CN109015616A - Spatial cell robot based on rack pinion - Google Patents

Abstract

The present invention relates to a kind of cellular machineries people based on rack pinion, by sliding block, cross guide rail, guide rail strut, support plate, guide assembly, the bevel gear of with groove, incomplete bevel gear, servo motor, rack gear, housing end plug, transmission shaft, the composition such as incomplete roller gear.Servo motor drives incomplete roller gear and incomplete bevel gear to rotate synchronously, while mobile with carry-over bar, and then the cross guide rail being connected with rack gear and guide assembly is pushed to move forward, and completes linear drives work；When the toothed portion of incomplete bevel gear and groove bevel gear are intermeshed, four groups of guide assemblies are moved radially along the groove of housing end plug, complete rotate driving work；When two spatial cell robots being connected disconnect, servo motor reversion, incomplete roller gear and with rack gear collective effect, four groups of guide assemblies start to retract, and return to initial position, the separation for completing spatial cell robot disconnects work.

Description

Spatial cell robot based on rack and pinion transmission

technical field

The invention relates to a space cell robot mechanism based on rack and pinion transmission.

Background technique

Since the 1990s, self-reconfigurable robots have developed rapidly in the United States and Japan. Connection mechanisms are the key components of self-reconfigurable robot cell modules. Self-reconfigurable robots based on different connection methods have the stability and Security is all different. At present, the existing self-reconfigurable robots in China mainly use electromagnetic, memory alloy and mechanical connection mechanisms. Due to the large size of the electromagnetic connection mechanism, poor shear resistance, high heat generation, and difficulty in reconfiguration and movement in a magnetic environment, although the memory alloy is small in size, it consumes a lot of energy, and it is difficult to adapt to the environment of the module's own power supply.

Contents of the invention

The object of the present invention is to provide a cellular robot based on rack and pinion transmission.

The basic technical scheme is: the space cell robot connection mechanism based on rack and pinion is composed of servo motor, motor support plate, incomplete cylindrical gear, rack, transmission shaft, incomplete bevel gear, support plate, cross guide rail, slider, guide rail support Rod, grooved bevel gear, shell end cover and so on. The servo motor is connected to the motor support plate as the source power device of the space cell robot. The transmission shaft is connected to the servo motor, and the incomplete cylindrical gear and the incomplete bevel gear are installed coaxially. The connection of the rack is disconnected to provide power; one end of the rack is connected to the cross guide rail, and the rack is driven forward by the rotation of the incomplete cylindrical gear, and the cross guide rail is driven forward at the same time; the slider is connected with the guide rail pole to form a guide rail assembly, and the guide rail The support rod is installed in the chute of the cross guide rail, and the cross guide rail can drive the guide rail assembly to do linear motion; the grooved bevel gear is installed on the side support plate of the space cell robot, and with the help of the sinusoidal groove on the grooved bevel gear, the guide rail rod always Tangent to the sinusoidal groove, through the rotation of the grooved bevel gear, the guide rail assembly can be driven to move radially; the shell end cover is connected with the support plate through screws to form the connection surface mechanism of the space cell robot.

The beneficial effects of the present invention are:

1. The mechanism adopts a square card slot type, which ensures the reliability of the connection and ensures that the formed robot has the ability to reconfigure, move and perform tasks.

2. This mechanism can realize the quick connection of modules, and the rack and pinion transmission ensures sufficient torque and strength to operate a certain number of adjacent modules, effectively improving the movement speed of the robot.

3. Because the mechanism relies on a complete set of mechanical structure, it is less affected by the environment, and the energy consumption is lower to save costs.

Description of drawings

Below in conjunction with accompanying drawing this mechanism is further described.

Figure 1: The overall schematic diagram of the space cell robot based on rack and pinion;

Figure 2: Schematic diagram of the driving part of the space cell robot based on the rack and pinion;

Accompanying drawing 3: Schematic diagram of block assembly of space cell robot based on rack and pinion.

In the figure: 1. Slider 2. Cross guide rail 3. Guide rail strut 4. Lock nut 5. Support plate 6. Guide rail assembly 7. Bevel gear with groove 8. Incomplete bevel gear 9. Servo motor 10. Teeth Article 11. Shell end cover 12. Screw 13. Transmission shaft 14. Incomplete cylindrical gear. 15 Motor support plate.

Detailed ways

The specific structure and implementation mode of the present invention will be further described below in conjunction with the accompanying drawings.

