A modular self-reconfigurable robot

Abstract

This invention discloses a modular self-reconfigurable robot, comprising a main body, a rocker arm, a first drive component, two second drive components, and a transmission component. Two drive wheels are arranged side-by-side on the main body. The rocker arm is connected to the main body and can swing on it. Two intermediate wheels and two front wheels are mounted on the rocker arm. The first drive component, located on the main body, is driven by the rocker arm and rotates it. The two second drive components are located on opposite sides of the main body, each simultaneously driven by the drive wheel and intermediate wheel on the same side, rotating them. The transmission component, located on the rocker arm, engages with the intermediate wheel on one side and with the front wheel on the other, driving the front wheel and intermediate wheel to rotate synchronously. This application improves the obstacle-crossing capability of the self-reconfigurable robot by incorporating a rotatable rocker arm, allowing the connection between robots to be unconstrained by position, thereby improving the stability and efficiency of robot connections.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a modular self-reconfigurable robot. Background Technology

[0002] Currently, robots are widely used in daily life and industry. However, traditional robots, limited by their fixed configurations, can only perform certain specific tasks and are unable to meet the ever-changing work scenarios, gradually failing to meet the demands for intelligence. In this context, people are trying to research modular robots. The advantage of modular robots is that the modules can be flexibly designed to achieve different topological structures to adapt to different environmental conditions and complete different work tasks. Modular self-reconfigurable robots can achieve simple detachable connections between modules and can also autonomously reconfigure the modules.

[0003] However, current modular robots often use fixed connection mechanisms, which are not flexible enough. They require positioning during connection and have high requirements for connection position. They are prone to errors during large-scale self-assembly or self-reconfiguration, leading to task failure. In other words, existing modular self-reconfiguration robots have shortcomings in stability and efficiency during the connection process.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide a modular self-reconfigurable robot, which aims to solve the problems of insufficient stability and efficiency caused by the high requirements of the connection position during the connection process of existing modular self-reconfigurable robots.

[0006] The technical solution of the present invention is as follows:

[0007] A modular self-reconfigurable robot includes a main body, a rocker arm, a first driving component, a second driving component, and a transmission component. The main body has two drive wheels arranged side-by-side. The rocker arm is connected to the main body and can swing on the main body. The rocker arm has two intermediate wheels and two front wheels. The first driving component is located on the main body and is transmittedly connected to the rocker arm to drive its rotation. Two second driving components are respectively located on both sides of the main body, each second driving component being transmittedly connected to the drive wheel and the intermediate wheel on the same side to drive their rotation. The transmission component is located on the rocker arm, with one side transmittingly connected to the intermediate wheel and the other side transmittingly connected to the front wheel to drive the front wheel and the intermediate wheel to rotate synchronously.

[0008] The modular self-reconfigurable robot, wherein the main body is spherical; the main body is provided with a first link and a second link, one end of the first link is located at the center of the main body, and the other end is provided with the drive wheel; one end of the second link is located at the center of the main body, and the other end is connected to the rocker arm; the rocker arm includes a first connecting arm, a second connecting arm, and a third connecting arm connected end to end, one end of the first connecting arm is connected to the second link, and the other end is provided with the intermediate wheel; one end of the second connecting arm is connected to the second link, and the other end is provided with the front wheel; the third connecting arm is located between the intermediate wheel and the front wheel; when two adjacent modular self-reconfigurable robots are assembled one above the other, the direction of the line connecting the centers of the two adjacent main bodies is the first direction, the tangent direction between the rear side of the drive wheel and the center of the adjacent modular self-reconfigurable robot body is the second direction, and the angle formed between the first direction and the second direction is θ. T1 It satisfies the following formula:

[0009]

[0010] Where r is the radius of the drive wheel; R1 is the distance between the drive wheel and the center of the adjacent modular self-reconfigurable robot body; l1 is the length of the first link; and θ1 is the angle formed between the length direction of the first link and the first direction.

[0011] The modular self-reconfigurable robot, wherein when two adjacent modular self-reconfigurable robots are assembled one on the left and one on the right, the distance between the center of the front wheel and the center of the main body of the adjacent modular self-reconfigurable robot is n, satisfying the following formula:

[0012]

[0013] Where m is the distance between the center of the front wheel and the center of the main body it is connected to; R is the radius of the main body; the direction of the line connecting the centers of two adjacent main bodies is the third direction, and the direction of the line connecting the center of the front wheel and the center of the main body it is connected to is the fourth direction, θ T2 The angle formed between the third direction and the fourth direction.

[0014] The modular self-reconfigurable robot, wherein the main body includes a spherical shell, the spherical shell being a ferromagnetic spherical shell; the modular self-reconfigurable robot includes a first magnetic component, the first magnetic component being disposed on the main body, located between the two drive wheels, for magnetically engaging with the adjacent ferromagnetic spherical shell.

[0015] The modular self-reconfigurable robot includes a second magnetic component, which is disposed on the rocker arm and is used to magnetically engage with the adjacent ferromagnetic spherical shell.

[0016] The modular self-reconfigurable robot, wherein the first magnetic component includes a plurality of first magnetic attractors arranged in an alternating polarity manner; the first magnetic attractor is one or more of nickel magnets, cobalt magnets, and neodymium magnets; and / or, the second magnetic component includes a plurality of second magnetic attractors arranged in an alternating polarity manner; the second magnetic attractor is one or more of nickel magnets, cobalt magnets, and neodymium magnets.

[0017] The modular self-reconfigurable robot, wherein the second driving component includes a power component, a helical worm gear, a first transmission component, and a second transmission component. The helical worm gear includes a main gear and a first bevel gear and a second bevel gear disposed on both sides of the main gear. The main gear has a first locking tooth along the radial rotation direction, and the first locking tooth meshes with the output end of the power component. The first bevel gear has a second locking tooth on its side surface opposite to the main gear, and the second locking tooth meshes with the first transmission component. The second bevel gear has a third locking tooth on its side surface opposite to the main gear, and the third locking tooth meshes with the second transmission component. One end of the first transmission component opposite to the first bevel gear meshes with the drive wheel for transmission. One end of the second transmission component opposite to the second bevel gear meshes with the intermediate wheel for transmission.

