Single-wheel driven modular self-reconfiguration mobile robot

Abstract

The invention discloses a single-wheel driven modular self-reconfiguration mobile robot, and aims to solve the problems of complex structure, weak reliability and incapability of producing in batches in a traditional robot module. A shell includes a module base and four support legs; the module base is a square box; the four support legs are respectively positioned at four corners of the lower surface of the module base; a radial magnet is embedded in each groove; a vertical magnet is embedded in each vertical hole; support feet are arranged at the lower ends of all the support legs; a motor is arranged in a motor groove; an input end of a speed reducer is connected with an output end of a motor; a driving wheel is fixedly mounted on an output shaft of the speed reducer; the lower end of a rotating shaft is connected with a motor base through a connecting element; the middle part of the rotating shaft is supported in a bearing; the bearing is mounted in a bearing base plate; the bearing base plate is fixedly connected with the module base; an outer gear coats the upper end of the rotating shaft; an inner gear is engaged with the outer gear; and the inner gear is fixedly connected with the module base. The invention discloses a general research platform for a self-reconfiguration robot, a deformation robot and a group robot.

Description

technical field [0001] The invention relates to a modular self-reconfigurable mobile robot, in particular to a single-wheel-driven modular self-reconfigurable mobile robot. Background technique [0002] At present, for modular self-reconfigurable mobile robots, the design of the connection mechanism between modules is a crucial part. Most of the current existing connection mechanisms are based on mechanical connection structures. This structure requires high motion precision and poor fast connection performance. Moreover, multiple connection surfaces of individual modules are driven by separate motors, making the module structure too complicated. The power consumption is large, which leads to a decrease in module reliability, and its cost is also high, making it difficult to mass-produce. Contents of the invention [0003] The present invention solves the problem of existing modular self-reconfigurable mobile robots. Most of the connection mechanisms between modules are b...

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Problems solved by technology

[0003] The present invention solves the problem of existing modular self-reconfigurable mobile robots. Most of the connection mechanisms between modules are based on mechanical connection structures. This structure requires high motion precision and poor fast connection performance. Each has a separate motor drive, which makes the module structure too complex and consumes a lot of power, which leads to the problem of reduced reliability of the module. A modular self-reconfigurable mobile robot module driven by a single wheel is proposed

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