal gear 11 meshes with the external gear 10, and the internal gear 11 is fixedly connected with the module seat 1-1.

Specific Embodiment 2: This embodiment is described with reference to FIGS. 1 to 4 . The four legs 1-2 of this embodiment are integrated with the module base 1-1. This design makes the housing 1 more stable. Other components and connections are the same as those in the first embodiment.

Specific Embodiment 3: This embodiment is described with reference to FIG. 4 and FIG. 6 . The external gear 10 of this embodiment is transitionally fitted with the rotating shaft 6 . Other compositions and connections are the same as those in Embodiment 1 or 2.

Specific Embodiment 4: This embodiment is described in conjunction with Fig. 4. The lower end of the module seat 1-1 of this embodiment is provided with a bearing seat plate installation groove 1-1-3, and the bearing seat plate 9 and the bearing seat plate installation groove 1-1 -3 transition fit. Other components and connections are the same as those in the third embodiment.

Embodiment 5: This embodiment is described with reference to FIG. 3 . The radial magnet 12 of this embodiment can rotate freely in the groove 1 - 1 - 2 . Other compositions and connections are the same as those in Embodiment 4.

Embodiment 6: This embodiment is described with reference to FIG. 3 . The vertical magnet 13 of this embodiment can rotate freely in the vertical hole 1-2-1. Other compositions and connections are the same as those in Embodiment 5.

Specific Embodiment 7: This embodiment is described with reference to FIGS. 1 to 4 . The open cavity 1-1-1 of this embodiment is located at the bottom of the square box and is provided with wiring holes 15 and transmission holes 16 . The wiring hole 15 is used to pass through the power line and data line of the motor 3 , and the transmission hole 16 is used to transmit motion to the gear 11 , and the motion is transmitted to the rotating shaft 6 through the meshing of the gear 11 and the external gear 10 . Other steps are the same as in Embodiment 6.

Working principle of the present invention: see Fig. 7, transmission hole 16 controls the rotation of rotating shaft 6 through internal gear 11 and external gear 10 meshes, and then controls the axis pointing of motor 3 and driving wheel 5. The motor 3 is started, and the drive wheel 5 is driven to rotate through the reducer 4. Since the radial magnets 12 are arranged on the four connecting surfaces of the housing 1 and the vertical magnets 13 are arranged in the four legs 1-2, the adjoining modules can realize Automatic connection of any relative orientation, the radial magnet 2 and the vertical magnet 3 form a connection force that maintains the connection relationship between the modules, and the two vertical magnets 3 between adjacent two housings automatically attract adjacent modules that rotate relative to each other The rotating shaft K-K is provided, and the driving wheel 5 drives the module A to rotate. The vertical magnet 13 on the left module A and the vertical magnet 13 on the right module A attract each other, so that the rotating module A always rotates around the rotating shaft K-K.

Claims (7)

1. A modular self-reconfiguring mobile robot driven by a single wheel, said robot comprising at least two modules (A), two modules (A) arranged side by side, each module (A) comprising housing (1), Motor seat (2), motor (3), reducer (4), driving wheel (5), rotating shaft (6), bearing (8), bearing seat plate (9), external gear (10), internal gear ( 11), two connecting elements (7), four radial magnets (12), four vertical magnets (13) and four feet (14), the housing (1) includes a module seat (1-1 ) and four legs (1-2), the module seat (1-1) is a square box, the upper end of the square box is an open cavity (1-1-1), four legs (1-2) Respectively located at the four corners below the module seat (1-1), a groove (1-1-2) is provided at the inner middle of each side wall of the module seat (1-1), and each groove (1-1 -2) is embedded with a radial magnet (12), the lower end of each leg (1-2) is provided with a vertical hole (1-2-1), each vertical hole (1-2-1) A vertical magnet (13) is embedded in the middle, a leg (14) is arranged at the lower end of each leg (1-2), and a motor slot (2-1) is arranged at the upper end of the motor seat (2), and the motor (3) Set in the motor slot (2-1), the input end of the speed reducer (4) is connected with the output end of the motor (3), the driving wheel (5) is fixed on the output shaft of the speed reducer (4), and the rotating shaft ( The lower end of 6) is connected with the motor seat (2) through the connecting element (7), the middle part of the rotating shaft (6) is supported in the bearing (8), the bearing (8) is installed in the bearing seat plate (9), and the bearing seat plate (9) is fixedly connected with the module seat (1-1), the external gear (10) is sleeved on the upper end of the rotating shaft (6), the internal gear (11) meshes with the external gear (10), and the internal gear (11) and the module seat (1-1) Fixed connection. 2. A single-wheel drive modular self-reconfigurable mobile robot according to claim 1, characterized in that: said four legs (1-2) are integrated with the module base (1-1). 3. A single-wheel-driven modular self-reconfigurable mobile robot according to claim 1 or 2, characterized in that: the external gear (10) is in transition fit with the rotating shaft (6). 4. A modular self-reconfigurable mobile robot driven by a single wheel according to claim 3, characterized in that: the lower end of the module seat (1-1) is provided with a bearing seat plate mounting groove (1-1- 3), the bearing seat plate (9) is transitionally fitted with the bearing seat plate installation groove (1-1-3). 5. A modular self-reconfigurable mobile robot driven by a single wheel according to claim 4, characterized in that: said radial magnet (12) can freely rotate in the groove (1-1-2). 6. A modular self-reconfigurable mobile robot driven by a single wheel according to claim 5, characterized in that: the vertical magnet (13) can freely rotate in the vertical hole (1-2-1) . 7. The modular self-reconfigurable mobile robot driven by a single wheel according to claim 6, characterized in that: in the open cavity (1-1-1) and at the bottom of the square box, there is a Wiring holes (15) and transmission holes (16).