Modular reconfigurable robot

A reconfigurable robot and modular technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems affecting development and application, flexibility, reliability and practical constraints of modular reconfigurable robots, and achieve The effect of rich module types, clean appearance and easy positioning

Active Publication Date: 2011-06-22
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
View PDF2 Cites 29 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The existence of the above problems has greatly restricted the flexibility, reliability and pr

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Modular reconfigurable robot
  • Modular reconfigurable robot
  • Modular reconfigurable robot

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0102] Example 1: Such as figure 1 As shown, a modular reconfigurable robot includes a host computer 2 and a robot 1. The robot 1 is connected to the CAN communication interface card of the host computer 2 through a CAN bus 3. The robot 1 includes a base module and a gripper The module and multiple alternately connected joint modules and link modules between the two can be combined into a multi-configuration robot 1 with 2-7 degrees of freedom according to the task and environmental needs. Among them: the base module is connected to the joint module, The gripper module is connected to the connecting rod module, and each module is provided with a power / signal bus for electrical connection, and the robot 1 is controlled by the upper position.

[0103] The joint model modules are divided into a rotary joint module 30 and a telescopic joint module 50; the connecting rod modules are divided into: a linear connecting rod module 20, a right-angle connecting rod module 40, and a parallel ...

Example Embodiment

[0118] Example 2: Such as Figure 29 As shown, the robot in this example uses a fixed base module 70 to sequentially connect the first revolute joint module 30, the first right-angle link module 40, the second revolute joint module 30, the parallel link module 60, and the third revolute joint. Module 30, second right angle link module 40, fourth revolute joint module 30, third right angle link module 40, fifth revolute joint module 30, fourth right angle link module 40, sixth rotation The joint module 30, the linear link module 20, and the gripper module 10 constitute a robot structure with 6 degrees of freedom.

[0119] The revolute joint module 30, the linear link module 20, the right angle link module 40, the fixed base module 70, and the clamping jaw module 10 described in this example are all the same in structure as in the first embodiment. Such as Figure 8 As shown in (a) and (b), the parallel link module 60 is provided with a third protective cover 601 on one side of the...

Example Embodiment

[0120] Example 3: Such as Figure 30 As shown, the robot in this example uses a fixed base module 70 to sequentially connect the first revolute joint module 30, the first right-angle link module 40, the second revolute joint module 30, the parallel link module 60, and the third revolute joint. The module 30, the second right-angle link module 40 and the gripper module 10 constitute a robot structure with 3 degrees of freedom.

[0121] The fixed base module 70, the revolute joint module 30, the right-angle link module 40, the parallel link module 60, and the clamping jaw module 10 described in this example are all the same in structure as in the second embodiment.

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a modular reconfigurable robot, and belongs to the technical field of articulated robots. The modular reconfigurable robot comprises an upper computer and a robot, wherein the robot is connected with a controller area network (CAN) communication interface card of the upper computer through a CAN bus. The modular reconfigurable robot is characterized in that: the robot comprises a base module, a clamping jaw module and a plurality of joint modules and connecting rod modules alternately connected between the base module and the clamping jaw module, and the modules are combined into multiple structural robots of 2 to 7 degrees of freedom, wherein the base module is connected with the joint modules, the clamping jaw module is connected with the connecting rod modules, and a power/signal bus for electric connection is arranged in each module. Plug D-type connectors are adopted at electric connection interfaces of all the modules; and flange structures are adopted at mechanical interfaces of all the modules, so the robot is simply assembled and disassembled and easily positioned. The assembled robot has no exposed electric wire, so the electric wire winding problem is not produced when the robot moves. Mechanical and electric limits are arranged in the joint modules, so the use safety of the robot is improved.

Description

technical field [0001] The invention belongs to the technical field of articulated robots, in particular to a modular reconfigurable robot. Background technique [0002] The modular reconfigurable robot is composed of a series of modules such as joints and connecting rods with different sizes and functional characteristics. It can change the overall structure and recombine through simple and fast assembly and disassembly between modules in the way of building blocks. Shaped robot. Compared with traditional fixed-configuration robots, modular reconfigurable robots can realize "one set of components, multiple configurations", and can choose the best robot structure according to task requirements, so the adaptability and operation of complex environments more capable. [0003] Patent No. 200710066827.2 is a simple modular robot, which is light and compact in structure and easy to assemble. However, the number of modules of the robot is small and the type is single. The pate...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/00B25J11/00
Inventor 王洪光姜勇潘新安余岑何能
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap