• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Robotic module and modular robot comprising said robotic module. Robotic module that through a single actuator (2) can move through three-dimensional environments. The robotic module is simple and light configuration with a frame (1) inside which is a first axis (3) driven by the actuator (2). To be able to perform the three-dimensional displacement comprises at least two mechanisms of transmission ordered of the movement of a solidarity transmission means to axes comprising adhesion means at their ends. The displacement is achieved by fixing one of the adhesion means to the surface so that the frame rotates on the axis comprising said fixing means. A modular robot is also described which comprises a plurality of robotic modules to allow movement through more complex environments. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2684377A1
    申请号:ES201730564
    申请日:2017-03-31
    公开日:2018-10-02
    发明作者:Adrian PEIDRÓ VIDAL；Oscar REINOSO GARCÍA；José María MARÍN LÓPEZ；Luis Miguel JIMÉNEZ GARCÍA；Arturo Gil Aparicio；Luis PAYA CASTELLÓ；Mónica BALLESTA GALDEANO；David ÚBEDA GONZÁLEZ
    申请人:Universidad Miguel Hernandez de Elche；
    IPC主号:
    专利说明:

    OBJECT OF THE INVENTION
    The present invention is part of the technical field of robots that can move through three-dimensional spaces.
    More specifically, a robotic module is described that can be used alone, or in combination with other identical robotic modules forming a modular robot, and comprising a single actuator.
    BACKGROUND OF THE INVENTION
    Different solutions of modular robots are known from the state of the art. It is known for example document US20110073386 describes a robot that can climb walls by means of an alternating movement of a pivot point of the robot. Likewise, the robot comprises a pendulum that, due to the alternate movement of the robot acquires a certain pendular inertia that is used to allow the advance through the wall.
    An important technical problem associated with this robot is that the movement of advance is very difficult to control because it is based on the movement of inertia of the pendulum. This robot is also very limited because it cannot make plane changes.
    From the state of the art, document CN103505143 is also described, which describes a robot that solves the previously described problem of being able to move only by a plane. However, to achieve this versatility of movements, the robot needs more than one actuator so its manufacturing and control complexity is greater than that of the previously described robot.
    Document US2006214622 also describes a robot that can move through different planes but also needs more than one engine to achieve this functionality.
    It is also known document US2004140786 describes a robot that allows to cross obstacles. It is a caterpillar type robot with an elongated body, of circular and flexible section, comprising a plurality of interrelated segments that give it the ability to move caterpillar type. The important disadvantage of this robot is its high complexity.
    Document EP2874512 is also known which describes a mobile robot capable of moving in three-dimensional environments as a crawling animal. It comprises a plurality of segments that have four articulated leg mechanisms arranged around its periphery. The segments are joined together by means of articulated joints and a drive shaft that crosses the entire robot and connects the segments.
    US2006214622 describes a robot with a front half, a rear half and a rotating articulated joint between them. Each half of the robot's body comprises four legs to rest on the surface on which it travels.
    In US2004119435 a robot is disclosed with an insect-like configuration comprising six legs arranged in groups of three, parallel to each other. The horizontal direction is carried out by keeping one of the three-legged groups resting on the ground while the other three-legged group moves in an upward and forward arc before returning back to the flat surface on which it travels. . This allows the robot to remain level and stable during its forward movement in the horizontal direction. Document EP1120143 also describes a robot with insect type configuration.
    Likewise, from the state of the art the document US2003109642 is known, which is a robot destined to carry out climbing movements inside the corners.
    DESCRIPTION OF THE INVENTION The present invention describes a modular robot comprising at least one module.
    Robotic, simple and lightweight configuration and operated with a single actuator, which has the possibility of displacement in three-dimensional environments.
    Another object of the invention is a modular robot comprising a plurality of robotic modules linked together. With the modular robot you can explore more complex environments.
    An advantage of the present invention is that the robotic module can move to any position (not limited to discrete movements) even, as previously described, to points that are in different planes. In addition, this functionality has been achieved with a robotic module that is much simpler than those known in the state of the art.
