Mobile modularized self-reconfigurable robot

Abstract

The invention relates to the technical field of robots, and provides a mobile modularized self-reconfigurable robot. The mobile modularized self-reconfigurable robot comprises a U-shaped outer frame, a U-shaped inner frame, a motor rack, motors, an inner frame connecting shaft part, a driving connecting mechanism, driven connecting mechanisms and a driving leg mechanism. The driving connecting mechanism comprises a connecting plate, a large gear, a connecting pin, a fixing sleeve, a small gear and the motors, wherein the connecting plate is fixedly arranged on the bottom of the U-shaped inner frame, the large gear is fixedly arranged on the connecting plate through the fixing sleeve, the connecting pin is mounted in a groove formed in the large gear and makes reciprocating motion in the groove, the outer side of one side of the U-shaped outer frame is connected with the first driven connecting mechanism, the inner side of one side of the U-shaped outer frame is connected with the U-shaped inner frame through the inner frame connecting shaft part, the other side of the U-shaped outer frame is connected with the U-shaped inner frame through the second driven connecting mechanism, the motor rack is fixedly mounted on the second driven connecting mechanism, and the two sides of the U-shaped outer frame are connected with driving legs through the fixed connection between the two sides of the U-shaped outer frame and direct current motors. Therefore, a single robot can make front-back motion and steering motion, the bottom of the U-shaped outer frame is connected with the third driven connecting mechanism through a stepping motor, and the rotational degree of freedom is supplied to the mobile modularized self-reconfigurable robot.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a movable modular self-reconfigurable robot in the field of robots. Background technique [0002] The self-reconfigurable robot is composed of multiple basic modules connected by the same connection device, and the configuration of the robot is adjusted by adjusting the connection mode between the modules, so as to meet the needs of different environments and different tasks, or to eliminate damaged modules. Recovers a robot from a damaged state. According to different geometric configurations, self-reconfigurable modular robots are divided into three categories: lattice type, chain type, and mobile type. Among them, the first two configurations of robots are inseparable due to their own structure and simple connection, so the unit modules lack the ability to move and cannot complete tasks alone. The mobile self-reconfigurable robot unit modules can not only be combined and con...

AI Technical Summary

Problems solved by technology

The entire structure of the M-Cube is made of aluminum alloy, and its internal mechanical transmission is relatively complicated

Ubot is composed of two L-shaped components connected with a right-angle shaft in the middle. The real-time motion ranges of the two degrees of freedom are mutually limited, which will affect the function realization during the reconstruction process and increase the complexity of control and reconstruction planning. degree

Sambot can move independently, but in actual movement, if the ground is uneven, the wheels will be vacated, and the independent movement of its single module will be limited

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