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Mobile modularized self-reconfigurable robot

The invention relates to the technical field of robots, and provides a mobile modularized self-reconfigurable robot. The mobile modularized self-reconfigurable robot comprises a U-shaped outer frame, a U-shaped inner frame, a motor rack, motors, an inner frame connecting shaft part, a driving connecting mechanism, driven connecting mechanisms and a driving leg mechanism. The driving connecting mechanism comprises a connecting plate, a large gear, a connecting pin, a fixing sleeve, a small gear and the motors, wherein the connecting plate is fixedly arranged on the bottom of the U-shaped inner frame, the large gear is fixedly arranged on the connecting plate through the fixing sleeve, the connecting pin is mounted in a groove formed in the large gear and makes reciprocating motion in the groove, the outer side of one side of the U-shaped outer frame is connected with the first driven connecting mechanism, the inner side of one side of the U-shaped outer frame is connected with the U-shaped inner frame through the inner frame connecting shaft part, the other side of the U-shaped outer frame is connected with the U-shaped inner frame through the second driven connecting mechanism, the motor rack is fixedly mounted on the second driven connecting mechanism, and the two sides of the U-shaped outer frame are connected with driving legs through the fixed connection between the two sides of the U-shaped outer frame and direct current motors. Therefore, a single robot can make front-back motion and steering motion, the bottom of the U-shaped outer frame is connected with the third driven connecting mechanism through a stepping motor, and the rotational degree of freedom is supplied to the mobile modularized self-reconfigurable robot.
Owner:TIANJIN UNIVERSITY OF TECHNOLOGY
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