    For this, the robotic module comprises a frame in which there is a single actuator, a first axis that crosses said frame in the longitudinal direction and at least two transmission mechanisms. Each transmission mechanism comprises three transmission means, interconnected and preferably conical gear wheels. Each transmission means is integral with an axis comprising an adhesion means at its end, configured to allow the robotic module to be fixed to the surface through which it travels.
    In a possible configuration of the robot it is necessary to advance a robotic module located in a certain plane, it is carried out by alternately fixing the adhesion means that are arranged in said plane. In such a way that, by way of non-limiting example, having a module with at least two adhesion means oriented in the same plane (that is, each adhesion means of a transmission mechanism comprises a corresponding adhesion means in the other mechanism of transmission), one of them is fixed on the surface corresponding to the above-mentioned plane; while the other is free.
    The movements of the transmission mechanisms actuated by the actuator cause the first axis, and therefore the complete frame, to rotate with respect to the point of the surface on which the adhesion means are fixed, so that the other means of adhesion performs an arc movement. That is, the center of the displacement ark is the point of attachment of the means of adhesion in the plane.
    To make a plane change, the robotic module is moved to the junction zone between planes (in a room it would be for example the junction zone between the floor and one of the walls). Once in that position, to make the displacement on the new plane, the adhesion means that are oriented perpendicular to the adhesion means that were being used are used.
    The robotic module is especially suitable for the exploration of environments where concave perpendicular planes are found. Examples of this type of environment would be closed rooms such as homes or premises.
    The robotic module can be moved on the floor, on the walls and even on the ceiling, changing planes simply thanks to the combination of adhesion means it comprises. Thus, the robotic module can be used for example to perform disinfection, cleaning, surveillance and inspection tasks.
    When more complex movements are desired, the modular robot of the invention can be used, which comprises a plurality of robotic modules as previously described. The robotic modules are joined together by means of adhesion means in the same way in which said adhesion means are used for fixing on the surface on which they are moving.
    The number of combinations of robotic modules for the conformation of the modular robot is infinite, so the possible applications of said robot are also endless. Some of the possible applications of the modular robot would be the exploration of more complex enclosures (not necessarily formed by concave perpendicular planes), assistance to people and the handling and transport of objects.
    DESCRIPTION OF THE DRAWINGS
    To complement the description being made and in order to help a better understanding of the features of the invention, according to an example
    Preferred for practical realization thereof, an integral part of said description is camped, a set of drawings where they are illustrative and not limiting, the following has been represented:
    Figure 1.- Shows a perspective view of the robotic module, partially sectioned to show how its elements are linked together.
    Figure 2.- Shows a top view of the robotic module, partially sectioned to show how its elements are joined together.
    Figures 3a-d.-Shows schematic views of the movement of the robotic module along a plane.
    Figure 4a-c.-Shows views of the robotic module making a concave transition between two planes perpendicular to each other.
    Figure 5a.-Shows a side view of several robotic modules joined by climbing to a table.
    Figure 5b.-Shows a top view of the attached robotic modules going up to the table of Figure 5a.
    PREFERRED EMBODIMENT OF THE INVENTION
    An example of embodiment of the present invention is described below with the aid of Figures 1 to 5.
    The robotic module comprises a frame (1) with an actuator (2) disposed inside said frame (1), which in an exemplary embodiment can be an electric motor. The actuator (2) is linked to a first shaft (3) that longitudinally crosses the frame (1). The actuator (2) controls the movement of the first axis
    (3)
    The robotic module also includes at least two transmission mechanisms.
    Each of them in turn comprises a first transmission means (5), a second transmission means (6) and a third transmission means (9), as seen in Figures 1 and 2.
    The first transmission means (5) is integral with the first axis (3) such that the rotation of the first axis (3) on its own longitudinal axis causes the rotation of said first transmission means (5).
    The second transmission means (6) is integral with a second axis (7) which protrudes on one side of the frame (1), and said second axis (7) comprises at its end a second means of adhesion (8).
    The third transmission means (9) is integral with a third axis (10) which protrudes from another face of the frame (1), and said third axis (10) comprises at its end a third means of adhesion (11).
