CN204279695U

CN204279695U - Recombination module robot

Info

Publication number: CN204279695U
Application number: CN201420656987.8U
Authority: CN
Inventors: 于宛禾; 高凯
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-11-05
Filing date: 2014-11-05
Publication date: 2015-04-22
Anticipated expiration: 2024-11-05

Abstract

The utility model provides a kind of recombination module robot, comprising: vehicle frame; Wheel, is arranged on the bottom of vehicle frame, function unit, and be arranged on vehicle frame, function unit is electrically connected with wheel, and function unit is after receiving teleinstruction, and function unit controls vehicle wheel rotation and turns to; Load bearing component, is arranged on the top of vehicle frame, and load bearing component carries different modules.The utility model provides a kind ofly can say that numeral, letter carry out the recombination module robot of recombinating.

Description

Recombination module robot

Technical field

The utility model relates to Robot Design field, particularly relates to recombination module robot.

Background technology

Modularization robot (Modular Reconfigurable Robots) is that eighties of last century the nineties starts one of research direction of showing up prominently in robot research field.Modular reconfigurable robot is built by many discrete block and forms, each module has relatively independent 26S Proteasome Structure and Function, connection (comprising mechanical connection and electrical connection) physically can be realized in many ways between these modules, robot can be become different shapes by different array modes, and the process of combined deformation is called reconstruct.

Wherein, comprise the self-reorganization robot of " numeral smart ", our wish to utilize robot to form numeral that charactron can demonstrate and letter.The numerical monitor mode of charactron by analysis, although our discovery charactron can demonstrate a lot of digital and alphabetical.But all include identical module and key element in a lot of numeral and letter, as long as these modules are recombinated, we just can use robot to make the change of numeral and letter.The robot that can carry out numeral, letter restructuring is not also had in prior art.

Utility model content

An object of the present utility model to provide a kind of recombination module robot that digital, letter can be carried out recombinating.

The utility model provides a kind of recombination module robot, comprising: vehicle frame; Wheel, is arranged on the bottom of vehicle frame, function unit, and be arranged on vehicle frame, function unit is electrically connected with wheel, and function unit is after receiving teleinstruction, and function unit controls vehicle wheel rotation and turns to; Load bearing component, is arranged on the top of vehicle frame, and load bearing component carries different modules.

Further, wheel is omni-directional wheel.

Further, vehicle frame comprises: the first chassis, is arranged in the horizontal direction; Second chassis, be arranged on the downside of the first chassis vertical direction in the horizontal direction, the first chassis is fixedly connected with by copper stud with the second chassis.

Further, function unit comprises: controller, is fixedly connected on the upper surface on the first chassis; DC machine, is electrically connected with controller, and DC machine is fixedly connected on the lower surface on the second chassis, and the output shaft of DC machine has been connected DC machine with the S. A. of wheel and has driven vehicle wheel rotation; Stepping motor, is fixedly connected on the upper surface on the first chassis, and stepping motor drives with load bearing component and is connected, and stepping motor drives load bearing component vertically move or rotate.

Further, the quantity of DC machine and wheel is multiple, and each DC machine and each wheel correspondence are arranged, and a part for multiple wheel is arranged in the horizontal direction on the second chassis, and the other part of multiple wheel is arranged in the longitudinal direction on the second chassis.

Further, recombination module robot also comprises tracing sensor, tracing sensor is arranged on the second chassis, tracing sensor is electrically connected with controller, tracing sensor is by the ground route guidance information of scanning, and scanning information is sent to controller, controller controls wheel movement by scanning information, to control direct of travel.

Further, recombination module robot also comprises power supply module and control group, power supply module and control group are arranged on the first chassis or the second chassis assembly, controller, DC machine, stepping motor and tracing sensor are electrically connected with power supply module, and whether control group is electrically connected with power supply module powers to control power supply module.

Further, controller comprises communications component, communications component and remote computer data cube computation, and communications component receives the teleinstruction from remote computer.

Function unit is used for keeping communications status and data cube computation with computer or remote controllers, and computer and remote controllers can indicate function unit to carry out control recombination module robot to carry out position and move.Load bearing component is for carrying the module needing to carry out restructuring letter and number, and this module has different patterns.At recombination module machine man-hour, first will a module of restructuring be needed to place on the load bearing component of recombination module robot, put procedure can manually or mechanical process, then recombination module robot carrys module and passes through scanning device, scanning device is by the pattern of scan module, send information to computer, computer calculates the position after the restructuring of this module, the location information of this position is sent to function unit by computer, function unit is after receiving concrete location information, by controlling the trend of wheel, module is transported to the position after its restructuring, to complete restructuring procedure.

According to hereafter by reference to the accompanying drawings to the detailed description of the utility model specific embodiment, those skilled in the art will understand above-mentioned and other objects, advantage and feature of the present utility model more.