[0018] The modular self-reconfigurable robot, wherein the first driving component includes a driving element and a coaxial differential structure, the driving element is connected to the coaxial differential structure, and the coaxial differential structure is simultaneously connected to the intermediate wheel and the front wheel.

[0019] The modular self-reconfigurable robot, wherein the drive wheel and the front wheel are both Mecanum wheels.

[0020] This application also discloses a connection method for a modular self-reconfigurable robot as described in any of the above, wherein:

[0021] The second drive component drives the intermediate wheel and drive wheel to rotate, which in turn drives the front wheel to rotate synchronously, moving the modular self-reconfiguration robot to the side of another modular self-reconfiguration robot.

[0022] The first drive unit is activated to rotate the rocker arm, causing the front wheel and the intermediate wheel to climb on the body of the adjacent modular self-reconfigurable robot.

[0023] The second driving component drives the drive wheel, the intermediate wheel, and the front wheel to roll until all three wheels move onto the main body of another modular self-reconfigurable robot, thus completing the connection.

[0024] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0025] The modular self-reconfigurable robot disclosed in this invention uses individual main bodies as assembly units. By continuously connecting multiple main bodies, a robot with multiple possible shapes can be formed. Specifically, drive wheels, intermediate wheels, and front wheels are set on the main body as rolling supports. A first drive component and a second drive component are set for driving, and a transmission component is set to drive the intermediate wheels and front wheels to rotate synchronously, thereby realizing the free movement function of the modular self-reconfigurable robot. In particular, this invention sets a rocker arm that can rotatably connect to the main body, so that the intermediate wheels and front wheels can not only rotate on their own, but also change position with the rocker arm. This allows them to be lifted from the bottom of the main body, contact the side of adjacent robots, and roll to move. Climbing, thereby enabling the modular self-reconfigurable robot to overcome obstacles; it can be seen that when the modular self-reconfigurable robot disclosed in this invention overcomes obstacles, it only needs to raise the rocker arm, allowing the front wheel and the middle wheel to pull the main body to move on the surface of the adjacent modular self-reconfigurable robot. During the connection or obstacle crossing process, the rocker arm keeps the middle wheel and the front wheel attached to the surface of the adjacent modular self-reconfigurable robot to maintain stability, eliminating the traditional connection, alignment, and connection fixing actions, and is not affected by the contact position, and has the ability to connect continuously; in general, it reduces the connection requirements of the modular self-reconfigurable robot, reduces connection failures, and improves the connection stability and connection efficiency of the modular self-reconfigurable robot. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a perspective view of the modular self-reconfigurable robot in this invention;

[0028] Figure 2 This is a schematic diagram of the internal structure of the modular self-reconfigurable robot in this invention;

[0029] Figure 3 This is an exploded view of the internal structure of the modular self-reconfigurable robot in this invention;

[0030] Figure 4This is a bottom view of the modular self-reconfigurable robot in this invention;

[0031] Figure 5 This is a schematic diagram of the helical worm gear in this invention;

[0032] Figure 6 This is a schematic diagram of the modular self-reconfigurable robot in this invention;

[0033] Figure 7 This is a flowchart illustrating the four basic actions of the modular self-reconfigurable robot in this invention: connection, separation, proximity transfer, and non-proximity transfer.

[0034] Figure 8 This is a schematic diagram showing the dimensional relationships of the modular self-reconfigurable robot in the connected state in this invention;

[0035] Figure 9 This is a schematic diagram showing the dimensional relationships when the modular self-reconfigurable robot in this invention is connected.

[0036] Figure 10 This is a schematic diagram of the dimensional relationships of the modular self-reconfigurable robot in this invention when performing non-adjacent transfers;

[0037] Figure 11 This is a schematic diagram showing the dimensional relationships of the modular self-reconfigurable robot during separation in this invention;

[0038] Figure 12 This is a schematic diagram of the dimensional relationships during the connection process of the modular self-reconfigurable robot in this invention;

[0039] Figure 13 This is a force analysis diagram of the modular self-reconfigurable robot in this invention during connection.

[0040] Figure 14 This is a force analysis diagram of the modular self-reconfigurable robot in this invention during separation;

[0041] Figure 15 This is a force analysis diagram of the modular self-reconfigurable robot in the connected state in this invention.

[0042] Figure 16 Figure (a) is a schematic diagram showing the change of magnetic force generated by the modular self-reconfigurable robot in the present invention with distance when they are connected; Figure (b) is a graph showing the change of magnetic force generated by the modular self-reconfigurable robot in the present invention with distance when they are connected.

[0043] Figure 17 This is a simplified diagram of the transmission system of the modular self-reconfigurable robot in this invention;

[0044] Figure 18Figure (a) shows the force analysis diagram of the drive wheel, intermediate wheel and front wheel when the modular self-reconfigurable robot moves in a straight line in this invention, and Figure (b) shows the force analysis diagram of the drive wheel, intermediate wheel and front wheel when the modular self-reconfigurable robot turns in this invention.

[0045] Figure 19 (a) Figure shows the connection process of the modular self-reconfigurable robot in this invention; (b) Figure shows the separation process of the modular self-reconfigurable robot in this invention; (c) Figure shows the proximity transfer process of the modular self-reconfigurable robot in this invention; (d) Figure shows the non-proximity transfer process of the modular self-reconfigurable robot in this invention.

[0046] Figure 20 This invention describes the process by which a robotic arm composed of multiple modular self-reconfigurable robots moves objects.

