Reconfigurable modularized robot unit structure

Abstract

The invention provides a reconfigurable modularized robot unit structure. The reconfigurable modularized robot unit structure comprises a robot machine body. The robot machine body is provided with linear telescopic joints which are connected with rotating joints. The tail ends of the rotating joints are connected with butting devices. The robot machine body is a polygon prism frame. Lead screw motors are arranged on the inner wall of the polygon prism frame. At least three arms which are distributed in a regular polygon shape are connected to the outer wall of the polygon prism frame. Each arm is formed by the corresponding linear telescopic joint, the corresponding rotating joint and the corresponding butting device. By means of the telescopic joints, the movement range of the butting devices is widened, and the practical value of a modularized robot is improved; and the unit structure is concise and reasonable, convenient and reliable to control and high in movement accuracy and reliability.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a reconfigurable modular robot unit structure. Background technique [0002] With the progress of society and the development of science and technology, the application of robots has become more and more extensive, and the research of robots has attracted more and more attention from scholars at home and abroad. There are many types of robots, but in general, all kinds of robots are limited to factors such as their structural design and can only complete certain specific tasks. The proposal of the modular robot is based on the idea that the robot adapts to different working environments and tasks by changing its own structure. In order to achieve this goal, the modular robot is composed of several identical modules, and the modules are connected by a docking mechanism. The purpose of changing the configuration of the robot is achieved by changing the connection relationship betwe...

AI Technical Summary

Problems solved by technology

This type of robot has a compact structure, but because the docking device and the robot module body are integrated, the docking device has no autonomous movement capability, which leads to a limited range of motion, long reconfiguration time, and motion interference and complex control in the actual application process. question

At the same time, Fu Zhuang et al. designed a high-strength docking device for reconfigurable modular robots in the patent "Pin-shaft Wedging Based Docking Mechanism for Self-Reconfigurable Modular Robots" (CN200910308439.X) , but lacks a modular robot unit structure that can make the docking device move autonomously as its carrier, it is difficult to apply to existing modular robots

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