The structural composition of the present invention is shown in Fig. 1, Fig. 2 and Fig. 3. The space cell robot connection mechanism based on rack and pinion consists of a slider (1), a cross guide rail (2), a guide rail strut (3), a lock nut (4), a support plate (5), and a guide rail assembly (6), with Grooved bevel gear (7), incomplete bevel gear (8), servo motor (9), rack (10), housing end cover (11), screw (12), transmission shaft (13), incomplete Cylindrical gear (14), motor support plate (15) forms. The servo motor (9) is connected to the motor support plate as the source power device of the space cell robot, the transmission shaft (13) is connected to the servo motor (9), and the incomplete cylindrical gear (14) and the incomplete bevel gear (8) are coaxial Installation, by changing the energized phase sequence of the servo motor (9), power is provided for the disconnection of the connection between the cells; one end of the rack (10) is connected with the cross guide rail (2), and rotates through the incomplete cylindrical gear (14) Drive the rack (10) to move forward, and at the same time drive the cross guide rail (2) to move forward; the slider (1) is connected with the guide rail pole to form a guide rail assembly, and the guide rail pole is installed in the chute of the cross guide rail (2). The guide rail (2) can drive the guide rail assembly to move linearly; the grooved bevel gear (7) is installed on the side support plate of the space cell robot. The grooves are tangent to each other, and the rotation of the grooved bevel gear (7) can drive the guide rail assembly to move radially; the shell end cover (11) is connected with the support plate through screws (12), forming the connection surface mechanism of the space cell robot .

The working process of the present invention is as follows:

When the space cell robot based on rack and pinion works, the servo motor (9) drives the incomplete cylindrical gear (14) and the incomplete bevel gear (8) installed on the transmission shaft (13) to rotate synchronously, and the incomplete cylindrical gear (14) ) to drive the rack (10) to move, and at the same time push the cross rail (2) connected to the rack (10) and the four sets of rail assemblies installed in the chute of the cross rail (2) to move forward, when the rail assembly moves to At a certain distance, the toothed part of the incomplete cylindrical gear (14) completes meshing with the rack (10), and the toothless part begins to contact the rack (10). At this time, the space cell robot completes the linear drive work; when the incomplete When the toothed part of the bevel gear (8) meshes with the grooved bevel gear (7), the interstitial cells start to rotate and drive. Driven by the grooved bevel gear (7), the four sets of guide rail components move along the housing end cover The groove of (11) moves radially; when the guide rail strut (3) reaches the end position of the sinusoidal groove of the grooved bevel gear (7), the front block of the guide rail assembly is embedded into another space cell connected to it In the groove of the end cover (11) of the robot shell, the locking connection of the space cell robot is completed; when the two connected space cell robots are disconnected, the servo motor (9) reverses, and the bevel gear in the groove ( Driven by 7), the four sets of guide rail assemblies (6) move closer to the center of the shell end cover along the radial groove connecting the shell end cover (11), and reach the beginning position of the sinusoidal groove; Under the joint action of the gear (14) and the rack (10), the four sets of guide rail assemblies start to retract and return to the initial position to complete the separation and disconnection of the space cell robot.

Claims (1)

1. the bindiny mechanism of spatial cell robot based on rack-and-pinion is by sliding block, cross guide rail, guide rail strut, locking nut, Support plate, guide assembly, the bevel gear of with groove, incomplete bevel gear, servo motor, rack gear, housing end plug, screw, transmission Axis, incomplete roller gear, motor support plate composition, servo motor is connected with motor support plate, as spatial cell robot Power plant, transmission shaft is connected with servo motor, and incomplete roller gear and incomplete bevel gear are co-axially mounted, by changing The energization phase sequence for becoming servo motor, the connection disconnection between cell provide power；One end of rack gear is connected with cross guide rail, Band carry-over bar is rotated by incomplete roller gear to move forward, while cross guide rail being driven to move forward；Sliding block and guide rail branch Bar, which is connected, constitutes guide assembly, and guide rail strut is mounted in cross guide rail sliding slot, and cross guide rail can drive guide assembly to do straight line Movement；Groove bevel gear is mounted on spatial cell robot lateral bolster fagging, by the sinusoidal groove on groove bevel gear, Guide rail strut is tangent with sinusoidal groove always, by the rotation of groove bevel gear, guide assembly can be driven to move radially；Shell End cap is connected by screw with support plate, and the joint face mechanism of spatial cell robot is constituted.