Mini-type soft modularized reconfigurable robot unit module

A technology for reconstructing robots and unit modules, applied in the field of robots, to achieve the effects of simple operation, reliable connection and simple structure

Active Publication Date: 2015-09-30
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] In summary, soft robots have made great progress in technology, but there is still a lot of

Method used

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  • Mini-type soft modularized reconfigurable robot unit module
  • Mini-type soft modularized reconfigurable robot unit module
  • Mini-type soft modularized reconfigurable robot unit module

Examples

Experimental program
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Effect test

Embodiment Construction

[0045] Such as figure 1 , figure 2 As shown, the microsoft reconfigurable robot unit module is a cuboid of 20mm*20mm*55mm. The unit module mainly includes: a steering mechanism, a driving mechanism, a supporting mechanism, an active connection mechanism and a passive connection mechanism. mechanism.

[0046] This unit module can realize the relative linear motion between the steering mechanism and the driving mechanism driven by the DC motor 7, such as Figure 13 shown, for the figure 1 Basically, the direct current motor 7 drives the deceleration mechanism to make the steering mechanism move 15mm forward relative to the driving mechanism. This module can realize the steering of the whole mechanism driven by the shape memory alloy wire 2 .

[0047] Such as figure 1 , image 3 , Figure 4 The steering mechanism shown includes: a steering front panel 1, a steering rear panel 5, and four shape memory alloy (SMA) wires 2; the shape memory alloy wires 2 are located at the f...

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Abstract

The invention belongs to the technical field of robots, and provides a mini-type soft modularized reconfigurable robot unit module. The mini-type soft modularized reconfigurable robot unit module comprises a steering mechanism, a driving mechanism, a supporting mechanism, a driving connecting mechanism and a driven connecting mechanism. The steering mechanism comprises a front steering panel, a rear steering panel and four shape memory alloy (SMA) silks. The driving mechanism comprises a front driving panel, a rear driving panel, a direct current motor, a gear driving reducing mechanism, a worm, a swing link, two guide columns and a rear cover. Shape memory alloy is used for a steering driver for the robot unit module, by coordinately controlling the four shape memory alloy silks, the steering mechanism can be flexible or bent towards the random direction, the mechanisms can reach the most positions in the working space, a single module can flexibly and stably move and rotate on the ground in a straight mode, and multiple modules can be regularly assembled into a mechanical snake or a mechanical arm.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a microsoft modular reconfigurable robot in the field of robots. technical background [0002] Soft robots can imitate mollusks in nature, such as octopuses, elephant trunks, and earthworms. Made of a soft material that can withstand large strains, it has infinite degrees of freedom and continuous deformation capabilities. It can change its shape and size arbitrarily in a wide range, and has broad application prospects in the fields of reconnaissance, detection, rescue and medical treatment. [0003] Soft robots have infinite degrees of freedom, so their end effectors can reach any point in the workspace. Soft robots have good adaptability to the environment, and achieve compatibility with obstacles through passive deformation; through active deformation, the robot can be in different shapes and can realize complex movements; the robot can also combine active deformation and pas...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 王肖锋葛为民刘军陈建恩黄杰
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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