A claw-type reconfigurable robot unit module

A technology for reconstructing robots and unit modules, applied in the field of robots, can solve the problems of complex structure, inconvenience in popularization and promotion, and high development cost, and achieve the effect of improving flexibility

CN104401415BInactive Publication Date: 2017-01-11TIANJIN UNIVERSITY OF TECHNOLOGY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2017-01-11
Estimated Expiration
Not applicable · inactive patent

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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.
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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, ...

Examples

Embodiment Construction

[0038] Such as figure 1 , figure 2 As shown, the claw-type reconfigurable robot unit module is a cuboid of 100mm*100mm*112mm, including an outer U-shaped frame 1, an inner U-shaped frame 2, and a rotating Base substrate 3, a spindle turning stepping reduction motor 4, a base rotating stepping reduction motor 5, a stepping reduction motor 16, an active connection mechanism, three passive connection surfaces, and a set of inner and outer frame connectors, namely the motor bracket 19 , rotating shaft 17 and stamping bearing 18.

[0039] This unit module can realize the relative rotation between the outer U-shaped frame 1 and the inner U-shaped frame 2 under the drive of the spindle turning stepping gear motor 4, and the maximum angle is ±90°, such as figure 2 shown, for the figure 1 Basically, the main shaft turns over and the stepping reduction motor 4 drives the inner frame 2 to rotate clockwise around the outer U-shaped frame 1.

[0040] Such as Figure 5 , Figure 6 ,...