Pedrail type self-reconstruction mini robot
A self-reconfigurable, micro-miniature technology, used in tracked vehicles, motor vehicles, transportation and packaging, etc., can solve problems such as poor practicability, low moving speed, and low operating efficiency
Inactive Publication Date: 2010-06-02
HARBIN INST OF TECH
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Problems solved by technology
After searching the existing domestic and foreign literature, it is found that the existing self-reconfigurable robot unit modules do not have the ability to operate independently, and can only be reconfigured and deformed to adapt to the environment by connecting multiple modules to the overall state. Mature robot prototypes, such as the chained self-reconfigurable robot PolyBot developed by the Palo Alto Research Center in the United States, and the self-reconfigurable robot M-TRAN developed by the National Institute of Advanced Science and Technology in Japan, all unit modules must rely on the whole for reconfiguration and operation. The disadvantage of low operating efficiency, and the overall robot relies on friction with the ground to achieve sliding motion, the moving speed is low, and the practicability is poor
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[0015] The present invention will be further explained below in conjunction with the drawings and specific embodiments:
[0016] With reference to the drawings, this embodiment includes a track assembly 3, a pair of propulsion mechanisms 5 mounted on the track assembly 3, a pair of curling mechanisms 6, an ultrasonic mechanism 7 and a reconstruction mechanism 8. The propulsion mechanism 5 consists of a micro DC motor 19. The planetary reducer 20 connected to the micro DC motor 19 and the driving wheel 23 connected to the planetary reducer 20 are composed of the bending mechanism 6 consisting of the DC disc motor 33, the harmonic reducer 34 connected to the DC disc motor 33 and the connection It consists of a rod, a curling mechanism is connected to a connecting rod, a miniature camera is arranged in the reconstruction mechanism, and the body of the crawler assembly envelope mechanism. Combine figure 1 , In this embodiment, the unit robot has an external dimension of 220mm×160mm×...
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The invention provides a track-type self-reconstruction micro robot, which comprises a track, a couple of pushers mounted on the track integration, a couple of bending lifters, an ultrasonic device, and a reconstruction device driven by the bending lifters, wherein the pusher is composed of a micro direct-current motor, a planet speed reducer connected with the micro direct-current motor, and an active wheel connected with the planet speed reducer, the bending lifter is composed of a direct-current disc motor, a resonance speed reducer connected with the direct-current disc motor, and a connecting bar, the bending lifter via the connecting bar outputs power, the reconstruction device is provided with a micro camera. The invention can move actively, independently execute mission, and process simple reconstruction to change shape, while a plurality of robots can be actively connected, to construct an integral robot, to move and overcome obstacle at variable constructions.
Description
(1) Technical field [0001] The invention relates to a miniature robot, in particular to a crawler-type self-reconfigurable miniature robot. (2) Background technology [0002] The self-reconfigurable robot is composed of many basic modules with the same function, which can be reconstructed into different shapes of robots by changing the connection state between each module. After searching the existing domestic and foreign literature, it is found that the existing self-reconfigurable robot cell modules do not have the ability of independent motion operation, and can only be reconstructed and deformed in the overall state formed by connecting multiple modules to adapt to the environment. For mature robot prototypes such as the chain-type self-reconfigurable robot PolyBot developed by the Palo Alto Research Center in the United States, and the self-reconfigurable robot M-TRAN developed by the National Institute of Advanced Science and Technology in Japan, the unit modules must rely ...
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IPC IPC(8): B62D55/065B62D57/00
Inventor 孙立宁李满天钟鸣徐济安卢贤资
Owner HARBIN INST OF TECH