Accompanying drawing explanation

Hereinafter describe specific embodiments more of the present utility model with reference to the accompanying drawings by way of example, and not by way of limitation in detail.Reference numeral identical in accompanying drawing denotes same or similar parts or part.It should be appreciated by those skilled in the art that these accompanying drawings may not be drawn in proportion.In accompanying drawing:

Fig. 1 is the schematic diagram of the recombination module robot according to the utility model embodiment;

Fig. 2 is the schematic diagram in another direction of the recombination module robot of Fig. 1;

Fig. 3 is the schematic diagram of module when initial condition;

Fig. 4 is the schematic diagram of module at the new block combiner of reorganized rear formation.

Detailed description of the invention

Fig. 1 is the schematic diagram of the recombination module robot according to the utility model embodiment.The recombination module robot of the present embodiment has: vehicle frame 10, wheel 20, function unit 30 and load bearing component 40, wheel 20 is arranged on the bottom of vehicle frame 10, function unit 30 is arranged on vehicle frame 10, function unit 30 is electrically connected with wheel 20, function unit 30 is after receiving teleinstruction, function unit 30 controls wheel 20 and rotates and turn to, and load bearing component 40 is arranged on the top of vehicle frame 10, and load bearing component 40 carries different modules 50.

Function unit 30 is for keeping communications status and data cube computation with computer or remote controllers, and computer and remote controllers can indicate function unit 30 to carry out control recombination module robot to carry out position and move.Load bearing component 40 is for carrying the module needing to carry out restructuring letter and number, and this module 50 has different patterns, see Fig. 3.At recombination module machine man-hour, first will a module 50 of restructuring be needed to place on the load bearing component 40 of recombination module robot, put procedure can manually or mechanical process, then recombination module robot carrys module 50 and passes through scanning device, scanning device is by the pattern of scan module 50, send information to computer, computer calculates the position after the restructuring of this module 50, the location information of this position is sent to function unit 30 by computer, function unit 30 is after receiving concrete location information, by controlling the trend of wheel, module 50 is transported to the position after its restructuring, to complete restructuring procedure.Such as, see Fig. 3 and Fig. 4, module 50 comprises module 1, module 2 52, module 3 53, module 4 54, carries out permutation and combination by different instructions to module, can form the digital 0-9 as shown in Fig. 4 respectively.Certainly, also can select accordingly different modules be used for permutation and combination become letter or other patterns.

In the place of restructuring procedure, place is divided into original area, the district that awaits orders, assembling district.Recombination module robot changes shape and the type of module in original area, completes self poisoning and special project awaiting orders in district, completes reconstruct assembling in assembling district.

Because robot wants to identify self position, so we add a means of identification awaiting orders in district.We find can jaggedly exist in the various shapes in the basic module of robot, so we have selected the opto-electronic pickup of identifying color can carry out the shape of identification module robot, finally determine self-position.

Consider that the recombination module robot of the present embodiment has needed the movement of peripheral direction, therefore the wheel 20 of this recombination module robot is omni-directional wheel.

See Fig. 2, vehicle frame 10 comprises the first chassis 11 and the second chassis 12, first chassis 11 is arranged in the horizontal direction, and the second chassis 12 is arranged on the downside of the first chassis 11 vertical direction in the horizontal direction, and the first chassis 11 is fixedly connected with by copper stud 13 with the second chassis 12.

Further preferably, the function unit 30 of recombination module robot comprises controller 31, DC machine 32 and stepping motor 33, and controller 31 is fixedly connected on the upper surface on the first chassis 11; DC machine 32 is electrically connected with controller 31, and DC machine 32 is fixedly connected on the lower surface on the second chassis 12, and the output shaft of DC machine 32 has been connected DC machine 32 and has been with motor car wheel 20 to rotate with the S. A. of wheel 20; Stepping motor 33 is fixedly connected on the upper surface on the first chassis 11, and stepping motor 33 drives with load bearing component 40 and is connected, and stepping motor 33 drives load bearing component 40 vertically move or rotate.Like this, controller 31 by controlling running or the stopping of DC machine 32, and then can control wheel running.And stepping motor 33 according to specific needs, can select the sense of motion of the load bearing component 40 needed, as vertical up-and-down movement, or the rotary motion of level.

More specifically, the recombination module robot of the present embodiment, as shown in Figure 2, the quantity of DC machine 32 and wheel 20 is multiple, each DC machine 32 and each wheel 20 correspondence are arranged, a part for multiple wheel 20 is arranged in the horizontal direction on the second chassis 12, and the other part of multiple wheel 20 is arranged in the longitudinal direction on the second chassis 12.In the present embodiment, DC machine 32 and wheel 20 are four, two both sides being arranged in the second chassis 12 horizontal direction, two other is arranged in the both sides of the second chassis 12 longitudinal direction, and the vehicle frame of recombination module robot can be made like this to move as required along four direction.Controller 31 comprises communications component, communications component and remote computer data cube computation, and communications component receives the teleinstruction from remote computer.

