Modular reconfigurable robot

Abstract

A kind of modular reconfigurable robot, including base mounting seat, end effector mounting seat, base function module, quick connector module;Base function module is divided into pitch attitude adjustment function module and horizontal swing attitude adjustment function module;Robot is single degree of freedom structure or multi-degree of freedom structure;When robot is multi-degree of freedom structure, multiple base function modules are connected in series to construct function module combination;Base function module in function module combination can all be pitch attitude adjustment function module or horizontal swing attitude adjustment function module, or both include pitch attitude adjustment function module and horizontal swing attitude adjustment function module and quantity and position are not limited.This application is oriented to actual task demand, function module can be flexibly combined to realize robot structure reconfiguration, adapt to complex and variable work scene, cope with task change under new environment through structure reconfiguration, improve robot scalability, have stable load smoothness when moving, improve work efficiency and quality, reduce cost.

Description

Technical Field

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

[0002] In traditional robot design, robots are typically developed in a customized manner for specific tasks. While this design pattern can meet the needs of a single task, it often lacks flexibility and cannot adapt to diverse or dynamically changing work scenarios. In simpler terms, traditional robots are usually designed with a specific task in mind. Once the robot's main structure and basic functions are finalized, they are completely fixed. Such robots can only perform predefined tasks and cannot adapt to task changes in new environments by modifying their structure. They lack the ability to dynamically respond to different tasks, and because of their fixed functions, upgrades are difficult, and they cannot update their functions as needs change. Therefore, the scalability of these robots is very poor.

[0003] For example, in real-world scenarios with limited space and complex movement paths, when traditionally customized robots fail to meet practical needs such as smooth operation, even with assistance from staff, the user's needs may still not be met, leading to reduced work efficiency and difficulty in ensuring work quality, resulting in excessive time and economic costs. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a modular reconfigurable robot that is guided by actual task requirements. It can flexibly combine functional modules, adapt to diverse and complex work scenarios, and reconfigure the robot's structure through flexible combination of functional modules. This allows the robot to cope with task changes in new environments, effectively improving its scalability while ensuring stable load smoothness during movement. This further improves work efficiency and quality, and avoids excessive consumption of time and economic costs.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a modular reconfigurable robot, including a basic mounting base, an end effector mounting base, basic functional modules, and quick-connect modules; the basic functional modules are divided into pitch adjustment functional modules and horizontal rotation adjustment functional modules, and the number of pitch adjustment functional modules and horizontal rotation adjustment functional modules is several.

[0006] When the robot has a single degree of freedom structure, the number of basic functional modules is one. The basic functional module adopts a pitch adjustment functional module or a horizontal swing adjustment functional module. One end of the basic functional module is connected to the basic mounting base through a quick-connect connector module, and the other end of the basic functional module is connected to the end effector mounting base through a quick-connect connector module.

[0007] When the robot has a multi-degree-of-freedom structure, the number of basic functional modules is at least two. Multiple basic functional modules are connected in series to form a functional module assembly. One end of the functional module assembly is connected to the basic mounting base through a quick-connect module, and the other end of the functional module assembly is connected to the end effector mounting base through a quick-connect module. Adjacent basic functional modules within the functional module assembly are connected through quick-connect modules.

[0008] The basic functional module combination forms within the functional module assembly include the following three types:

[0009] Type 1: All basic functional modules in the functional module assembly are pitch and attitude adjustment functional modules;

[0010] Type 2: All basic functional modules in the functional module assembly are horizontal swing and posture adjustment functional modules;

[0011] Type 3: The basic functional modules in the functional module assembly include both pitch adjustment and yaw adjustment modules, and there is no limit to the number and position of the pitch adjustment and yaw adjustment modules in the functional module assembly.

[0012] The pitch adjustment module includes an electric push rod, a rear pitch adjustment base plate, a front pitch adjustment base plate, an upper support plate, a lower support plate, an elastic rope, a rear reversing pulley, a front reversing pulley, an outer rope end clamp, and an inner rope end clamp. The upper end of the rear pitch adjustment base plate is hinged to the rear end of the upper support plate, the front end of the upper support plate is hinged to the upper end of the front pitch adjustment base plate, the lower end of the front pitch adjustment base plate is hinged to the front end of the lower support plate, and the rear end of the lower support plate is hinged to the lower end of the rear pitch adjustment base plate. The rear pitch adjustment base plate, the upper support plate, the front pitch adjustment base plate, and the lower support plate form a parallelogram mechanism. One end of the electric push rod is hinged to the middle of the front surface of the rear pitch adjustment base plate, and the other end of the electric push rod is hinged to the lower support plate. The front plate is hinged at the middle; the rear reversing pulley is embedded in the rear plate of the upper support plate; the front reversing pulley is installed on the lower surface of the front plate of the upper support plate; the outer rope end clamp is fixedly installed on the upper surface of the front plate of the upper support plate; the inner rope end clamp is connected to the rear surface of the pitch adjustment front plate, and the left and right sides of the rear surface of the pitch adjustment front plate are fixedly provided with transition ribs, and transition holes and slots are opened on the transition ribs. Positioning bolts are installed in the transition holes and slots, and the inner rope end clamp is connected to the transition ribs through the positioning bolts; one end of the elastic rope is fixedly connected to the outer rope end clamp, and the other end of the elastic rope passes through the rear reversing pulley and the front reversing pulley in sequence and is fixedly connected to the inner rope end clamp.

