• 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:
    It is a modular, self-reconfigurable robot system (100) with several interconnected individual modules (1), each a tetrahedral frame frame (2) with frame joints (5) as nodes (4) and to the nodes (4) adjoining, adjustable frame racks (3), and with a plurality of detachable connections, provided between the individual modules (1), of a plurality of cooperating connecting elements (6) on the respective individual modules (1). In order to reduce the control effort on the robot system (100), it is proposed that the detachable connections are provided between the adjoining frame beams (3) of the respective individual modules (1), wherein at least one individual module (1) has at least one alignment device (7), which cooperates with at least two connecting elements (6) which are each rotatably mounted on a frame spar (3) of a common node (4) frame spars (3), to their parallel orientation.
    公开号:AT517802A1
    申请号:T50848/2015
    申请日:2015-10-05
    公开日:2017-04-15
    发明作者:Ing Dr Johannes Gerstmayr Dipl；Dipl Ing Michael Pieber Bsc
    申请人:Universität Innsbruck；
    IPC主号:
    专利说明:

    The invention relates to a modular, self-reconfigurable robot system with a plurality of interconnected individual modules, each having a tetrahedral frame frame with frame joints as nodes and adjoining these nodes, adjustable frame beams, and with several, provided between the individual modules, releasable connections of several cooperating Connecting elements on the respective individual modules.
    From the prior art [A. Lyder et al., IROS 2008, IEEE / RSJ p. 883 (2008).] Are modular, self-reconfigurable robotic systems (MSR) known from several single modules with tetrahedral frame. Self-reconfigurability enables these robotic systems to handle a wide variety of tasks, react flexibly to unforeseen events, and self-repair or reconfigure in the event of a module failure. For this purpose, these individual modules form from längsvertellbaren frame spars and nodes on which the frame spars are articulated movable. The individual modules are connected to one another via detachable connecting elements, these connecting elements being formed either by the length-displaceable frame spars or the nodal points - as a result of which such robot systems require comparatively high complexity and a high tax expenditure. This especially if this robot system is to be supplemented with a further single module and the individual modules must be aligned with each other.
    The invention therefore has the task of creating a modular, self-reconfigurable robot system of the type described, which is characterized by low complexity and low tax expense.
    The invention achieves the stated object in that the releasable connections between the adjoining frame beams of the respective Einzelmodu-le are provided, wherein at least one individual module has at least one alignment, which cooperates with at least two connecting elements for their parallel longitudinal alignment, which connecting elements each on a Rack spar of the adjoining a common node frame spars are rotatably mounted.
    If the detachable connections between the adjoining rack rails of the respective individual modules are provided, the individual modules can be regarded as independent, self-contained units and controlled independently of one another. In addition, if at least one individual module has at least one alignment device which cooperates with at least two connecting elements for their parallel longitudinal alignment, which connecting elements are each rotatably mounted on a frame spar of the frame spars adjoining a common node, then a plane-parallel alignment of the frame spars to adjoining individual modules can always be ensured , This allows a particularly simple and reliable interaction of the individual modules. In particular, the connecting elements can thereby always be ideally aligned in order to reliably establish the connections between the self-sufficient individual modules. The complexity of the coupling mechanism can be significantly reduced - which is beneficial to the reliability of the robot system. Due to the self-sufficient individual modules also the control effort of the robot system, in particular the production and release of the connections of individual modules can be significantly reduced.
    A particularly compact design of the self-reconfigurable robot system can be achieved if the frame joint is designed as a ball joint with a ball head, an inner shell and an outer shell, to which ball head, inner shell and outer shell each followed by a frame spar. In this case, a common frame joint for all to a node of the tetrahedral single module tapered frame beams can be created - with which a sufficient freedom of movement can be ensured.
    If all the frame members of a single module have a length-adjustable design, the individual module can assume any desired tetrahedral shapes, these being limited only by the expansion capacity of the frame members. In addition, each rack spar at its opposite terminal sides to the nodes each have two independently rotatably mounted fasteners, it can be ensured at each change in length of the frame spars always the plane-parallel position of the alignment at the node to the respective adjoining frame beams. In particular, the plane-parallel alignment of the individual modules to adjoining individual modules can be ensured in this way. An easy to control robot system can be created in this way.