In the conceptual design of the present embodiment, first contemplate the module recombination form using gps location.On the body of each modular robot, increase a gps module exactly, between can carry out communication thus find respective position.Through overtesting, find that the location of gps module can not reach the location of Centimeter Level, cannot designing requirement be reached.

Consider that ZigBee is a kind of highly reliable wireless data sending network in addition, be similar to CDMA and GSM network.ZigBee digital transmission module is similar to mobile network base station.Communication distance from the 75m of standard to hundreds of rice, several kilometers, and support infinite expanding.ZigBee be one by a wireless data sending network platform that can how to form to 65000 wireless data transmission modules, in whole network range, can intercom mutually between each ZigBee-network digital transmission module, the distance between each node of network can from the 75m infinite expanding of standard.Find after test, although ZigBee technology can solve the problem of two mutual communications of robot and searching, need to confirm that self direction could form suitable letter and number.So this scheme is also not suitable for.Robot is used to carry out the mode of line walking to complete the regrouping process of robot so we have suggested.

Therefore, recombination module robot is also provided with the tracing sensor 61 for line walking, tracing sensor 61 is arranged on the second chassis 12, tracing sensor 61 is electrically connected with controller 31, tracing sensor 61 is by the ground route guidance information of scanning, and scanning information is sent to controller 31, controller 31 controls wheel 20 by scanning information and moves, to control direct of travel.

Particularly, also comprise power supply module and control group 62, power supply module and control group 62 are arranged on the first chassis 11 or the second chassis 12 assembly, controller 31, DC machine 32, stepping motor 33 and tracing sensor 61 are electrically connected with power supply module, and whether control group 62 is electrically connected with power supply module powers to control power supply module.

So far, those skilled in the art will recognize that, although multiple exemplary embodiment of the present utility model is illustrate and described herein detailed, but, when not departing from the utility model spirit and scope, still can directly determine or derive other modification many or amendment of meeting the utility model principle according to content disclosed in the utility model.Therefore, scope of the present utility model should be understood and regard as and cover all these other modification or amendments.

Claims

1. a recombination module robot, is characterized in that, comprising:

Vehicle frame (10);

Wheel (20), is arranged on the bottom of described vehicle frame (10),

Function unit (30), be arranged on described vehicle frame (10), described function unit (30) is electrically connected with described wheel (20), described function unit (30) is after receiving teleinstruction, and described function unit (30) controls described wheel (20) and rotates and turn to;

Load bearing component (40), is arranged on the top of described vehicle frame (10), and described load bearing component (40) carries different modules (50).

2. recombination module robot according to claim 1, is characterized in that, described wheel (20) is omni-directional wheel.

3. the recombination module robot according to any one of claim 1, is characterized in that, described vehicle frame (10) comprising:

First chassis (11), is arranged in the horizontal direction;

Second chassis (12), be arranged on the downside of described first chassis (11) vertical direction in the horizontal direction, described first chassis (11) is fixedly connected with by copper stud (13) with described second chassis (12).

4. recombination module robot according to claim 3, is characterized in that, described function unit (30) comprising:

Controller (31), is fixedly connected on the upper surface of described first chassis (11);

DC machine (32), be electrically connected with described controller (31), described DC machine (32) is fixedly connected on the lower surface of described second chassis (12), and the output shaft of described DC machine (32) has been connected described DC machine (32) and has driven described wheel (20) to rotate with the S. A. of described wheel (20);

Stepping motor (33), be fixedly connected on the upper surface of described first chassis (11), described stepping motor (33) drives with described load bearing component (40) and is connected, and described stepping motor (33) drives described load bearing component (40) vertically move or rotate.

5. recombination module robot according to claim 4, it is characterized in that, the quantity of described DC machine (32) and described wheel (20) is multiple, each described DC machine (32) and each described wheel (20) correspondence are arranged, a part for multiple described wheel (20) is arranged in the horizontal direction of described second chassis (12), and the part that multiple described wheel (20) is other is arranged in the longitudinal direction of described second chassis (12).

6. recombination module robot according to claim 5, it is characterized in that, also comprise tracing sensor (61), described tracing sensor (61) is arranged on described second chassis (12), described tracing sensor (61) is electrically connected with described controller (31), described tracing sensor (61) is by the ground route guidance information of scanning, and scanning information is sent to described controller (31), described controller (31) controls described wheel (20) motion, to control direct of travel by described scanning information.

7. recombination module robot according to claim 6, it is characterized in that, also comprise power supply module and control group (62), described power supply module and described control group (62) are arranged on described first chassis (11) or described second chassis (12) assembly, described controller (31), described DC machine (32), described stepping motor (33) and described tracing sensor (61) are electrically connected with described power supply module, whether described control group (62) is electrically connected to control described power supply module and powers with described power supply module.

8. recombination module robot according to claim 4, is characterized in that, described controller (31) comprises communications component, described communications component and remote computer data cube computation, and described communications component receives the teleinstruction from described remote computer.