[0013] The horizontal oscillation adjustment function module includes a worm gear reducer motor, a truss plate, a horizontal oscillation adjustment rear base plate, a horizontal oscillation adjustment front base plate, an upper support rod, a lower support rod, a rear bearing seat, a rear shaft, a front bearing seat, a front shaft, a drive gear, a transition gear, a rear transmission gear, and a front transmission gear. The rear shaft is vertically arranged and mounted on the front surface of the horizontal oscillation adjustment rear base plate via the rear bearing seat. The front shaft is vertically arranged and mounted on the rear surface of the horizontal oscillation adjustment front base plate via the front bearing seat. One end of the truss plate is hinged to the middle of the rear shaft, and the other end of the truss plate is hinged to the middle of the front shaft. The worm gear reducer motor... The geared motor is fixedly mounted on the lower surface of the truss plate with its motor shaft facing vertically downwards; the drive gear is coaxially fixed on the motor shaft of the worm gear reducer motor; the transition gear is coaxially fixed on the rear bearing housing and meshes with the drive gear; one end of the upper support rod is hinged to the upper part of the rear axle, and the other end of the upper support rod is hinged to the upper part of the front axle; one end of the lower support rod is hinged to the lower part of the rear axle, and the other end of the lower support rod is hinged to the lower part of the front axle; the rear transmission gear is coaxially fixed on the rear bearing housing; the front transmission gear is coaxially fixed on the front bearing housing and meshes with the rear transmission gear.

[0014] The quick-connect module includes a male connector plate and a female connector bracket. The male connector plate has insertion grooves on both sides of its edges, with insertion limiting protrusions at the bottom of the grooves and male electrical contacts on the upper surface of the protrusions. The female connector bracket has a door frame structure, with insertion rails on the inner sides of its two vertical arms, which engage with the insertion grooves. Female electrical contacts are located on the bottom surfaces of the two vertical arms of the female connector bracket. The female electrical contact and the male electrical contact are in contact and energized; a quick-connect fastening screw is provided at the center of the horizontal cross arm of the female connector frame, and the female connector frame and the male connector plate are fixedly connected by the quick-connect fastening screw; male connector plates are provided on the rear surface of the pitch adjustment base plate, the rear surface of the horizontal swing adjustment base plate, and the rear surface of the end effector mounting base; female connector frames are provided on the front surface of the base mounting base, the front surface of the pitch adjustment base plate, and the front surface of the horizontal swing adjustment base plate.

[0015] The beneficial effects of this invention are:

[0016] The modular reconfigurable robot of this invention is guided by actual task requirements and can achieve flexible combination of functional modules. It can adapt to various and complex work scenarios and can reconfigure the robot structure through flexible combination of functional modules. In turn, the reconfiguration of the structure can cope with task changes in new environments, effectively improving the robot's scalability. At the same time, it ensures stable load smoothness during movement, further improving work efficiency and quality, and avoiding excessive consumption of time and economic costs. Attached Figure Description

[0017] Figure 1 This is a structural schematic diagram (single degree of freedom) of a modular reconfigurable robot (with one basic functional module, which is a pitch and attitude adjustment module) according to the present invention.

[0018] Figure 2 This is a structural schematic diagram (single degree of freedom) of a modular reconfigurable robot (with one basic functional module, which is a horizontal swing and posture adjustment functional module) according to the present invention.

[0019] Figure 3 This is a schematic diagram of the structure (two degrees of freedom) of a modular reconfigurable robot (with two basic functional modules, including a pitch adjustment module and a horizontal yaw adjustment module) according to the present invention.

[0020] Figure 4 This is a structural schematic diagram (three degrees of freedom) of a modular reconfigurable robot (with three basic functional modules, all of which are horizontal swing and posture adjustment functional modules) according to the present invention;

[0021] Figure 5 This is a structural diagram (four degrees of freedom) of a modular reconfigurable robot (with four basic functional modules, including two pitch adjustment modules and two yaw adjustment modules) according to the present invention.

