Three-arm buttjunction module flat lattice type self-reorganization robot

Abstract

The invention relates to a planar crystal lattice type self-reconstructing robot with a three-arm butted module in the technical field of machinery, which comprises a central frame body and three butted single arms. The central frame body is an regular triangle prism, and each lateral surface of the regular triangle prism is fixedly connected with one butted single arm respectively; and each butted single arm comprises a first inner frame, a first turning motor, a middle frame, a rotating motor, a second inner frame, a second turning motor, an outer frame and a butted surface device, wherein the first inner frame is fixedly connected with a lateral surface of the central frame body, the first turning motor is fixed in the first inner frame, the rotating motor is fixed in the middle frame, an output disc of the rotating motor is connected with the second inner frame to form a second rotary motion joint, the second turning motor is fixed in the second inner frame, a driving shaft of the second turning motor is connected with the outer frame to form a third turning joint, and one end face of the outer frame is provided with the butted surface device. The planar crystal lattice type self-reconstructing robot has a large planar coverage factor and can achieve a plurality of deformation modes.

Description

technical field [0001] The invention relates to a robot in the field of mechanical technology, in particular to a three-arm docking module planar crystal format self-reconfiguring robot. Background technique [0002] Planar lattice self-reconfiguring robots are composed of many basic modules with similar or identical geometric shapes, functions, and structures, so they can quickly change the connections between them to change the overall layout. At present, various types of modules have been designed at home and abroad, each with its own advantages and disadvantages. [0003] After searching the prior art documents, it is found that the patent number is US 6,635,781, and the patent name is: Distributed Control and Collaboration of Autonomous Agents ina Dynamic Reconfigurable System (distributed control and collaboration of autonomous control subjects in dynamic self-reconfigurable systems) ), the patent involves a Superbot self-reconfigurable robot module, which uses two cu...

AI Technical Summary

Problems solved by technology

However, the cost of this design is too high and the SMA shape memory alloy consumes a lot of power. It also cannot guarantee the connection of multi-position modules in space. It is difficult and expensive to realize the task of large-scale self-reconfiguration.

[0006] At present, there is an urgent need for self-reconfigurable robotic mechanisms with intelligent assembly and self-repair functions in large-scale space solar cell arrays and similar fields, but no related inventions have yet appeared.

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