[0047] Figure 21 This describes the process by which multiple modular self-reconfigurable robots collaboratively overcome obstacles in this invention.

[0048] Figure 22 This is a flowchart of the connection method for the modular self-reconfigurable robot in this invention.

[0049] Among them, 100 is the main body; 110 is the first connecting rod; 120 is the second connecting rod; 130 is the spherical shell; 200 is the drive wheel; 300 is the rocker arm; 310 is the first connecting arm; 320 is the second connecting arm; 330 is the third connecting arm; 400 is the intermediate wheel; 500 is the front wheel; 600 is the first drive component; 610 is the drive component; 700 is the second drive component; 710 is the power component; 720 is the helical worm gear; 721 is the main gear; 7211 is the first locking tooth; 722 is the first bevel gear; 7221 is the second locking tooth; 723 is the second bevel gear; 7231 is the third locking tooth; 730 is the first transmission component; 740 is the second transmission component; 800 is the transmission component; 900 is the first magnetic component; and 1000 is the second magnetic component. Detailed Implementation

[0050] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Modular self-reconfigurable robots (MSRR) are generally considered more adaptable than fixed-form robots in the prior art because they can rearrange the connections of their components to form new forms more suitable for new tasks. These robotic systems also possess the potential for self-healing by using redundant, low-cost robot modules to enhance system robustness. These unique capabilities make them well-suited for exploring unstructured or dynamic environments.

[0052] While existing modular robots offer advantages in versatility and low cost, their connection mechanisms are largely idealistic—using fixed connections to link multiple modular robots while ignoring practical issues such as manufacturing imperfections. Currently, the connection mechanisms of existing MSRR systems mainly consist of retractable mechanical hooks, permanent magnets, electromagnets, and self-soldering alloys, all requiring alignment. During large-scale self-assembly or self-reconfiguration processes, this dependence on specific connector positions can lead to task failure. Specifically, possible causes include accumulated manufacturing deviations, low sensor accuracy, and deformation caused by gravity or external forces.

[0053] In nature, a group of organisms can exhibit abilities that individuals cannot. For example, a colony of ants will form a bridge to cross a ditch, or biological organisms will combine lower components to achieve powerful higher behaviors. The ways in which these organisms connect are often not limited by lattice type and are very efficient. Inspired by biological structures, many researchers have developed modular robots that can form attachments without the need for connection and alignment, but many robots are limited to movement in a two-dimensional plane. To our knowledge, current modular robots, when performing continuous 3D connections, connect and disconnect at a given position, with a lifespan of only about 50 times, and each connection requires a 5-minute cooling time. This means that when two modular robots are connected, the overall structure is very unstable. Another limitation of modular robots is that they only have two controllable degrees of freedom, which can drive a spherical shell to roll in two directions, but cannot precisely control the shell to rotate around its vertical axis.

[0054] Therefore, existing modular robots with continuous connections still suffer from unstable connections or low connection efficiency.

[0055] See Figure 1 and Figure 2According to one embodiment of this invention application, a modular self-reconfigurable robot is disclosed, comprising a main body 100, a rocker arm 300, a first drive component 600, a second drive component 700, and a transmission component 800. Two drive wheels 200 are arranged side-by-side on the main body 100. The rocker arm 300 is connected to the main body 100 and can swing on the main body 100. Two intermediate wheels 400 and two front wheels 500 are arranged on the rocker arm 300. The first drive component 600 is disposed on the main body 100 and connected to the rocker arm 300. A transmission connection is provided to drive the rocker arm 300 to rotate; two second drive components 700 are respectively provided on both sides of the main body 100, and each second drive component 700 is simultaneously connected to the drive wheel 200 and the intermediate wheel 400 on the same side to drive the drive wheel 200 and the intermediate wheel 400 to rotate; the transmission component 800 is provided on the rocker arm 300, with one side connected to the intermediate wheel 400 and the other side connected to the front wheel 500 to drive the front wheel 500 and the intermediate wheel 400 to rotate synchronously.

[0056] The modular self-reconfigurable robot disclosed in this embodiment uses individual main bodies 100 as assembly units. By continuously connecting multiple main bodies 100, a robot with multiple shapes can be formed. Specifically, drive wheels 200, intermediate wheels 400, and front wheels 500 are provided on the main body 100 as rolling supports. A first drive component 600 and a second drive component 700 are provided for driving. A transmission component 800 is provided to drive the intermediate wheels 400 and front wheels 500 to rotate synchronously, thereby realizing the free movement function of the modular self-reconfigurable robot. In particular, this embodiment uses a rocker arm 300 to rotatably connect the main body 100, so that the intermediate wheels 400 and front wheels 500 can not only rotate on their own, but also change position with the rocker arm 300, thereby being able to be lifted from the bottom of the main body 100 and move to adjacent... The robot climbs by rolling through side contact, thus enabling the modular self-reconfigurable robot to overcome obstacles. As can be seen, when the modular self-reconfigurable robot disclosed in this embodiment overcomes obstacles, it only needs to raise the rocker arm 300, allowing the front wheel 500 and the intermediate wheel 400 to pull the main body 100 to move on the surface of adjacent modular self-reconfigurable robots. During connection or obstacle-crossing, the rocker arm 300 keeps the intermediate wheel 400 and the front wheel 500 attached to the surface of adjacent modular self-reconfigurable robots, maintaining stability. This eliminates traditional connection, alignment, and connection fixing actions, is unaffected by the contact position, and has the ability to connect continuously. In summary, it reduces the connection requirements of the modular self-reconfigurable robot, reduces connection failures, and improves the connection stability and efficiency of the modular self-reconfigurable robot.

