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Two-wheel modular tandem swing arm sliding robot

A technology between robots and modules, which is applied in the field of robots, can solve the problems of few types of modular serial robots, etc., and achieve the effects of good movement flexibility, simple composition mechanism, and easy production

Inactive Publication Date: 2017-01-11
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the modular serial robots are mainly snake-shaped robots, while other novel modular serial robots have fewer types.

Method used

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  • Two-wheel modular tandem swing arm sliding robot
  • Two-wheel modular tandem swing arm sliding robot
  • Two-wheel modular tandem swing arm sliding robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0021] like figure 1 As shown, a two-wheel module series swing arm sliding robot is formed by at least two modules connected in series. In this embodiment, it consists of three modules, module one 1, module two 2, and module three 3 connected in series. like figure 2 As shown, wherein each module includes a base 8, two leg arms 7 are arranged below the base 8, and a motor one 5 and a motor two 6 are fixedly arranged on the base 8 to drive two motors corresponding to the two motors one by one. Leg arms 7, wherein each leg arm 7 includes a rod 71, a wheel frame 72, and a wheel 73 pivotally connected to one end of the wheel frame 72, and the other end of the wheel frame 72 is connected with one end of the rod portion 71, and can be One end of the rod 71 is for shaft rotation, and the other end of the rod 71 is directly or indirectly connected to the output shaft of the motor and driven by the motor. The axis of the rod 71 is inclined relative to the ground; by controlling the d...

Embodiment 2

[0025] like Figure 5 As shown, the difference between this embodiment and the above-mentioned embodiments is that the connection of the modules is realized through the connection of ball joints. One end of one of the modules is fixedly provided with a screw 9 with an external thread; one end of the other module is fixed with a sleeve 10 with an internal thread, and the two ends of the ball hinge 11 are respectively configured as internal joints matched with the screw 9 and the sleeve 10. The thread and the external thread connect the two modules through the ball hinge 11, and lock nuts can be provided at both ends of the connection for locking during installation. Since the spherical joint has three rotational degrees of freedom, through the connection of the spherical joint, the coordinated movement of the module series robot in all directions such as turning, sideways, front and rear can be realized. Wheel 73 also can be replaced with skates. With such a setup, the robot ...

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Abstract

The invention provides a two-wheel module series-connection swing arm sliding robot. The robot is formed by connecting at least two modules in series, and the modules are connected through connecting mechanisms. Each module comprises a base, two legs are arranged on the lower portion of the base, and two motors are fixedly aranged on the base and used for driving the two legs corresponding to the two motors one to one. Each leg comprises a rod part, a wheel frame and a wheel connected with one end of the wheel frame in a pivoted mode, and the other end of the wheel frame is connected with one end of the rod part and can rotate with one end of the rod part being the axis; the other end of the rod part is directly or indirectly connected with output shafts of the motors, and the axis of the rod part is inclined relative to the ground. By controlling the movement direction of each module, the two-wheel module series-connection swing arm sliding robot can coordinately move as a whole in all directions. The two-wheel module series-connection swing arm sliding robot is better in movement flexibility, and the constituent mechanisms of the modules are simple and convenient to manufacture.

Description

technical field [0001] The invention relates to a robot, in particular to a two-wheel module serial swing arm sliding robot. Background technique [0002] Multi-module serial robot is a relatively hot part in the field of robot teaching and research at present, such as snake robot. At the same time, the coordination and cooperation between the various modules of the robot can produce many novel motion forms and show strong environmental adaptability. Therefore, the modular series robot will have great application prospects in the fields of scientific research, investigation and life entertainment. [0003] At present, the modular serial robots are mainly snake-shaped robots, while there are few other novel modular serial robots. Contents of the invention [0004] The object of the present invention is to provide a two-wheel module series swing arm sliding robot, the power systems of each module are independent of each other, and each module can be independently driven to ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08B25J5/00
Inventor 徐子力卢松田华黄智洪杨文俊王英权
Owner SHANGHAI UNIV