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Control system for butting mechanism of reconfigurable robot and control method of control system

A technology for reconstructing robots and docking mechanisms. It is applied in the direction of program-controlled manipulators, manipulators, and manufacturing tools. It can solve problems such as single structure and function, and achieve the effects of accurate and reliable docking, strong adaptability to external environment, and strong load capacity.

Active Publication Date: 2018-08-24
SHANDONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the single structure and function of traditional robots, it is difficult to meet these requirements, so the concept of modular robots needs to be designed

Method used

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  • Control system for butting mechanism of reconfigurable robot and control method of control system
  • Control system for butting mechanism of reconfigurable robot and control method of control system
  • Control system for butting mechanism of reconfigurable robot and control method of control system

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Embodiment Construction

[0024] The reconfigurable robot docking mechanism applied in the present invention is as figure 1 As shown, including active mobile modules and passive mobile modules. The active mobile module 1 is connected to the robot arm 2, and the configuration of the robot arm 2 is as follows: figure 2 As shown, the mechanical arm 2 has three degrees of freedom, and each connecting rod (three connecting rods) is driven in series, which can realize a large range of spatial movement. The end of the mechanical arm 2 is connected with a passive connector 4 (ie, a claw), which adopts a symmetrical "Y"-shaped structure ("Y"-shaped claw). The passive mobile module 3 is provided with an active connector 5, and the active connector 5 adopts a gear structure with two gradually changing grooves 6 (see image 3 ), the gear is driven by a stepper motor.

[0025] The locking function of the docking mechanism is completed by the passive connector 4 installed on the active mobile module 1 and the ac...

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Abstract

The invention provides a control system for a butting mechanism of a reconfigurable robot and a control method of the control system. The control system comprises an upper computer, a controller, a driver, an infrared detection device and an encoder; the controller is connected with the upper computer; the encoder is connected with the controller after being connected with the driver; the infrareddetection device is connected with the controller; and the encoder is fixed to the joint position of a mechanical arm. The control method includes the steps of approaching, positioning detection, butting locking and joint movement, wherein an initiative moving module approaches a passive moving module; the infrared detection device measures the distance between a passive connector and an initiative connector and transmits a signal to the controller; the controller controls the driver to drive the mechanical arm to move; and after the passive connector stretches into an initiative butting device, a locking mechanism on the initiative connector rotates, and locking of the passive connector is completed. The control system is accurate and reliable in butting, initiative butting between a plurality of moving modules can be achieved, and the initiative moving module and the passive moving module have high loading capacity.

Description

technical field [0001] The invention relates to a control system for a reconfigurable robot docking mechanism and a control method thereof, belonging to the technical field of reconfigurable robot docking. Background technique [0002] Self-reconfigurable modular robot means that a group of intelligent body units with the same structure can change their own configuration independently according to the changing working environment to adapt to the new working environment without human participation. In the field of modular multi-robot research, the realization of division of labor, collaboration and docking combination between robots is directly related to the operating range and configuration capabilities of modular robots. Among them, the design of the connection mechanism is the key to this problem. In the process of self-reconfiguration, it is necessary to realize a series of actions such as autonomous docking, locking, loosening, and separation between self-reconfigurati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/08
CPCB25J9/08B25J9/1602B25J9/1694
Inventor 周乐来刘大宇李贻斌荣学文柴汇李健华宋召鹏
Owner SHANDONG UNIV
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