Self-assembly modular robot unit butt joint system and butt joint method

Abstract

The invention relates to a self-assembly modular robot unit butt joint system and a butt joint method. An active butt joint module and a passive butt joint module are arranged, and after modular robot units are provided with the butt joint system, the automatic connecting and self-assembly capacity is achieved, and automatic cascading is conducted. The cascading manners are diverse, a combined body formed after butt joint has the overall moving capacity and also has the joint motion and operation capacity, and the composite motion characteristic from wheel type / caterpillar band to joint type is achieved. Accordingly, the characteristic that no connection exists or connection is weak between group robots can be overcome, the cross-mode motion is achieved, the structural diversity of the combined body robots is increased, for example, the combined body robots are constructed into the robot forms such as the snake shape and the multi-foot shape, the assembly manners are flexible and diverse, and the single robot can complete tasks such as obstacle crossing and carrying with the capacity higher than the capacity of the robot through combination.

Description

technical field [0001] The invention relates to the technical field of modular robots, in particular to a docking system and a docking method for a self-assembling modular robot unit. Background technique [0002] In traditional application fields such as industry, the tasks and environments of robots are relatively fixed, and mobile robots and articulated robots with relatively fixed configuration structures are mostly used. These robots can complete specific tasks in specific work scenarios and known structural information. In emerging fields such as deep space exploration, disaster relief, and home services, there are often diverse and unstructured missions. For example, in planetary deep space exploration and emergency rescue, there are complex surface topography, such as height obstacles, stairs, caves, etc., the operating area is wide, and various tasks need to be completed to adapt to different working environments. Therefore, the robot needs to be completely autonomo...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems of few variable structures formed by group modular robots, weak automatic docking ability and lack of joint movement ability after connection, the present invention provides a self-assembling modular robot unit docking system and docking method, which uses the clamping method to improve The success rate of the docking and the structural strength after the connection, and realize the autonomous docking of the robot from a relatively long distance. During the docking process, the active and passive docking modules can be dynamically adjusted to improve the terrain adaptability, and the combined system structure can be assembled through the local simple behavior of the robot unit. , effectively combining self-assembly and self-reconfiguration, so that the modular robot has the ability of target configuration self-assembly, self-reconfiguration and joint movement and operation, thereby improving task adaptability through structural changes

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