Reconfigurable modular robot

A robot and modular technology, applied in the field of robotics, can solve problems such as hardware design problems

Inactive Publication Date: 2013-04-24
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Although after decades of development, the modular reconstruction robot has made great progress in technology, but there are still many problems in hardware design.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] Example 1: Reconfigurable module

[0036] Such as Figure 1 to Figure 6 As shown, the reconstruction module is a 100*100*128 rectangular parallelepiped, including a U-shaped outer frame 1, a U-shaped inner frame 2. One side of the U-shaped outer frame has a set of bolts fixed to the rudder frame The other side of the hole 6 and a positioning hole 7 is provided with an outer frame bearing hole 8 connected with the bearing installed on the inner frame coupling member, and a set of module combination connecting holes 9 are respectively provided on both sides and bottom side of the U-shaped outer frame. The U-shaped inner frame has an inner frame bearing hole 10 connected to the bearing of the rudder frame 3 on one side that matches the U-shaped outer frame with bolt holes, and the other side has an inner frame bearing hole 10 coaxial with the outer frame bearing hole for passing through the inner frame. The matching hole 11 of the inner pillow block of the frame coupling 4 a...

Embodiment 2

[0038] Embodiment 2: Reconstructing modular robot 1

[0039] Such as Figure 8 to Figure 11 As shown, the bottom side of the U-shaped outer frame of the two modules are connected to form a straight line. The two U-shaped outer frames form the main body, and the two U-shaped inner frames can rotate 360° continuously (clockwise rotation means rightward rotation, counterclockwise rotation To go left), perform special wheeled exercises, take the right behavior as an example, Figure 8 For the movement to start, Picture 9 For the state when turning an acute angle, Picture 10 For the state when turning an obtuse angle, Picture 11 In order to turn 180°, that is, the state of half a circle, rotate half a circle again to return to the initial position and proceed to the next step, so that the cycle achieves the purpose of right travel.

Embodiment 3

[0040] Embodiment 3: Reconstruction module robot 2 (example of combination of four reconfiguration modules)

[0041] Such as Figure 12 to Figure 15 Shown is the mobile camera robot reconstructed from the four modules of reconstruction module I, II, III, and IV. The U-shaped outer frame side C1 of the reconstruction module I and the reconstruction Module The bottom side A of the U-shaped outer frame of Ⅱ is fixedly connected, the U-shaped inner frame C2 of the reconstruction module Ⅱ is fixedly connected with the U-shaped inner frame C2 of the reconstruction module Ⅲ, and the bottom side A of the U-shaped outer frame of the reconstruction module Ⅲ is connected to the heavy The inner frame C2 of the structural module IV is connected, and a camera (not shown in the figure) is installed in the middle of the bottom side of the U-shaped outer frame of the reconstruction module IV. in Picture 12 In the state of, the robot is in the stage of searching for the target. The rotation of t...

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Abstract

The invention relates to a reconfigurable modular robot, which is formed by combining a plurality of reconfigurable modules capable of independently moving, wherein each reconfigurable module comprises a U-shaped outer frame, a U-shaped inner frame, a steering engine frame, an inner frame shaft connecting element and a steering engine, one side of the U-shaped outer frame is connected with the U-shaped inner frame through the steering engine frame, the other side of the U-shaped outer frame is connected with the U-shaped inner frame through the inner frame shaft connecting element, the steering engine is fixedly arranged in the steering engine frame, the inner side of a shaft sleeve of an steering engine shaft at the extending end of the inner frame shaft connecting element is matched with splines of a steering engine output shaft through spline holes, the side surface and the bottom side of the U-shaped outer frame are respectively provided with module combination connecting holes, the U-shaped inner frame is provided with a group of module combination connecting holes at the side surface, a group of module combination inner ring holes are arranged on the inner frame shaft connecting element, and the reconfigurable modules are connected and combined through the module combination connection inner ring holes or outer ring holes or full holes for forming the modular robot. The U-shaped outer frame and the U-shaped inner frame of the single module can realize 360-degree continuous rotation, the moving function is realized, and several modules can be freely assembled.

Description

technical field [0001] The invention belongs to the field of robot technology, in particular to a reconfigurable modular robot. Background technique [0002] A reconfigurable modular robot is a robot that can reconfigure its configuration according to the needs of tasks and changes in the environment. It is generally composed of many one or a limited number of general-purpose modules through connection. There is a unified interface environment between modules, which can be used to transmit force, motion, energy and communication, and reorganize through disconnection operations between modules. Change the overall configuration, expand the form of motion, and complete a variety of motion and operation tasks. Compared with traditional fixed configuration robots, self-reconfigurable robots have the advantages of strong environmental adaptability, low manufacturing cost, self-repair and self-deformation, etc., and can be applied to many different occasions and complete various c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 葛为民曹燕军魏璇
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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