    Act each an alignment with two connecting elements each on a frame rail of the adjoining a common node frame spars together to their parallel longitudinal alignment, it can always be a plane-parallel alignment of the connecting elements are ensured at the triangular side walls of the individual module by the respective frame spars. A simple coupling of different individual modules is thereby made possible or can be done in a reproducible manner.
    A structurally simple alignment device can be created if the alignment device has a coupling link provided between the connecting elements. Here, a stable connection between the Ver connecting elements can be created, which can align the alignment device reproducibly relative to the frame rails.
    The construction of the alignment device can be further improved if the coupling linkage has two connecting rods connected via a pivot bearing, which are pivotally connected to the respective connecting element. This allows the alignment device in a structurally simple way steadfast compensate for the variable distance between the frame rails.
    The individual modules can be connected to one another in a comparatively simple manner when connecting elements form a snap connection between the individual modules.
    If the alignment device interacts with two complementary connecting elements, in particular the snap connection, in their longitudinal alignment, the coupling of the individual modules can be made more independent of their position and thus easier to handle.
    If the connecting elements are additionally mounted linearly displaceable on the respective frame spar, this can lead to a significant kinematic improvement on the relevant individual module.
    In the figures, for example, the subject invention is illustrated in more detail with reference to a variant embodiment. Show it
    1 shows a three-dimensional view of a single module of a self-reconfigurable robot system,
    Fig. 2 detailed views of a node of the single module shown in FIG. 1 and
    3 shows a three-dimensional view of the self-reconfigurable robot system comprising a plurality of individual modules according to FIG. 1.
    According to FIG. 3, a modular, self-reconfigurable robot system 100 with a plurality of interconnected individual modules 1 is shown. The individual modules 1 shown in more detail in detail in FIG. 1 each show a tetrahedral frame frame 2, which is constructed in particular of six frame members 3. In each case, three of the frame members 3 converge in a corner of the tetrahedral frame frame 2 and form a node 4. In these nodes 4, the frame spars 3 are rotatably connected to each other via frame joints 5 and pivotally connected. At the individual modules 1 connecting elements 6 are provided to releasably connect a plurality of individual modules 1 together - which can be seen in an enlarged view of FIG. These connecting elements 6 are arranged such that they can be formed between the frame members 3 adjacent individual modules 1 a detachable connection.
    The connection can be easily produced in terms of control technology because the individual modules 1 have alignment devices 7 that interact with the connecting elements 6. In fact, the connecting elements 6 are rotatably mounted on two frame spars 3 ending at the common node 4, whereby the alignment devices 7 can align these connecting elements 6 with one another or with their longitudinal axes 60 or longitudinal alignment cooperates with them for their parallel alignment, as shown in FIG representative of all coupled connecting elements 6 has been drawn. This alignment can be done by means of an electrical and / or mechanical control, for example, with electrical and / or mechanical actuators for setting the respective rotational position on the frame member. 3
    As shown in detail in Fig. 2, the frame joints 5 are executed at the nodes 4 as a ball joint and are composed of a ball head 9, an inner shell 10 and an outer shell 11, to each of which a frame spar 3 is connected. In particular, the frame members 3, with the ball head 9, the inner shell 10 and the outer shell 11 are made in one piece.
    The frame members 3 of a single module 1 are designed to be adjustable in length, whereby the individual module 1 can assume any tetrahedral shapes. For this purpose, the frame spars 3, for example, electrically and / or hydraulically driven working cylinder, whose piston rod and cylinder housing each connects to a node 4. By a each individual module 1 associated control device, which has not been shown in detail, the tetrahedral shape of the single module 1 can be changed.
    The frame spars 3 also have at both of their opposite nodes 4 each have two connecting elements 6, to which the alignment device 7 acts. The connecting elements 6 are in this case, in particular, freely rotatably mounted independently of one another about the longitudinal axis of the frame spar 3 - namely a radial bearing 8 is provided between the frame spar 3 and the connecting element 6, which permits a rotation of the connecting element 6 in the direction of rotation 80. In addition, the connecting elements 6 are mounted linearly displaceable on the respective frame member 3, in the axial direction 81, as shown in FIG. 2 in particular. In general, it is mentioned that this linear bearing is created by a floating mounting of the radial bearing 8 on the respective frame member 3. In addition to this constructive simplification of this additional degree of freedom leads to a significant kinematic improvement on relevant individual module 1. It need not be further mentioned that this floating bearing can also be created by a linear bearing between connecting element 6 and frame member 3.