[0057] Specifically, in the actual connection process, in order for the modular self-reconfigurable robot to achieve self-assembly and self-reconfiguration, a single modular self-reconfigurable robot needs to be able to autonomously attach to or detach from its companion. This embodiment defines four basic actions for a single robot: connection, separation, proximity transfer, and non-proximity transfer, such as... Figure 7 and Figure 19 As shown, action connection and separation enable modular self-reconfigurable robot groups to self-assemble. These two action primitives only occur when the robot is about to touch or leave the ground; while adjacent and non-adjacent transformations are usually performed in three-dimensional space, which means that the mobile robot can have multiple poses.

[0058] like Figure 2 and Figure 6 As shown, in one embodiment of this invention, the main body 100 is spherical in shape. The main body 100 is provided with a first connecting rod 110 and a second connecting rod 120. One end of the first connecting rod 110 is located at the center of the main body 100, and the other end is provided with the drive wheel 200. One end of the second connecting rod 120 is located at the center of the main body 100, and the other end is connected to the rocker arm 300. The rocker arm 300 includes a first connecting arm 310, a second connecting arm 320, and a third connecting arm 330 connected sequentially from head to tail. One end of the first connecting arm 310 is connected to the second connecting rod 120, and the other end is provided with the intermediate wheel 400. One end of the second connecting arm 320 is connected to the second connecting rod 120, and the other end is provided with the front wheel 500. The third connecting arm 330 is located between the intermediate wheel 400 and the front wheel 500. To successfully complete the basic movements of the robot, the size of the modular self-reconfigurable robot has many limitations. In this embodiment, this problem is solved through an optimization-based method. First, as... Figure 8 As shown, various dimensional parameters of the robot are defined using symbols, through at least seven dimensions, such as: R, r, θ2, θ3, l2, l4, l6, where R is the radius of the main body 100; r is the radius of the drive wheel 200; l2 is the length of the second link 120; l4 is the length of the second connecting arm 320; l6 is the distance between the center of the intermediate wheel 400 and the center of the main body 100; other dimensions in the figure can be calculated from these dimensions, for example, by formula (1):

[0059]

[0060] Specifically, when two adjacent modular self-reconfigurable robots are assembled one above the other, the direction of the line connecting the centers of the two adjacent main bodies 100 is the first direction, and the direction of the tangent between the rear side of the drive wheel 200 and the center of the adjacent modular self-reconfigurable robot main body 100 is the second direction. The angle formed between the first direction and the second direction is θ. T1 It satisfies the following formula (2):

[0061]

[0062] Where r is the radius of the drive wheel 200; R1 is the distance between the drive wheel 200 and the center position of the adjacent modular self-reconfigurable robot body 100; l1 is the length of the first link 110; θ1 is the angle formed between the length direction of the first link 110 and the first direction.

[0063] In this embodiment, the included angle between the first direction and the second direction is limited to less than [a certain value]. This limits the coverage area of ​​the six wheels connected to the main body 100, so that they do not occupy too much surface area of ​​the connected modular self-reconfigurable robots when connected. This controls the number of modular self-reconfigurable robots that can be connected to each other. In the best case, one modular self-reconfigurable robot can connect to five modular self-reconfigurable robots at the same time, and the position is not limited, making the connection convenient.

[0064] like Figure 9 As shown, as another implementation in this embodiment, it is disclosed that when two adjacent modular self-reconfigurable robots are assembled one on the left and one on the right, the distance between the center of the front wheel 500 and the center of the body 100 of the adjacent modular self-reconfigurable robot is n, satisfying the following formula (3):

[0065]

[0066] Where m is the distance between the center of the front wheel 500 and the center of the connected main body 100; the direction of the line connecting the centers of two adjacent main bodies 100 is the third direction, and the direction of the line connecting the center of the front wheel 500 and the center of the connected main body 100 is the fourth direction, θ T2 The angle formed between the third direction and the fourth direction.

[0067] In this embodiment, when the rocker arm 300 rotates and is raised to its maximum angle, the front wheel 500 needs to contact the connected modular self-reconfigurable robot to generate friction so that the main body 100 can rotate when the front wheel 500 rotates, and the connection can begin. Therefore, the distance between the center of the front wheel 500 and the center of the adjacent modular self-reconfigurable robot's main body 100 is controlled to be less than R1+r.

[0068] Specifically, in another embodiment of this invention, the same situation occurs when two of the modular self-reconfigurable robots perform non-adjacent transformation actions, such as... Figure 10 As shown, the distance between the center of the front wheel 500 and the center of the non-adjacent modular self-reconfigurable robot body 100 is n′, which satisfies the following formula (4):

[0069]

[0070] The direction of the line connecting the centers of two non-adjacent main bodies 100 is the fifth direction, θ. T3 The angle formed between the fourth direction and the fifth direction.

[0071] like Figure 11 As shown, in another embodiment of this invention, when the modular self-reconfigurable robot performs a separation action, its front wheel 500 needs to first contact the ground to generate friction with the ground and provide frictional force for forward drive. Therefore, the height O1C2 of the center of the main body 100 from the ground satisfies the following formula (5):

[0072] O1C2>R................................................(5)

[0073] In summary, the size optimization problem of this modular self-reconfigurable robot can be formulated as a nonlinear optimization problem. To improve the robot's ability to navigate between adjacent transitions, the sum of the distance between the front and rear wheels and the diameter of the base robot wheels should be minimized. Therefore, the optimization problem can be formulated as follows:

[0074]

[0075] With the help of some nonlinear optimization solvers, we can obtain r in this embodiment. * =0.26R, θ2 * =55deg,θ3 * =50deg, l2 * =0.71R,l4 * =0.82R, l6 * =1.09R, which means that once the shell radius of the main body 100 is determined, other geometric parameters can be determined. In actual production and manufacturing, the shell radius R of the snail robot is 120 mm.