    When the first transmission means (5) of each transmission mechanism rotates, driven by the rotation movement of the first axis (3), commanded by the actuator (2), causes the movement of the second transmission means (6) and the third transmission means (9) of its corresponding transmission mechanism. This in turn causes the rotation of the second axis (7) and the third axis (10) with respect to their respective longitudinal axes.
    Thus, when one of the second or third adhesion means (8, 11) is fixed to a surface, and the corresponding second or third adhesion means (8, 11) of the other transmission mechanism is free, it is generated an advance movement of the robotic module. This forward displacement is a consequence of the pivotal movement of the first axis (3), and therefore of the frame (1), with respect to the axis (7.10) comprising the means of adhesion (8, 11) fixed to the surface.
    Likewise, the robotic module comprises at least one first adhesion means (4) disposed at each end of the first axis (3) such that when one of said first adhesion means (4) is fixed to the surface and the actuator (2) is actuated ), the movement of the first axis (3) causes the rotation of the frame (1) around said first axis (3). The first means of adhesion (4) are especially useful when
    Robotic modules combine with each other to form a modular robot with greater mobility.
    The adhesion means (4, 8, 11) are preferably arranged towards planes that are perpendicular to each other in such a way that they allow the robotic module to move through the three Cartesian planes. In addition, as previously described, the rotational movement of the frame (1) around the axis comprising the means of adhesion attached to the displacement surface at each moment, allows the robotic module to be moved to any point of the desired space reach.
    In Figures 3a-d, schematic views of the movement of the robotic module of the present invention can be seen moving along a surface. For this, as shown in the figure, one of the adhesion means (in this case the second adhesion means (8) has been represented) is fixed to the surface on which the robotic module is displaced. When the actuator (2) is operated, the first axis (3) is rotated, which causes the first transmission means (5) to rotate, which in turn turn the second and third transmission means (6, 9). .
    As in this case one of the second adhesion means (8) is fixed to the surface, the rotation of the second transmission means (6) cannot cause the second axis (7) to rotate (which is fixed through the second means of adhesion (8)). Thus, this causes the rotation of the first axis (3) around said second axis (7) that is fixed.
    This rotation of the first axis (3), and therefore of the frame (1), allows the corresponding means of adhesion of the other transmission mechanism to be positioned at a specific point on the surface on which the robotic module moves (this point will be a function of the default path to be followed by the robotic module). In an exemplary embodiment of the invention, the second adhesion means (8) or the third adhesion means (11) of the different transmission mechanisms are arranged in the same plane.
    An initial position in which two adhesion means (in this case the second adhesion means (8 »are attached to the surface (represented as a circle with an" x "inside)) is shown in Figure 3a. the next step, figure 3b, one of the adhesion means (second adhesion means (8) in the figure) is kept fixed so that, when the actuator (2) is operated, the frame (1) rotates around the corresponding axis to said adhesion means (second axis in this case) In Figure 3b this movement is represented with an arrow.
    Subsequently, as shown in Figure 3c, the adhesion means that has just been displaced is fixed, now allowing rotation of the frame (1) around the axis of this adhesion means (second axis in this case). This movement has also been represented with an arrow in said figure 3c. These fixation / release movements of the adhesion means described allow the movement of the robotic module between any two positions on a single plane. A situation like the one in figure 3b is shown in figure 3d but it can be seen, in reference to said figure 3b, the displacement made by the robotic module in only two movements.
    The fixation and release of the adhesion means (4, 8, 11) can be done by any usual fixing system. As non-limiting examples, magnetic adhesion, adhesion with suction cups (by suction), electrostatic adhesion, chemical adhesion or mechanical fastening could be used. The solution used for fixing the adhesion means (4, 8, 11) will depend on the characteristics of the surfaces through which the robotic module will move. Thus, for example, if the robotic module is to be displaced by ferromagnetic surfaces, the magnetic clamping solution can be used.
    In an exemplary embodiment, the adhesion means (4, 8, 11) have no possibility of movement in the direction of their longitudinal axis (3, 7, 10) so that by moving the robotic module, the adhesion means (4 , 8, 11) corresponding that is not fixed to the surface is dragged on it.
