A self-reconfigurable robotic cell module with independent motion

A technology of unit modules and independent movement, which is applied in the field of robotics and can solve problems such as the lack of movement ability of a single module and the unreliable and stable connection mechanism.

Inactive Publication Date: 2016-08-24
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0012] The purpose of the present invention is to overcome the problems of unreliable and stable connection mechanism in the design of a single module of a modular robot in the prior art and the lack of movement capability of a single module, and provide a self-reconfigurable robot unit module with independent movement

Method used

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  • A self-reconfigurable robotic cell module with independent motion
  • A self-reconfigurable robotic cell module with independent motion
  • A self-reconfigurable robotic cell module with independent motion

Examples

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Embodiment Construction

[0053] Such as figure 1 , figure 2 As shown, the unit module mainly includes: a U-shaped outer frame 1, a U-shaped inner frame 2, an active connection mechanism, five passive connection mechanisms, and a driving mechanism; a spindle turning stepping reduction motor 14, and Inner frame and outer frame connection assembly and rotating base assembly; wherein, U-shaped outer frame 1 includes: outer active side plate 1-1, outer passive side plate 1-2, middle plate 1-3, and the two side plates are respectively connected on Both sides of the middle plate form a U-shaped outer frame (see image 3 ); U-shaped inner frame 2 includes: an inner L-shaped plate (2-2 inner L-shaped plate side panels, 2-3 inner L-shaped plate middle plate) and an inner I-shaped plate 2-1, the inner L-shaped plate Connect with the inner I-shaped plate to form a U-shaped inner frame (see Figure 4 ).

[0054] The connection components between the inner frame and the outer frame include: inner active side p...

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Abstract

The invention relates to a self-reconfigurable robot unit module having an independent movement function. The self-reconfigurable robot unit module comprises a U-shaped outer frame, a U-shaped inner frame, a driving connecting mechanism, five driven connecting mechanisms, a drive mechanism, a base rotation stepping gear motor, an inner frame and outer frame connecting assembly and a rotating base assembly; the inner frame and outer frame connecting assembly comprises an inner driving side plate and an inner driven side plate; the rotating base assembly comprises a rotating base substrate, a second connecting plate and a motor mounting frame. The rotating base substrate can rotate by 360 degrees around a central axis so that a robot can turn. The driving connecting mechanism can be aligned and connected with driving and driven surfaces, so the working capability of the modularized self-reconfigurable robot is improved. The outer frame and the inner frame of the single module can rotate by 360 degrees relative to each other, the self-reconfigurable robot unit module has the linear motion function, and in combination with free rotation of the rotating base substrate, independent and flexible motion of the single module can be achieved. Multiple modules can be assembled regularly.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a claw-type modular self-reconfigurable robot capable of independent movement in the field of robots. technical background [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 the robot shape change mode, it can be divided into chain robot, crystal robot and mobile robot. [0003] Chained robots form a chain or tree structure through connections between multiple modules. Representative chained robots include PolyBot, CKbot, CONRO, etc. Among them, PolyBot includes two basic modules: active module and node module. The former has two interfaces; the latter is a rig...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00F16H1/22
Inventor 葛为民王肖锋刘振民勾月凯赖绍禹黄杰
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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