[0076] like Figure 3 Figure 4 , Figure 5 and Figure 17As shown, in another embodiment of this invention, the second driving component 700 includes a power component 710, a helical worm gear 720, a first transmission component 730, and a second transmission component 740. The helical worm gear 720 includes a main gear 721 and a first bevel gear 722 and a second bevel gear 723 disposed on both sides of the main gear 721. The main gear 721 has a first locking tooth 7211 along the radial rotation direction, and the first locking tooth 7211 meshes with the output end of the power component 710. The first bevel gear 722 is opposite to the output end of the power component 710. The main gear 721 has a second locking tooth 7221 on its side surface, which meshes with the first transmission member 730; the second bevel gear 723 has a third locking tooth 7231 on its side surface opposite to the main gear 721, which meshes with the second transmission member 740; the end of the first transmission member 730 opposite to the first bevel gear 722 meshes with the drive wheel 200; the end of the second transmission member 740 opposite to the second bevel gear 723 meshes with the intermediate wheel 400.

[0077] In this embodiment, the first bevel gear 722 and the second bevel gear 723 are fixed on both sides of the main gear 721. When the main gear 721 rotates, the first bevel gear 722 and the second bevel gear 723 rotate synchronously. By setting the helical worm gear 720, transmission is achieved simultaneously with the drive wheel 200 and the intermediate wheel 400. Furthermore, the transmission component 800 enables transmission between the intermediate wheel 400 and the front wheel 500. Therefore, only the helical worm gear 720 needs to be driven to control the synchronous rotation of the drive wheel 200, the intermediate wheel 400, and the front wheel 500 on one side. In other words, only two power components 710, such as two motors, need to be set on the main body 100 to mesh and transmit power with the helical worm gear 720 on both sides of the main body 100, so that all six wheels of the modular self-reconfigurable robot can rotate and move. Compared with most existing six-wheeled rocker-bogie chassis (such as lunar rovers) driven by six motors, with independent steering motors for the front and rear wheels, the second drive component 700 disclosed in this embodiment greatly reduces structural complexity, which is beneficial for reducing the weight of the modular self-reconfigurable robot and facilitating flexible driving.

[0078] Specifically, in this embodiment, the helical worm gear 720 has protruding second locking teeth 7221 and third locking teeth 7231 on both sides. Therefore, the ends of the first transmission member 730 and the second transmission member 740 can also be provided with side-protruding locking teeth for cooperation. A locking tooth can also be provided at the end of the first transmission member 730 away from the helical worm gear 720 to mesh with a gear preset on the shaft of the drive wheel 200. A locking tooth can also be provided at the end of the second transmission member 740 away from the helical worm gear 720 to mesh with a gear preset on the shaft of the intermediate wheel 400. Overall, realizing full-range gear meshing transmission is beneficial to improving transmission accuracy and efficiency, and facilitating precise control of the robot's movement.

[0079] For example Figure 3 As shown, in another embodiment of this invention, the first driving component 600 includes a driving member 610 and a coaxial differential structure (not shown in the figures). The driving member 610 is connected to the coaxial differential structure, which is simultaneously connected to the intermediate wheel 400 and the front wheel 500. In this embodiment, when a modular self-reconfigurable robot is attached to another modular self-reconfigurable robot, the lifting action of its rocker arm 300 is particularly important for completing the separation and transition. To make it easier to lift the rocker arm 300, the first driving component 600 includes a coaxial differential structure, so that the driving member 610, such as a motor, can drive the front four wheels. In this embodiment, when lifting the rocker arm 300, the sliding friction between the intermediate wheel 400 and the body 100 of the connected modular self-reconfigurable robot is converted into rolling friction, which can greatly reduce the torque required to lift the rocker arm 300 and reduce wheel wear, facilitating the robot connection process.

[0080] Specifically, the angular velocities of the rocker arm 300 and the drive wheel 200 during the connection process can be calculated using the following formulas (7) and (8):

[0081]

[0082]

[0083] Where, ω rocker ω is the angular velocity of the rocker arm at 30°. rw ω is the angular velocity of the drive wheel 200. mm ω is the angular velocity at the output of the drive unit 610. sm z1 is the angular velocity at the output end of the power component 710; z2 is the number of teeth at the output end of the drive component 610; z3 is the number of teeth on the rocker arm 300; z4 is the number of teeth on the second tooth 7221 on the helical worm gear 720; z5 is the number of teeth on the preset gear on the shaft of the drive wheel 200.

[0084] As can be seen, in this embodiment, the angular velocity of the first four wheels is determined by the drive component 610 and the power component 710, and can be expressed as the following formula (9):

[0085]

[0086] Where, ω fw z5 represents the angular velocity of the intermediate wheel 400 and the front wheel 500; z6 represents the number of teeth of the second transmission component 740; and z7 represents the number of teeth of the gear preset on the shaft of the intermediate wheel 400.

[0087] like Figure 12 As shown, in another embodiment of this invention, it is disclosed that when the rocker arm 300 rises to its maximum angle, the path length through which the intermediate wheel 400 is driven by the drive member 610 needs to be as equal as possible to the length that the intermediate wheel 400 travels on the connected body 100. Therefore, the transmission ratio between the helical worm gear 720 and the gear preset on the shaft of the intermediate wheel 400 satisfies the following formula (10):

[0088]

[0089] Where, θ T4 θ is the angle of rotation of the intermediate wheel 400 on the connected body 100; max The maximum angle of rotation of the rocker arm is 300°. According to the parameter optimization results, the final result of the above equation (10) is approximately 2. Considering the need to maintain the same speed and direction of each wheel and the space constraints of the robot, the number of teeth, module and shaft angle of all gears were finally determined.

