Rotational joint module of modularized reconfigurable robot

Abstract

The invention discloses a rotational joint module of a modularized reconfigurable robot. On the basis of planetary reduction, one level of harmonic reduction is added on motor output, a reduction ratio is improved, an output torque is added, and the transmission precision of the module is improved. An upper end cover and a lower end cover serve as installation joints, the flange-type design with locating seam allowances and pin holes is adopted, and the module is accurately and conveniently connected and located. All electric wires are arranged in a cage-type support, the upper end cover and the lower end cover and are isolated and protected by an outer cover, thereby avoiding the problem that the electric wires are coiled when a robot moves. Mechanical limit and electric limit are arranged in the module. On the basis of adopting an incremental coded disc, a rotating potentiometer is added to measure the assistant position of module movement, absolute position information is recorded under the condition of accidental power failure, and the system can continuously work after being electrified. The rotational joint module has the advantages of reasonable and simple structure, high precision and inner routing, is convenient to install and position and is safe and reliable to use.

Description

technical field [0001] The invention relates 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] A key technology that embodies the advantages of modular reconfigurable robots is the design of rotary joint modules. Among the various types of rotary joint modules currently developed, most of them adopt the transmission scheme of DC motor plus planetary dece...

AI Technical Summary

Problems solved by technology

Among the various types of rotary joint modules currently developed, most of them adopt the transmission scheme of DC motor plus planetary deceleration, which has a large hysteresis and low precision; the mechanical interface has no positioning design, and the connection and installation are complicated; the wiring of the electrical interface is exposed outside, and the robot It is easy to cause wires to be entangled during movement; brakes and mechanical limits are not considered, and safety during use is ignored; incremental code discs are commonly used, and position information cannot be retained when power is accidentally turned off, and robot status data will be lost when power is turned on again. missing, cannot continue

The existence of the above problems directly affects the motion control performance of the rotary joint module and reduces the flexibility, reliability and practicability of the modular reconfigurable robot

Images