Four-freedom-degree spherical module unit

A technology of modular units and degrees of freedom, applied in the directions of manipulators, joints, program-controlled manipulators, etc., can solve the problems of few degrees of freedom configuration, weak flexibility, low space utilization, etc., to promote development, improve utilization, and utilization. improved effect

Active Publication Date: 2017-09-01
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a four-degree-of-freedom spherical modular unit to solve the problems of fewer configurations of degrees of freedom, weaker flexibility and lower space utilization in existing robot module units.

Method used

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  • Four-freedom-degree spherical module unit
  • Four-freedom-degree spherical module unit
  • Four-freedom-degree spherical module unit

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Embodiment Construction

[0032] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

[0033] see Figure 1-Figure 4 Description, a four-degree-of-freedom spherical modular unit of the present embodiment, which includes a spherical shell 1, a regular tetrahedral assembly and four sets of connecting assemblies 3; the regular tetrahedral assembly includes a regular tetrahedral support 2 and four drive motors 4; each The sleeve connection assembly 3 includes a transmission mechanism 3-1, a housing 3-2 and two lifting mechanisms 3-3;

[0034] A regular tetrahedral bracket 2 and four sets of connecting components 3 are arranged inside the spherical shell 1. There are four mounting seats on the regular tetrahedral bracket 2, and the four mounting seats form the vertices of the regular tetrahedron. Each mounting seat is equipped with a drive Motor 4, a housing 3-2 is installed on the output...

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Abstract

The invention provides a four-freedom-degree spherical module unit, and relates to a modular robot module unit. The four-freedom-degree spherical module unit aims to solve the problems that an existing robot module unit has fewer degrees of freedom, poor flexibility and a low space utilization rate. The four-freedom-degree spherical module unit comprises a spherical shell, a regular tetrahedron assembly and four sets of connecting assemblies, wherein the regular tetrahedron assembly comprises a regular tetrahedron support and four drive motors; each connecting assembly comprises a transmission mechanism, an outer shell and two lifting mechanisms; the regular tetrahedron support and the four connecting assemblies are disposed in the spherical shell, each drive motor is installed in a mounting base of the regular tetrahedron support, and an output shaft of each drive motor is provided with one outer shell; two driving guide rail holes and two driven guide rail holes are formed in each outer shell; each transmission mechanism is mounted on the inner side face of the corresponding outer shell and connected with the two lifting mechanisms, the driving guide rail holes are used for the lifting mechanisms of the module unit to stretch out, and the driven guide rail holes are used for receiving the lifting mechanisms of the butted module unit. The four-freedom-degree spherical module unit is used for a modular robot.

Description

technical field [0001] The invention relates to a modular robot module unit, in particular to a four-degree-of-freedom spherical module unit. Background technique [0002] Modular robots are composed of modular units with simple structures. With their advantages of plastic shape and variable functions, they have become a research hotspot in recent years. The research on this type of robot started earlier in foreign countries and has a certain research foundation. In my country, it started late and focused on the research and development of one or two degrees of freedom modular units. Most of the developed structures also adopt the traditional hexahedron structure. type. [0003] The connection mechanism is one of the most important issues in the design of the self-reconfigurable module. It must ensure that the mechanical and electrical connections between the robot modules are reliable and easy to separate, and at the same time require small size and energy saving. Most of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J9/12B25J17/00
Inventor 朱延河王羽麟赵杰
Owner HARBIN INST OF TECH
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