Swarm-robot passive rotating assembly
A technology of rotating components and group robots, which is applied in manipulators, manufacturing tools, etc., can solve problems such as the difficulty in realizing the mechanical structure of the pan/tilt, and achieve the effects of large mechanical bearing capacity, reduced control difficulty, and reliable spindle rotation
Inactive Publication Date: 2011-09-21
UNIV OF SHANGHAI FOR SCI & TECH
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Problems solved by technology
In a small robot, it is difficult to realize the mechanical structure of the gimbal
Method used
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[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0021] Such as figure 2 , as shown in 3, the group robot passive rotation assembly of the present invention includes an indexing plate 1, an indexing plate lock pin 2, a quick change module interface 3, a rotating bearing 4, an indexing plate lock electromagnet 5, a steel ball 6, and a rotating assembly Housing 7, rotating assembly spindle disc 8, potentiometer fixing frame 9, lock nut 10, circuit board fixing block 11, control circuit board 12, single-turn rotary potentiometer 13, etc.
[0022] The rotating assembly shell 7, a set of steel balls 6 and the rotating assembly main shaft plate 8 realize the rolling thrust bearing structure, and combine with the rolling bearing 4 to form a simply supported beam structure of the main shaft, which strengthens the rotational rigidity of the main shaft. Among them, the bearing structure composed of steel ball...
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The invention relates to a swarm-robot passive rotating assembly. A rotating assembly shell and a rotating assembly spindle reel are connected by a group of steel balls in a rotating mode to form a rolling thrust bearing structure; a spindle at the lower end of the rotating assembly spindle reel is connected with the lower center of the rotating assembly shell in a rotating mode through a rollingbearing to form a rotating support so that a spindle simply-supported beam structure is formed; a single-turn rotary potentiometer is fixedly connected to the lower part of the spindle on the lower end of the rotating assembly spindle reel; an index plate is fixedly connected to a spindle shoulder at the lower end of the rotating assembly spindle reel; an index plate lockpin is arranged on the rotating assembly shell in a position corresponding to a gradient index groove on the index plate; and the lower part of the index plate lockpin is connected with an index plate lock electromagnet. The invention solves the technical problem that a passive rotating holder mechanism can not be arranged in a confined space between a robot moving module and a robot body module. The swarm-robot passive rotating assembly has the characteristics of passive rotation lock, absolute position detection, high mechanical bearing capacity, reliable spindle rotation, small size, and the like.
Description
technical field [0001] The invention relates to a small-scale group robot system, in particular to a passive rotating device used by the small-scale group robot system for mutual relay cooperation. Background technique [0002] Swarm robot is a small and large group robot system. Its single function is relatively simple. Through group division of labor and cooperation, complex applications emerge on a macro level. One of the typical applications requires the ability to carry cooperatively. for example figure 1 Shown: [0003] When the manipulator of robot A clamps the target object, it tries to pull it without success. It will send a signal to notify other robots to help drag and drop. Robots B and C have mechanical connections with robot A at different positions, and finally through the group cooperation as a whole figure 1 Drag in the direction shown. [0004] In another situation, it is required that the manipulator of robot B should keep a certain angle with its wal...
Claims
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IPC IPC(8): B25J19/00B25J13/00
Inventor 刘磊
Owner UNIV OF SHANGHAI FOR SCI & TECH