[0022] Figure 6 This is a structural schematic diagram (five degrees of freedom) of a modular reconfigurable robot (five basic functional modules, including three pitch adjustment functional modules and two horizontal yaw adjustment functional modules) of the present invention;

[0023] Figure 7 This is a structural schematic diagram of the pitch and attitude adjustment function module of the present invention (viewpoint 1);

[0024] Figure 8 This is a structural schematic diagram of the pitch and attitude adjustment function module of the present invention (viewpoint 2);

[0025] Figure 9 This is a schematic diagram of the horizontal swing and posture adjustment function module of the present invention (view 1);

[0026] Figure 10 This is a schematic diagram of the horizontal swing and posture adjustment function module of the present invention (viewpoint 2);

[0027] Figure 11 This is a structural schematic diagram (exploded view) of the quick-connect module of the present invention;

[0028] In the diagram, I—basic mounting base, II—end effect actuator mounting base, III—quick-connector module, IV—pitch adjustment module, V—horizontal oscillation adjustment module, 1—electric actuator, 2—pitch adjustment rear base plate, 3—pitch adjustment front base plate, 4—upper support plate, 5—lower support plate, 6—elastic rope, 7—rear reversing pulley, 8—front reversing pulley, 9—outer rope end clamp, 10—inner rope end clamp, 11—adapter rib plate, 12—adapter slot, 13—positioning bolt, 14—worm gear reducer motor, 15—truss plate 16—Horizontal swing adjustment rear base plate; 17—Horizontal swing adjustment front base plate; 18—Upper support rod; 19—Lower support rod; 20—Rear bearing seat; 21—Rear shaft; 22—Front bearing seat; 23—Front shaft; 24—Drive gear; 25—Transition gear; 26—Rear transmission gear; 27—Front transmission gear; 28—Male plug-in plate; 29—Female plug-in bracket; 30—Plug-in slide groove; 31—Plug-in limiting protrusion; 32—Male electrical contact; 33—Plug-in slide rail; 34—Female electrical contact; 35—Quick-connect coupling fastening screw. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0030] like Figures 1-11 As shown, a modular reconfigurable robot includes a basic mounting base I, an end effector mounting base II, basic functional modules, and a quick-connect module III; the basic functional modules are divided into a pitch adjustment functional module IV and a horizontal tilt adjustment functional module V, and the number of pitch adjustment functional modules IV and horizontal tilt adjustment functional modules V is several.

[0031] When the robot has a single degree of freedom structure, the number of basic functional modules is one. The basic functional module adopts pitch adjustment functional module IV or horizontal rotation adjustment functional module V. One end of the basic functional module is connected to the basic mounting base I through quick connector module III, and the other end of the basic functional module is connected to the end effector mounting base II through quick connector module III.

[0032] When the robot has a multi-degree-of-freedom structure, the number of basic functional modules is at least two. Multiple basic functional modules are connected in series to form a functional module assembly. One end of the functional module assembly is connected to the basic mounting base I through quick-connect connector module III, and the other end of the functional module assembly is connected to the end effector mounting base II through quick-connect connector module III. Adjacent basic functional modules in the functional module assembly are connected to each other through quick-connect connector module III.

[0033] The basic functional module combination forms within the functional module assembly include the following three types:

[0034] Type 1: All basic functional modules in the functional module assembly are pitch and attitude adjustment functional modules IV;

[0035] Type 2: The basic functional modules in the functional module assembly are all horizontal swing and attitude adjustment functional modules V;

[0036] Type 3: The basic functional modules in the functional module assembly include both pitch adjustment module IV and yaw adjustment module V, and there is no limit to the number and position of pitch adjustment module IV and yaw adjustment module V in the functional module assembly.

