Modular spherical soft robot connected by magnetic force

A magnetic connection and modularization technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor reliability, complicated module connections, and incapable of batch modular production, so as to reduce costs, improve robustness, and improve The effect of module reliability

Active Publication Date: 2017-11-21
HARBIN INST OF TECH
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  • Abstract
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  • Application Information

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Problems solved by technology

[0003] The present invention aims to solve the problems of complex connection of existing soft robot modules, poor reliabilit

Method used

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  • Modular spherical soft robot connected by magnetic force
  • Modular spherical soft robot connected by magnetic force
  • Modular spherical soft robot connected by magnetic force

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Embodiment Construction

[0024] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments

[0025] see Figure 1-Figure 6 Explain that the modular spherical soft robot connected by magnetic force includes several soft spherical shells 1 and several joint connections and driving mechanisms. Two adjacent soft spherical shells 1 are connected together through a joint connection and the driving mechanism. The shells 1 are interconnected to form a robot configuration;

[0026] The joint connection and drive mechanism includes an active drive module 2 and a passive drive module 3; the active drive module 2 and the passive drive module 3 are respectively arranged in a soft spherical shell 1; the active drive module 2 includes a drive axle 2-8, a housing 2- 9. Two gear pairs 2-11, two active magnet wheels 2-12 and two motors 2-10; the passive drive module 3 includes a connecting piece 3-2 and two passive magnet wheel...

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Abstract

The provides a modular spherical soft robot connected by magnetic force and relates to the modular soft robot connected by the magnetic force, and the modular soft robot connected by the magnetic force aims at solving the problems that an existing soft robot is complex in modular connection and poor in reliability and cannot be produced modularly in batches. The modular spherical soft robot comprises multiple soft spherical shells and multiple joint connection and drive mechanisms. Every two adjacent soft spherical shells are connected together through one joint connection and drive mechanism. The soft spherical shells are mutually connected to form a robot modeling. Each joint connection and drive mechanism comprises a driving drive module and a driven drive module. Each driving drive module and the corresponding driven drive module are arranged in the same soft spherical shell. Each driving drive module comprises a driving wheel shaft, a shell, two gear pairs, two driving magnet wheels and two motors. Each driven drive module comprises a connecting piece and two driven magnet wheels. Every two adjacent soft spherical shells are connected together through the corresponding driving magnet wheels and the corresponding driven magnet wheels which attract each other. The modular soft robot connected by the magnetic force is used for manufacturing the soft robot.

Description

technical field [0001] The invention relates to a modular soft robot connected by magnetic force, in particular to a soft modular self-reconfigurable robot based on an active and passive connection structure of radial magnets. Background technique [0002] At present, modular self-reconfigurable robots have great application prospects in unknown environments and tasks due to their flexible and variable overall configuration and functions, such as space exploration, military marches, and earthquake rescue. The design of soft robot modules is mostly based on structural connection mechanisms and multi-joint configurations. This kind of module has complex structure, poor overall reliability, high cost, and it is difficult to mass-produce and modularize, which limits practical application research. Contents of the invention [0003] The invention aims to solve the problems of complex connection, poor reliability and incapable batch modular production of existing soft robot modu...

Claims

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Application Information

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IPC IPC(8): B25J9/06
CPCB25J9/065
Inventor 朱延河赵传武陈注详张宇别东洋赵杰
Owner HARBIN INST OF TECH
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