[0090] like Figure 4 and Figure 13 As shown, in another embodiment of this invention, the main body 100 includes a spherical shell 130, which is a ferromagnetic spherical shell. The modular self-reconfigurable robot includes a first magnetic component 900, which is disposed on the main body 100 between the two drive wheels 200 and is used to magnetically engage with the adjacent ferromagnetic spherical shell. The two modular self-reconfigurable robots are attracted to each other by magnetic attraction. This engagement method is simple and fast, not constrained by assembly position; attraction is generated simply by the two modular self-reconfigurable robots approaching each other, without the need for alignment or physical connection, making it more suitable for the connection or obstacle-crossing process disclosed in this embodiment. Moreover, when the two modular self-reconfigurable robots are connected, the mutual attraction between the ferromagnetic spherical shell and the first magnetic component 900 is maintained. Regardless of the angle or posture of the connected modular self-reconfigurable robot in contact with the connected ferromagnetic spherical shell, and regardless of whether the modular self-reconfigurable robot is stationary or in motion, the mutual attraction remains unchanged, thus improving the stability of the modular self-reconfigurable robot connection.

[0091] Specifically, the first magnetic component 900 is positioned between the two drive wheels 200. First, it has good concealment, and during connection, separation, or movement, the position between the two drive wheels 200 has less contact with other interfaces, which can reduce collisions and protect the first magnetic component 900. Second, the first magnetic component 900 is located in the center of the lower side of the main body 100, so when it generates attraction, the direction of the force tends to be parallel to the direction of the line connecting the centers of the two modular self-reconfigurable robots, avoiding excessive attraction on one side of the modular self-reconfigurable robot to prevent tipping.

[0092] Specifically, as another implementation of this embodiment, the first magnetic component 900 is disclosed to include a plurality of first magnetic attractors arranged in an alternating polarity manner; the first magnetic attractors are one or more of nickel magnets, cobalt magnets, and neodymium magnets. The multiple first magnetic attractors are arranged alternately, and they do not repel each other, maintaining an attractive state and stability. This ensures that while increasing the magnetic attraction force, stability is maintained, thereby improving the stability of the modular self-reconfigurable robot connection.

[0093] like Figure 13 and Figure 14 As shown, in another embodiment of this invention, the modular self-reconfigurable robot includes a second magnetic component 1000, which is disposed on the rocker arm 300 for magnetically engaging with the adjacent ferromagnetic spherical shell. In this embodiment, the rocker arm 300 rotates and first contacts the surface of the connected modular self-reconfigurable robot. The second magnetic component 1000 causes the rocker arm 300 to rotate, generating mutual attraction as the intermediate wheel 400 and the front wheel 500 engage with the body 100 of the connected modular self-reconfigurable robot. This allows the rocker arm 300 to stably adhere to the surface of the connected modular self-reconfigurable robot, thereby maintaining stability during the connection process.

[0094] Specifically, as another implementation of this embodiment, the second magnetic component 1000 is disclosed to include a plurality of second magnetic attractors arranged in an alternating polarity manner; the second magnetic attractors are one or more of nickel magnets, cobalt magnets, and neodymium magnets. The multiple second magnetic attractors are provided to increase the magnetic attraction force, making the connection between the rocker arm 300 and the connected modular self-reconfigurable robot more stable. The alternating arrangement of the multiple second magnetic attractors is to prevent repulsive forces between adjacent second magnetic attractors, thus preventing instability in the structure of the second magnetic component 1000 itself.

[0095] Specifically, in another embodiment of this invention, a first magnetic component 900 and a second magnetic component 1000 are simultaneously provided. The size and layout of the first magnetic component and the second magnetic component, as well as the distance between the magnet and the main body 100, determine the self-reconfiguration capability of the modular self-reconfiguration robot. Figure 13 , Figure 14 and Figure 15 Force analysis is presented for the robot when connecting to or separating from other modules. Through force analysis, we know that the key to completing these two actions is sufficient friction between the robot's wheels and the ground or sphere. The frictional force F on drive wheel 200 is... C1 and F C2 This will increase the pressure between the front wheel 500 and the contact surface, thereby increasing the friction on the front wheel 500. Specifically, Figure 13 and Figure 14 F in A1 and F A2 It is necessary to be able to rotate the modular self-reconfigurable robot itself, and the forces experienced by the modular self-reconfigurable robot in adjacent transition actions are similar to those in separation actions.

[0096] Figure 15 A force analysis is given when the modular self-reconfigurable robot lifts the rocker arm 300. If the magnetic forces of the first and second magnetic components are the same, or if the magnetic force of the first magnetic component is less than that of the second magnetic component, the back of the modular self-reconfigurable robot may tilt upwards; therefore, the rear of the robot must withstand a greater magnetic force than the front. Because a coaxial differential structure is provided on the rocker arm 300 in this embodiment, when the robot lifts the rocker arm 300, there is almost no sliding friction between the intermediate wheel 400 and the connected body 100, therefore F... B3 Very small, negligible; the main resistance to lifting the joystick comes from the magnetic force between the second magnetic component and the spherical shell of the main body 100. Therefore, the torque (τ) of the drive component 610... mm It should satisfy the following formula (11):

[0097]

[0098] Where d is the distance between the connection position of the rocker arm 300 and the second connecting rod 120 and the center line of the second magnetic attractor; F M5 η is the magnetic force of the second magnetic attraction element; η is the transmission efficiency between the drive element 610 and the rocker arm 300.

[0099] Specifically, another embodiment of this invention discloses a modular self-reconfigurable robot that uses four neodymium magnets as the first and second magnetic attractors. Figure 16Figure (a) shows a schematic diagram of the force distribution at the bottom of the main body. Neodymium magnets, 15×15×15mm cubes with a strength of N52, are used in an alternating polarity arrangement to fully utilize the space at the bottom of the robot. The neodymium magnets positioned between the drive wheels 200 are 0.5mm closer to the center of the main body 100 than those positioned on the rocker arm 300, resulting in a stronger magnetic force at the rear of the main body 100 than at the front. This ensures the robot does not tilt when the rocker arm 300 is lifted. Using the height of the rear neodymium magnets as a reference, the magnetic force varies with the distance between the neodymium magnets and the main body 100 as shown below. Figure 16 As shown in Figure (b), during the actual test, the neodymium magnets placed between the drive wheels 200 were 1.75 mm away from the main body 100, and the corresponding normal magnetic force was 86.7 N, which is approximately equal to the weight of 8 modular self-reconfigurable robots.

