CN100348380C - 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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- CN100348380C CN100348380C CNB2005100273230A CN200510027323A CN100348380C CN 100348380 C CN100348380 C CN 100348380C CN B2005100273230 A CNB2005100273230 A CN B2005100273230A CN 200510027323 A CN200510027323 A CN 200510027323A CN 100348380 C CN100348380 C CN 100348380C
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- angular wheel
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- transmission shaft
- bevel pinion
- key
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Abstract
The present invention relates to a space transmission mechanism of a self-reconstructed robot basic module, which can be used for the technical field of mechanical and electronic devices. The present invention comprises a casing, a large tapered gear set, a small tapered gear set, a transmission shaft, clutch devices and a motor. The present invention has the connection mode that a flange of the motor is fixed on the casing; one end of the small tapered gear set is connected with an output shaft of the motor, and the other end is connected with the transmission shaft by a key; simultaneously, the large tapered gear set is also connected with the transmission shaft by a key; both ends of the transmission shaft are respectively provided with one clutch device; four output ends of the large tapered gear set and the small tapered gear set are respectively provided with one clutch device. The present invention is designed with a space motion transmission mechanism after the motion characteristics of a self-reconstructed and self-repair robot are analyzed; the self-reconstructed and self-repair robot has simple installation and compact structure by the mechanism, and the decomposition of the motion of six directions can be completed; further, the rotation motion of any time and any direction of a basic module can be completed.
Description
Technical field
What the present invention relates to is the transmission mechanism in a kind of Robotics field, specifically is a kind of self-reconstructed self-repair robot basic analogue space transmission.
Background technology
The self-reorganization robot of three-dimensional isomorphism, because homoorganicity needs being delivered on six uniform directions that motion is equal to, the design of this spatialmechanism 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 intelligence 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 transmission mechanism, and this transmission is to transmit motion to 12 power transmission shafts by speed belt, and each is all installed near the corner of matrix axle, though its available part is arranged, but space 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 conformation, space connection and reasonable arrangement, be a kind of all-gear drive mechanism, thereby proposed a kind of novel solution for solving the problem that exists in the background technology.
The present invention is achieved by the following technical solutions, the present invention includes: housing, big angular wheel group, the bevel pinion group, power transmission shaft, arrangement of clutch, motor, its connected mode 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 power transmission shaft, and simultaneously big angular wheel group is also by key power transmission shaft connection therewith, an arrangement of clutch is respectively established at the two ends of power transmission shaft, and four outputs of big angular wheel group and bevel pinion group are also respectively established an arrangement of clutch.
Big angular wheel group comprises: three angular wheels, first, second output shaft, its connected mode is: second angular wheel links to each other by key with power transmission shaft, this key passes to second angular wheel to the rotation of power transmission shaft, cluster gear and engagement vertical mutually with first bevel pinion, cluster gear and engagement also vertical mutually with second bevel pinion, the first, the third hand tap generating gear links to each other with first, second output shaft with key, the rotation of power 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: pinion, cluster gear, first, second bevel pinion, the 3rd, the 4th output shaft, its connected mode is: pinion is connected on the motor output shaft with key, be used for transmitting motion, pinion and cluster gear engagement, cluster gear is connected an end of power transmission shaft with key, cluster gear and engagement vertical mutually with first bevel pinion, cluster gear and engagement also vertical mutually, two bevel pinion keys and the 3rd with second bevel pinion, the 4th output shaft links to each other, like this rotation of motor is delivered to three different directions, thus the motion of an available Electric Machine Control six direction.
What the present invention is directed to three-dimensional, isomorphism has designed the spatialmechanism of basic module from the spatial movement characteristics of reconstruct self-repair robot, finished the motor indifference that rotatablely moves has been delivered to six actions on the different directions, owing to all adopt gear drive, have accurate gearratio, 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 pinion rotation in the bevel pinion group on the motor output shaft, cluster gear engagement in pinion 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 power 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 power transmission shaft and the motion of two output shafts; The other end of power 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 the motion of motor is delivered on a power transmission shaft and four output shafts, on the two ends of power transmission shaft and four output shafts an arrangement of clutch 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 space structure compactness, number of parts is less, be easy to realize, install, fixing and gearratio 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
The specific embodiment
As shown in Figure 1 and Figure 2, the present invention includes: housing 1, big angular wheel group 2, bevel pinion group 3, power transmission shaft 4, arrangement of clutch 5, motor 6, its connected mode 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 power transmission shaft 4 link to each other by key, simultaneously big angular wheel group 2 also by key therewith power transmission shaft 4 connect, an arrangement of clutch 5 is respectively established at the two ends of power transmission shaft 4, and four outputs of big angular wheel group 2 and bevel pinion group 3 are also respectively established an arrangement of clutch 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 power transmission shaft 4 again, has just transmitted motion on the face of six direction by arrangement of clutch 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 connected mode is: second angular wheel 8 and power transmission shaft 4 link to each other by key, and it is vertical mutually and mesh that the rotation of power transmission shaft 4 is passed to second angular wheel, 8, the second angular wheels 8 and first angular wheel 7, and the engagement also vertical mutually with third hand tap generating gear 9 of second angular wheel 8, first angular wheel 7, third hand tap generating gear 9 usefulness keys link to each other with two output shafts 10.
