A claw-type reconfigurable robot unit module

Abstract

The invention discloses a knuckle reconfigurable robot unit module, comprising an outer frame, an inner frame, a rotating base assembly, an active connection mechanism, three passive connection mechanisms, and an inner frame and outer frame connecting component, wherein the inner frame is connected with the outer frame through the connecting component; the rotation of the inner frame relative to the outer frame is achieved through a stepper motor; the rotating base assembly comprises a rotating base substrate, a gear bank, a shaft sleeve, a bearing and a stepper motor; the rotating base assembly is arranged on the outer frame as a passive connection surface, and can freely rotate around a center shaft, so as to achieve steering motion of a robot; the active connection mechanism comprises four knuckles, a gear transmission mechanism, a direct current motor and a fixing frame, and is arranged on the inner frame; the direct current motor drives the knuckle to rotate through the gear transmission mechanism; one knuckle is opposite to the other knuckles in rotating direction, so that alignment and connection of active and passive surfaces can be achieved. The combined deformation form of the module is enriched by the design method of combined connection surfaces; the service ability of a modular self-reconfigurable robot is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a reconfigurable robot unit module structure in the field of robots. Background technique [0002] A reconfigurable modular robot is composed of a group of modules with the same interface. The modules can transmit force, motion, communication, etc., and are assembled into different configurations to meet the needs of different tasks through the connection and disconnection of the modules. Compared with traditional robots, it is more flexible and has a stronger ability to adapt to the environment. At the same time, the modular design can simplify design and manufacture, shorten the R&D cycle, reduce R&D costs, improve fault tolerance and self-repairability, and can be applied to various occasions to complete various complex tasks. task. [0003] Modular robot is an important branch of the field of robotics, which first appeared in the 1970s. According to the robot movement mode, ...

AI Technical Summary

Problems solved by technology

The Ubot hook-claw robot developed by Professor Zhao Jie from Harbin Institute of Technology, when connected, the hook protrudes out of the module to connect with the passive module, and when disconnected, the hook retracts into the module without affecting the movement of the module. The stability of the connection does not affect the movement flexibility of the robot, but its structure is relatively complicated, the development cost is high, and it is not easy to popularize and promote

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