Unit module mechanism of modular reconfigurable robot

Abstract

The invention relates to a unit module mechanism of a modular reconfigurable robot. The unit module mechanism of the modular reconfigurable robot comprises a forearm, a rear arm and a connecting rod device, wherein the forearm and the rear arm are provided with two abutment surface devices, and the forearm comprises an L-shaped semicircular outer plate, a circuit board, a rotary gear and bearings; the circuit board and the rotary gear are respectively and fixedly arranged on the inner wall of different sides of the L-shaped semicircular outer plate, and the bearings are fixedly arranged in central mounting holes at both sides of the L-shaped semicircular outer plate; the structure of a rear arm joint is the same as that of a forearm joint, and the connecting rod device comprises a driving connecting shaft, a driven connecting shaft, a direct current motor and motor gears; the two ends of the connecting shaft are respectively connected with the bearings of the forearm and the rear arm, and the direct current motor is fixedly arranged at the two ends of the driving connecting shaft; and the two motor gears on the output shaft of the direct current motor are respectively meshed with the rotary gears of the forearm joint and the rear arm joint. The unit module provided by the invention has the advantages of simple structure, strong movement ability, multiple degrees of freedom and accurate adjustment of corners of the unit module.

Description

technical field [0001] The invention belongs to the technical field of robots, relates to a distributed modular reconfigurable robot, and is a unit module mechanism of a modular reconfigurable robot. Background technique [0002] A reconfigurable modular robot is a highly flexible robot, which is composed of several independent joint modules and link modules with the same or different dimensions and performance characteristics. Matching and other methods can change the overall configuration, expand the form of movement, realize different movement gaits, and complete corresponding movement and operation tasks. It has the following characteristics: 1) Reconfigurable functions, 2) Easy repairability, 3) Functional scalability, 4) Adaptability, 5) High reliability, 6) Good economy. [0003] The unit module is the most basic element for constructing a reconfigurable robot system. The movement ability, the number and quality of the degree of freedom of the module directly affect ...

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Problems solved by technology

[0005] Aiming at the deficiencies of the prior art, the present invention provides a unit module mechanism for building a modular reconfigurable robot, so as to overcome the complex structure, insufficient movement ability and low movement efficiency of the modular reconfigurable robot existing in the background technology , the disadvantage of not being precise enough to adjust the corner

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