Claims (1)
1, a kind of spatialmechanism of self-reorganization robot basic module, comprise: housing (1), power transmission shaft (4), arrangement of clutch (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 power transmission shaft (4), simultaneously big angular wheel group (2) is also by key power transmission shaft (4) connection therewith, an arrangement of clutch (5) is respectively established at the two ends of power transmission shaft (4), and four outputs of big angular wheel group (2) and bevel pinion group (3) are also respectively established an arrangement of clutch (5);
Big angular wheel group (2) comprising: first angular wheel (7), second angular wheel (8), third hand tap generating gear (9), two output shafts (10), second angular wheel (8) links to each other by key with power transmission shaft (4), second angular wheel (8) and engagement vertical mutually with first angular wheel (7), second angular wheel (8) and engagement also vertical mutually with third hand tap generating gear (9), first angular wheel (7), third hand tap generating gear (9) link to each other with two output shafts (10) with key;
Bevel pinion group (3) comprising: pinion (11), cluster gear (12), first bevel pinion (13), second bevel pinion (14), two output shafts (15), pinion (11) is connected on motor (6) output shaft with key, pinion (11) and cluster gear (12) engagement, cluster gear (12) is connected an end of power transmission shaft (4) with key, cluster gear (12) and engagement vertical mutually with first bevel pinion (13), cluster gear (12) and engagement also vertical mutually with second bevel pinion (14), first bevel pinion (13), second 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 CN1709658A (en) | 2005-12-21 |
| CN100348380C true CN100348380C (en) | 2007-11-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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Families Citing this family (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 |
| CN104249368B (en) * | 2014-09-09 | 2016-06-01 | 上海交通大学 | Double columnar form Self-Reconfigurable Modular Robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3971266A (en) * | 1973-07-17 | 1976-07-27 | Nippondenso Co., Ltd. | Power transmission device |
| US4047448A (en) * | 1975-05-15 | 1977-09-13 | Sofermo | Robot head |
| CN1194604A (en) * | 1996-04-09 | 1998-09-30 | 株式会社安川电机 | Wrist mechanism for an industrial robot |
| CN1259421A (en) * | 2000-02-25 | 2000-07-12 | 清华大学 | Multielement structure of multirobot mobile system capable of disassembling/reassembling |
| WO2001051259A2 (en) * | 2000-01-11 | 2001-07-19 | Hai Hong Zhu | Modular robot manipulator apparatus |
| CN1318453A (en) * | 2001-05-28 | 2001-10-24 | 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
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3971266A (en) * | 1973-07-17 | 1976-07-27 | Nippondenso Co., Ltd. | Power transmission device |
| US4047448A (en) * | 1975-05-15 | 1977-09-13 | Sofermo | Robot head |
| CN1194604A (en) * | 1996-04-09 | 1998-09-30 | 株式会社安川电机 | Wrist mechanism for an industrial robot |
| WO2001051259A2 (en) * | 2000-01-11 | 2001-07-19 | Hai Hong Zhu | Modular robot manipulator apparatus |
| CN1259421A (en) * | 2000-02-25 | 2000-07-12 | 清华大学 | Multielement structure of multirobot mobile system capable of disassembling/reassembling |
| CN1318453A (en) * | 2001-05-28 | 2001-10-24 | 北京邮电大学 | Omnibearing walking mechanism of spherical robot |
Non-Patent Citations (1)
| Title |
|---|
| 自重构机器人的体系结构与分类研究 徐威，姜文华，王石刚.制造业自动化，第25卷第7期 2003 * |
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| Publication number | Publication date |
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| CN1709658A (en) | 2005-12-21 |
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Granted publication date: 20071114 Termination date: 20100630 |