    In another exemplary embodiment, at least one of the adhesion means (4, 8, 11) has the possibility of moving in the direction of its longitudinal axis (3, 7, 10). This allows the robotic module to be used even in cases in which the drag of the
    Adhesion medium (4, 8, 11) on the surface is inadmissible, for example, because a lot of wear or friction is caused too much.
    Said movement of the adhesion means (4, 8, 11) can be of the all / nothing type: when the adhesion means (4, 8, 11) is fixed to the superstition, it extends in its longitudinal direction to enter contact with the surface to which it must be fixed. When the adhesion means (4, 8, 11) is not fixed to the surface, it retracts in its longitudinal direction, so that there is a certain distance between said adhesion means (4, 8, 11) and the surface, and friction between the two elements is thus avoided.
    As previously described, the different adhesion means (4, 8, 11) of each transmission mechanism are arranged in different planes. This allows the robotic module to make concave transitions between different superticies, on planes with different inclinations. Preferably, in the exemplary embodiment in which the axes of the transmission mechanism are arranged perpendicularly to each other, each of the adhesion means is oriented towards one of the planes of the isometric perspective.
    In an embodiment of the invention the second axis (7) of each transmission mechanism is perpendicular to the first axis (3). In another embodiment of the invention the third axis (10) of each transmission mechanism is perpendicular to the first axis (3). It may also be that in the robotic module of the invention the second axis (7) and the third axis (10) of each transmission mechanism are perpendicular to each other and / or perpendicular to the first axis (3).
    An example of transition between planes with the robotic module of the present invention has been shown in Figures 4a-c. All necessary movements are managed by the single actuator (2).
    Thus, in figures 4a-c a robotic module has been represented at the moment in which its displacement comprises a plane change. As can be seen in these figures, when the robotic module is moving over a certain surface, on which it moves, for example, with the second means of adhesion (8), and it reaches a plane change (in this case it changes to a surface perpendicular to it), this figure shows how the third means of adhesion (11) begin to be used for displacement.
    In a preferred embodiment, the transmission mechanisms are gears. Also, in an exemplary embodiment, at least one selected from the first transmission means (5), the second transmission means (6) and the third transmission means (9) is a toothed cogwheel. In said embodiments, each gear wheel has its axis of rotation coinciding with the longitudinal axis of the axis to which it is attached.
    The object of the invention is also a modular robot comprising a plurality of robotic modules as previously described. Precisely, the fact that it can be combined with other similar robotic modules is one of the most important advantages of the proposed robotic module. This allows you to perform tasks and explore more complex three-dimensional environments.
    An example of embodiment is shown in Figures 5a-b in which four robotic modules have been combined creating a complex modular robot. In this case the movement to a table has been represented. In figure 5a a side view is observed while in figure 5b the top view of the same situation has been represented.
    The union of the robotic modules to give rise to the modular robot is done by joining adhesion means of adjacent robotic modules. In an exemplary embodiment, said union between robotic modules can be done autonomously. To do this, the robotic modules to be combined move around the environment until they adopt the necessary training to build the desired modular robot. Already placed in said position the corresponding means of adhesion (4, 8, 11) are faced, and joined by them. In this way a modular robot with the desired kinematic chain is achieved. To achieve the desired movement path for the modular robot, all robotic modules must move in synchronized fashion.
    Thus, the robotic modules that make up a modular robot are linked together by joining at least one of the adhesion means (4, 8, 11) of a robotic module with at least one of the adhesion means (4, 8, 11) of a robotic module adjacent to it.
    The plane on which the robotic module moves is not necessarily limited to a flat surface, but the robotic module, thanks to its multiple support means, allows to avoid possible protrusions or recesses in the surface. Also, the modular robot allows to overcome obstacles in even more complex ways.