    As shown in FIG. 2, an alignment device 7 always interacts with two connecting elements 6. The connecting elements 6 are connected to two adjacent to the same node 4, adjacent frame members 3. As a result of the interaction, the alignment device 7 and the two associated frame members 3 are aligned parallel to one another.
    For this purpose, the alignment devices 7 each have a coupling linkage 12, which is provided between the two connecting elements 6 on the frame rails 3. The coupling linkage 12 in this case has two coupling rods 13, which are connected to one another via a pivot bearing 14 in order to be able to follow a wide variety of angular positions between the respective frame members 3. The coupling rods 13 are further hinged to a respective connecting element 6 pivotally.
    A detachable connection between the individual modules 1 that mechanically couples as a snap connection can be seen in FIG. The alignment device 7 acts together with two complementary connecting elements 6 of the snap connection 15 to their longitudinal alignment, which couple in the manner of a Ringschnappverbindung. 2, namely a segmented spiral spring on one side and a socket having an undercut on the other side for this purpose. In general, it is mentioned that the connecting elements 6 can couple magnetically and / or mechanically or can actively and / or passively actuate the connection and / or release.
    权利要求:
    Claims (9)
    [1]
    claims:
    1. Modular, self-reconfigurable robot system with several interconnected individual modules (1), each having a tetrahedral frame frame (2) with frame joints (5) as nodes (4) and with these nodes (4) adjoining, adjustable frame members (3) have, and with a plurality, between the individual modules (1) provided, releasable connections of a plurality of cooperating connecting elements (6) to the respective individual modules (1), characterized in that the detachable connections between the adjacent frame members (3) of the respective individual modules le (1) are provided, wherein at least one individual module (1) has at least one alignment device (7) which cooperates with at least two connecting elements (6) for their parallel longitudinal alignment, which connecting elements (6) each on a frame spar (3) a common node (4) adjoining frame beams (3) are rotatably mounted.
    [2]
    2. Robot system according to claim 1, characterized in that the frame joint (5) as a ball joint with a ball head (9), an inner shell (10) and an outer shell (11) is formed, to which ball head (9), inner shell (10). and outer shell (11) each a frame spar (3) connects.
    [3]
    3. Robot system according to claim 1 or 2, characterized in that all frame members (3) of a single module (1) are designed adjustable in length and that each frame spar (3) at its opposite connection sides to the nodes (4) each two independently rotatably mounted fasteners (6).
    [4]
    4. Robot system according to claim 3, characterized in that each one alignment device (7) with two connecting elements (6) depending on a frame spar (3) of a common node (4) adjoining frame beams (3) cooperates to their parallel longitudinal alignment.
    [5]
    5. Robot system according to one of claims 1 to 4, characterized in that the alignment device (7) between the connecting elements (6) provided coupling linkage (12).
    [6]
    6. Robot system according to claim 5, characterized in that the coupling linkage (12) has two via a pivot bearing (14) connected coupling rods (13) which are pivotally connected to the respective connecting element (8).
    [7]
    7. Robot system according to one of claims 1 to 6, characterized in that the connecting elements (6) form a snap connection (15) between the individual modules (1).
    [8]
    8. Robot system according to one of claims 1 to 7, characterized in that the alignment device (7) cooperates with two complementary connecting elements (6) to their longitudinal alignment.
    [9]
    9. Robot system according to one of claims 1 to 8, characterized in that the connecting elements (6) on the respective frame spar (3) are additionally mounted linearly displaceable.
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    同族专利:
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    WO2017060258A1|2017-04-13|
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    EP3359344A1|2018-08-15|
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    引用文献:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50848/2015A|AT517802B1|2015-10-05|2015-10-05|Modular, self-reconfigurable robot system|ATA50848/2015A| AT517802B1|2015-10-05|2015-10-05|Modular, self-reconfigurable robot system|
    EP16787353.8A| EP3359344B1|2015-10-05|2016-10-04|Modular, self-reconfigurable robot system|
    PCT/EP2016/073703| WO2017060258A1|2015-10-05|2016-10-04|Modular, self-reconfigurable robot system|
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