[0100] like Figure 3 and Figure 4 As shown, in another implementation of this embodiment, both the drive wheel 200 and the front wheel 500 are Mecanum wheels. In actual use, when two modular self-reconfigurable robots are connected, the actively connected modular self-reconfigurable robots are subjected to a magnetic force several times their own weight, and the robot's wheels need to withstand greater pressure. Therefore, in this embodiment, Mecanum wheels are used as the drive wheel 200 and the front wheel 500, while the intermediate wheel 400 is a regular wheel. The four rectangularly arranged Mecanum wheels provide stable support to the main body 100, reducing the resistance of the robot during movement or turning.

[0101] like Figure 17 As shown, in another embodiment of this invention, the rollers of the four mecanum wheels are arranged in an X-shape. In this embodiment, the rollers of the mecanum wheels themselves have a specific orientation. By setting the rollers of the two drive wheels 200 to face each other, the rollers of the two front wheels 500 to face away from each other, and the rollers of the drive wheels 200 on the same side to face opposite directions to the front wheels 500, the rollers of the four mecanum wheels are arranged in an X-shape. Figure 18 The roller arrangement shown is O-shaped, unlike traditional omnidirectional mobile platforms. Figure 18 The motion state shown in Figure (a) illustrates that the advantage of this design is that when the six wheels are driven forward or backward, the four outer mechanical wheels can provide driving force; as shown in Figure (a). Figure 18 The motion states shown in Figure (b) are such that when the robot turns, they only act as guide wheels, which can reduce the resistance when turning and improve the flexibility of the modular self-reconfigurable robot's movement.

[0102] like Figure 22As shown, as another embodiment of this application, a connection method for a modular self-reconfigurable robot as described above is disclosed, comprising:

[0103] S100: The intermediate wheel 400 and the drive wheel 200 are driven to rotate by the second drive component 700, which drives the front wheel 500 to rotate synchronously, moving the modular self-reconfigurable robot to the side of another modular self-reconfigurable robot;

[0104] S200, the first drive component 600 is started to drive the rocker arm 300 to rotate, so that the front wheel 500 and the intermediate wheel 400 climb on the body 100 of the adjacent modular self-reconfigurable robot;

[0105] S300, the second driving component 700 drives the driving wheel 200, the intermediate wheel 400 and the front wheel 500 to roll until the driving wheel 200, the intermediate wheel 400 and the front wheel 500 all move onto the main body 100 of another modular self-reconfigurable robot, thus completing the connection.

[0106] The connection method disclosed in this embodiment defines the robot's basic actions, parameterizes the robot's key dimensions, and transforms the robot's size optimization problem into a nonlinear optimization problem. During self-reconfiguration, some key dimensional constraints are used as constraints in the optimization problem, and some target dimensional relationships are defined as optimization objectives. It connects to its companions through continuous 3D docking, unaffected by alignment. This significantly improves the efficiency of self-reconfiguration, reduces docking failures, and enhances the stability and efficiency of modular self-reconfigurable robot connections.

[0107] In summary, this application discloses a modular self-reconfigurable robot, comprising a main body 100, a rocker arm 300, a first drive component 600, a second drive component 700, and a transmission component 800. The main body 100 has two drive wheels 200 arranged side-by-side. The rocker arm 300 is connected to the main body 100 and can swing on the main body 100. The rocker arm 300 has two intermediate wheels 400 and two front wheels 500. The first drive component 600 is located on the main body 100 and is connected to the rocker arm 300 via a transmission mechanism. The first drive component 700 is used to drive the rocker arm 300 to rotate; two second drive components 700 are respectively disposed on both sides of the main body 100, and each second drive component 700 is simultaneously connected to the drive wheel 200 and the intermediate wheel 400 on the same side, for driving the drive wheel 200 and the intermediate wheel 400 to rotate; the transmission component 800 is disposed on the rocker arm 300, one side is connected to the intermediate wheel 400 for transmission, and the other side is connected to the front wheel 500 for transmission, for driving the front wheel 500 and the intermediate wheel 400 to rotate synchronously.

[0108] like Figure 19 As shown, the modular self-reconfigurable robot disclosed in this embodiment uses individual main bodies 100 as assembly units, enabling actions such as connection, separation, proximity transfer, and non-proximity transfer. Furthermore, by continuously connecting multiple main bodies 100, a robot with diverse configurations can be formed, such as... Figure 20 and Figure 21 As shown; specifically, a drive wheel 200, an intermediate wheel 400, and a front wheel 500 are provided on the main body 100 as rolling supports. A first drive component 600 and a second drive component 700 are provided for driving. A transmission component 800 is provided to drive the intermediate wheel 400 and the front wheel 500 to rotate synchronously, thereby realizing the free movement function of the modular self-reconfigurable robot. In particular, this embodiment uses a rocker arm 300 to rotatably connect to the main body 100, so that the intermediate wheel 400 and the front wheel 500 can not only rotate on their own, but also change position with the rocker arm 300. This allows them to be lifted from the bottom of the main body 100, contact the side of an adjacent robot, and climb by rolling, thereby realizing the modular self-reconfigurable robot. The robot overcomes obstacles; as can be seen, when the modular self-reconfigurable robot disclosed in this embodiment connects or overcomes obstacles, it only needs to lift the rocker arm 300, so that the front wheel 500 and the middle wheel 400 can pull the main body 100 to move on the surface of the adjacent modular self-reconfigurable robot. During the connection or obstacle crossing process, the rocker arm 300 makes the middle wheel 400 and the front wheel 500 adhere to the surface of the adjacent modular self-reconfigurable robot to maintain stability, eliminating the traditional connection, alignment, and connection fixing actions, and is not affected by the contact position, and has the ability to connect continuously; in general, it reduces the connection requirements of the modular self-reconfigurable robot, reduces connection failures, and improves the connection stability and connection efficiency of the modular self-reconfigurable robot.