    权利要求:
    Claims (11)
    [1]
    1.-Robotic module comprising a frame (1) comprising:- an actuator (2) disposed inside the frame (1);-a first axis (3) that longitudinally crosses the frame (1) and is linked to theactuator (2) to be driven by it; Y,It is characterized by additionally comprising:-at least two transmission mechanisms, where each of them respectivelyunderstands:
    - a first transmission means (5) integral with the first axis (3) such that the rotation of the
    first axis (3) on its own longitudinal axis causes the rotation of said first
    transmission medium (5);
    - a second transmission means (6) integral to a second axis (7) which
    protrudes from one side of the frame (1), where said second axis (7) comprises
    at its end a second means of adhesion (8); Y
    - a third transmission means (9) integral to a third axis (10) which protrudes
    on the other side of the frame (1), and said third axis (10) comprises at its end a
    third means of accession (11); so that when the first transmission means (5) of each transmission mechanism rotates, driven by the rotation movement of the first axis (3) commanded by the actuator (2), it causes the movement of the second transmission means (6) and of the third transmission means (9) of its corresponding transmission mechanism, causing the rotation of the second axis (7) and the third axis (10) with respect to their respective longitudinal axes; so that when one of the second or third adhesion means (8, 11) is respectively fixed to a surface, and the corresponding second or third adhesion means (8, 11) of the other transmission mechanism is free, it is generated an advance movement of the robotic module when there is a pivotal movement of the first axis (3), and therefore of the frame (1), with respect to the second axis (7) or the third axis (10) comprising the second or third means of adhesion (8, 11) fixed to the surface; and the robotic module comprises first adhesion means (4) respectively arranged at each end of the first axis (3) such that when one of said first adhesion means (4) is fixed to the surface and the actuator (2) is actuated , the movement of the first axis (3) causes the rotation of the frame (1) around said first axis (3).
    [2]
    2. Robotic module according to claim 1 characterized in that the second axis (7) of each transmission mechanism is perpendicular to the first axis (3).
    [3]
    3. Robotic module according to claim 1 characterized in that the third axis (10) of each transmission mechanism is perpendicular to the first axis (3).
    [4]
    4. Robotic module according to claim 1 characterized in that the second axis (7) and the third axis (10) of each transmission mechanism are perpendicular to the first axis (3).
    [5]
    5. Robotic module according to claim 1 characterized in that the second axis (7) and the third axis (10) of each transmission mechanism are perpendicular to each other.
    [6]
    6. Robotic module according to claim 1 characterized in that the transmission mechanisms are gears.
    [7]
    7. Robotic module according to claim 1 characterized in that at least one selected from: the first transmission medium (5), the second transmission medium
    (6) The third transmission medium (9) is a cogwheel.
    [8]
    8. Robotic module according to claim 7, characterized in that the cogwheel has its axis of rotation coinciding with the longitudinal axis of the axis to which it is attached.
    [9]
    9. Robotic module according to claim 1 characterized in that at least one of the adhesion means (4, 8, 11) has the possibility of moving in the direction of its longitudinal axis (3, 7, 10).
    [10]
    10. Modular robot characterized in that it comprises a plurality of robotic modules as described in claims 1 to 9.
    [11]
    11. Modular robot according to claim 10 characterized in that the robotic modules are connected to each other by means of the respective adhesion means (4, 8, 11).
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    同族专利:
    公开号 | 公开日
    WO2018178458A1|2018-10-04|
    ES2684377B2|2019-05-21|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP1120143A1|1998-10-09|2001-08-01|Kabushiki Kaisha Bandai|Walking device|
    US20040140786A1|2001-03-30|2004-07-22|Johann Borenstein|Apparatus for obstacle traversion|
    US20040119435A1|2002-11-14|2004-06-24|Pinney Steve B.|Mechanical bug|
    US20060214622A1|2005-03-23|2006-09-28|Harris Corporation|Control system and related method for multi-limbed, multi-legged robot|
    CN106193268A|2016-07-13|2016-12-07|长安大学|Amphibious multiple-unit wheeled pipe robot examination and repair system|
    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    ES201730564A|ES2684377B2|2017-03-31|2017-03-31|ROBOTIC MODULE AND MODULAR ROBOT THAT COMPRISES SUCH ROBOTIC MODULE|ES201730564A| ES2684377B2|2017-03-31|2017-03-31|ROBOTIC MODULE AND MODULAR ROBOT THAT COMPRISES SUCH ROBOTIC MODULE|
    PCT/ES2018/070237| WO2018178458A1|2017-03-31|2018-03-26|Robotic module and modular robot comprising said robotic module|
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