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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
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  • 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 practicability of modular reconfigurable robots, which has affected further development and application.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0102] Embodiment 1: 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, and the robot 1 includes a base module, a gripper Modules and multiple alternately connected joint modules and link modules between the two, the user can combine them into a variety of configuration robots 1 with 2 to 7 degrees of freedom according to the task and environmental needs, wherein: the base module is connected to the joint module, The gripper module is connected to the link module, and each module is equipped with a power supply / signal bus for electrical connection, and the action of the robot 1 is controlled by the host.

[0103] The joint module is divided into a rotary joint module 30 and a telescopic joint module 50 ; the link module is divided into a linear link module 20 , a right-angle link module 40 and a parallel link module 60 .

[0...

Embodiment 2

[0118] Embodiment 2: as Figure 29 As shown, the robot in this example uses a fixed base module 70 to connect the first rotary joint module 30, the first right-angle link module 40, the second rotary joint module 30, the parallel link module 60, and the third rotary joint module in sequence. Module 30, the second right-angle link module 40, the fourth rotary joint module 30, the third right-angle link module 40, the fifth rotary joint module 30, the fourth right-angle link module 40, the 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 rotary joint module 30 , the linear link module 20 , the right-angle link module 40 , the fixed base module 70 and the jaw module 10 described in this example are all the same in structure as those in the first embodiment. Such as Figure 8 (a) As shown in (b), the parallel connecting rod module 60 is provided with a third protective co...

Embodiment 3

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

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

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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

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Application Information

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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
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