Modular multi-joint flexible robot

Abstract

The invention discloses a multi-joint flexible robot. A robot system comprises a head module 1, a head cabin section 2, a middle rotating module 3, a middle rotating module 4, a middle rotating module 5, a middle rotating module 6, a middle rotating module 7, a middle rotating module 8, a tail cabin section 9, a fixing ring 10, a fixing ring fixing screw 11, a large swinging bevel gear 12, a swing motor supporting seat fixing bolt 13, a swing motor supporting seat 14, a small swinging bevel gear 15, a swing motor 16, a middle rotating module casing 17, a rolling motor 18, a rolling motor fixing seat 19, a rolling motor fixing seat fixing bolt 20, a bearing 21, a rolling gear 22, a rolling gear ring 23, a rolling gear ring fixing ring 24, a bogie connecting shaft 25, an installing plate 26, batteries 27, a head camera 28, a light source 29 and a motion control circuit 30. An included angle formed by two rotating shafts included by each joint module of the robot is adjustable. The robot is good in joint flexibility and flexible and varied in motion.

Description

technical field [0001] The invention relates to a modular multi-joint flexible robot, which belongs to the technical field of robots, and in particular relates to the structural design of a robot. Background technique [0002] At present, the motion modes of multi-joint flexible robots are divided into two categories, two-dimensional plane type and three-dimensional space type. The bending principle of the two-dimensional planar multi-joint flexible robot is mainly as follows: the shape plane curve is realized by the relative rotation between multiple sub-modules. The main problem of the two-dimensional planar multi-joint flexible robot is that this type of robot can only move in a specific plane, and its application is limited. The bending principle of the three-dimensional multi-joint flexible robot is mainly as follows: the rotation axes of the rotation joints connected in sequence are orthogonal, that is, the two adjacent rotation axes are perpendicular to each other, a...

AI Technical Summary

Problems solved by technology

The main problem of the two-dimensional planar multi-joint flexible robot is: this type of robot can only move in a specific plane, and the application occasions are limited

One of the problems with this type of robot structure is that when the robot moves in a plane, only one of the two rotation axes connected in sequence can rotate, which reduces the maneuverability

At the same time, the rotation of the other rotation axis will cause the body part of the multi-joint flexible robot to be suspended in the air, reducing the contact with the ground, making the robot difficult to stabilize statically and dynamically control

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