[0109] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0110] It should be noted that this invention uses a modular self-reconfigurable robot as an example to introduce the specific structure and working principle of the invention, but the application of this invention is not limited to modular self-reconfigurable robots, and can also be applied to the inspection / production / use of other similar workpieces.

[0111] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

[0112] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A modular self-reconfigurable robot, characterized in that, include: The main body has two drive wheels arranged side by side. A rocker arm is connected to the main body and can swing on the main body; the rocker arm is provided with two intermediate wheels and two front wheels; A first driving component is disposed on the main body and is connected to the rocker arm via a transmission, for driving the rocker arm to rotate; Two second drive components are respectively located on both sides of the main body. Each second drive component is simultaneously connected to the drive wheel and the intermediate wheel on the same side for driving the drive wheel and the intermediate wheel to rotate. A transmission component is mounted on the rocker arm, with one side engaging with the intermediate wheel and the other side engaging with the front wheel, for driving the front wheel and the intermediate wheel to rotate synchronously; The main body is spherical in shape; the main body is provided with a first connecting rod and a second connecting rod, one end of the first connecting rod is located at the center of the main body, and the other end is provided with the drive wheel; one end of the second connecting rod is located at the center of the main body, and the other end is connected to the rocker arm; The rocker arm includes a first connecting arm, a second connecting arm, and a third connecting arm connected in sequence from head to tail. One end of the first connecting arm is connected to the second connecting rod, and the other end is provided with the intermediate wheel. One end of the second connecting arm is connected to the second connecting rod, and the other end is provided with the front wheel. The third connecting arm is located between the intermediate wheel and the front wheel. When two adjacent modular self-reconfigurable robots are assembled one above the other, the direction of the line connecting the centers of the two adjacent main bodies is the first direction, and the direction of the tangent between the rear side of the drive wheel and the center of the adjacent modular self-reconfigurable robot body is the second direction. The angle formed between the first direction and the second direction is... It satisfies the following formula: in, The radius of the drive wheel; 1 represents the distance between the drive wheel and the center position of the adjacent modular self-reconfigurable robot body; 1 represents the length of the first link; The angle is the angle formed between the length direction of the first link and the first direction.

2. The modular self-reconfigurable robot according to claim 1, characterized in that, When two adjacent modular self-reconfigurable robots are assembled, one on the left and one on the right, the distance between the center of the front wheel and the center of the body of the adjacent modular self-reconfigurable robot is n, satisfying the following formula: Where m is the distance between the center of the front wheel and the center of the main body to which it is connected; The radius of the main body; the direction of the line connecting the centers of two adjacent main bodies is a third direction, and the direction of the line connecting the center of the front wheel and the center of the main body it is connected to is a fourth direction. The angle formed between the third direction and the fourth direction.

3. The modular self-reconfigurable robot according to claim 1, characterized in that, The main body includes a spherical shell, which is a ferromagnetic spherical shell; the modular self-reconfigurable robot includes a first magnetic component, which is disposed on the main body between the two drive wheels and is used to magnetically engage with the adjacent ferromagnetic spherical shell.

4. The modular self-reconfigurable robot according to claim 3, characterized in that, The modular self-reconfigurable robot includes a second magnetic component, which is disposed on the rocker arm and is used to magnetically engage with the adjacent ferromagnetic spherical shell.

5. The modular self-reconfigurable robot according to claim 4, characterized in that, The first magnetic component includes a plurality of first magnetic attractors arranged in an alternating polarity manner; the first magnetic attractors are one or more of nickel magnets, cobalt magnets, and neodymium magnets; and / or, The second magnetic component includes a plurality of second magnetic attractors arranged in an alternating polarity manner; the second magnetic attractor is one or more of nickel magnets, cobalt magnets, and neodymium magnets.

6. The modular self-reconfigurable robot according to claim 1, characterized in that, The second driving component includes a power component, a helical worm gear, a first transmission component, and a second transmission component. The helical worm gear includes a main gear and a first bevel gear and a second bevel gear disposed on both sides of the main gear. The main gear has a first locking tooth along the radial rotation direction, and the first locking tooth meshes with the output end of the power component. The first bevel gear has a second locking tooth on its side surface opposite to the main gear, and the second locking tooth meshes with the first transmission component. The second bevel gear has a third locking tooth on its side surface opposite to the main gear, and the third locking tooth meshes with the second transmission component. Wherein, the end of the first transmission component that is away from the first bevel gear meshes with the drive wheel for transmission; the end of the second transmission component that is away from the second bevel gear meshes with the intermediate wheel for transmission.

7. The modular self-reconfigurable robot according to claim 1, characterized in that, The first driving component includes a driving member and a coaxial differential structure. The driving member is connected to the coaxial differential structure, and the coaxial differential structure is simultaneously connected to the intermediate wheel and the front wheel.

8. The modular self-reconfigurable robot according to claim 1, characterized in that, Both the drive wheel and the front wheel are Mecanum wheels.

9. A connection method for a modular self-reconfigurable robot as described in any one of claims 1 to 8, characterized in that, include: The second drive component drives the intermediate wheel and drive wheel to rotate, which in turn drives the front wheel to rotate synchronously, moving the modular self-reconfiguration robot to the side of another modular self-reconfiguration robot. The first drive unit is activated to rotate the rocker arm, causing the front wheel and the intermediate wheel to climb on the body of the adjacent modular self-reconfigurable robot. The second driving component drives the drive wheel, the intermediate wheel, and the front wheel to roll until all three wheels move onto the main body of another modular self-reconfigurable robot, thus completing the connection.

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