[0037] The pitch adjustment function module IV includes an electric push rod 1, a pitch adjustment rear base plate 2, a pitch adjustment front base plate 3, an upper support plate 4, a lower support plate 5, an elastic rope 6, a rear reversing fixed pulley 7, a front reversing fixed pulley 8, an outer rope end clamp 9, and an inner rope end clamp 10. The upper end of the pitch adjustment rear base plate 2 is hinged to the rear end of the upper support plate 4, the front end of the upper support plate 4 is hinged to the upper end of the pitch adjustment front base plate 3, the lower end of the pitch adjustment front base plate 3 is hinged to the front end of the lower support plate 5, and the rear end of the lower support plate 5 is hinged to the lower end of the pitch adjustment rear base plate 2. The pitch adjustment rear base plate 2, the upper support plate 4, the pitch adjustment front base plate 3, and the lower support plate 5 form a parallelogram mechanism. One end of the electric push rod 1 is hinged to the middle of the front surface of the pitch adjustment rear base plate 2, and the other end of the electric push rod 1 is hinged to the front of the lower support plate 5. The plates are hinged in the middle; the rear reversing fixed pulley 7 is embedded in the plate behind the upper support plate 4; the front reversing fixed pulley 8 is installed on the lower surface of the plate in front of the upper support plate 4; the outer rope end clamp 9 is fixedly set on the upper surface of the plate in front of the upper support plate 4; the inner rope end clamp 10 is connected to the rear surface of the pitch adjustment front base plate 3, and the left and right sides of the plate edge of the pitch adjustment front base plate 3 are fixedly provided with transition rib plates 11, and transition holes 12 are opened on the transition rib plates 11. The positioning bolts 13 are installed in the transition holes 12, and the inner rope end clamp 10 is connected to the transition rib plates 11 through the positioning bolts 13; one end of the elastic rope 6 is fixedly connected to the outer rope end clamp 9, and the other end of the elastic rope 6 passes through the rear reversing fixed pulley 7 and the front reversing fixed pulley 8 in sequence and is fixedly connected to the inner rope end clamp 10.

[0038] The horizontal oscillation adjustment function module V includes a worm gear reducer motor 14, a truss plate 15, a horizontal oscillation adjustment rear base plate 16, a horizontal oscillation adjustment front base plate 17, an upper support rod 18, a lower support rod 19, a rear bearing seat 20, a rear axle 21, a front bearing seat 22, a front axle 23, a drive gear 24, a transition gear 25, a rear transmission gear 26, and a front transmission gear 27. The rear axle 21 is vertically arranged and is mounted on the front surface of the horizontal oscillation adjustment rear base plate 16 via the rear bearing seat 20. The front axle 23 is vertically arranged and is mounted on the rear surface of the horizontal oscillation adjustment front base plate 17 via the front bearing seat 22. One end of the truss plate 15 is hinged to the middle of the rear axle 21, and the other end of the truss plate 15 is hinged to the middle of the front axle 23. The worm gear reducer motor 14 is fixedly mounted on the lower surface of the truss plate 15 with the motor shaft facing vertically downwards; the drive gear 24 is coaxially fixedly mounted on the motor shaft of the worm gear reducer motor 14; the transition gear 25 is coaxially fixedly mounted on the rear bearing housing 20, and the transition gear 25 meshes with the drive gear 24; one end of the upper support rod 18 is hinged to the upper part of the rear axle rod 21, and the other end of the upper support rod 18 is hinged to the upper part of the front axle rod 23; one end of the lower support rod 19 is hinged to the lower part of the rear axle rod 21, and the other end of the lower support rod 19 is hinged to the lower part of the front axle rod 23; the rear transmission gear 26 is coaxially fixedly mounted on the rear bearing housing 20; the front transmission gear 27 is coaxially fixedly mounted on the front bearing housing 22, and the front transmission gear 27 meshes with the rear transmission gear 26.

[0039] The quick-connect module III includes a male connector plate 28 and a female connector bracket 29. The male connector plate 28 has insertion grooves 30 on both sides of its edges, with insertion limiting protrusions 31 at the bottom of each groove 30. Male electrical contacts 32 are provided on the upper surface of each insertion limiting protrusion 31. The female connector bracket 29 has a door frame structure, with insertion rails 33 on the inner sides of its two vertical support arms. The insertion rails 33 engage with the insertion grooves 30. Female electrical contacts are provided on the bottom surfaces of the two vertical support arms of the female connector bracket 29. 34. The female electrical contact 34 and the male electrical contact 32 make contact and are energized. A quick-connect fastening screw 35 is provided at the center of the horizontal cross arm of the female connector bracket 29. The female connector bracket 29 and the male connector plate 28 are fixedly connected by the quick-connect fastening screw 35. The male connector plate 28 is provided on the rear surface of the pitch adjustment base plate 2, the rear surface of the horizontal swing adjustment base plate 16, and the rear surface of the end effector mounting base II. The female connector bracket 29 is provided on the front surface of the base mounting base I, the front surface of the pitch adjustment base plate 3, and the front surface of the horizontal swing adjustment base plate 17.

[0040] The following description, in conjunction with the accompanying drawings, illustrates the usage of this invention:

[0041] Taking the pitch adjustment module IV as an example, when the robot's pitch attitude needs to be adjusted, the electric push rod 1 is first activated. By extending or shortening the electric push rod 1, the lower support plate 5 is driven to tilt downwards or tilt upwards. Utilizing the working principle of the parallelogram mechanism, the upper support plate 4 can be driven to tilt downwards or tilt upwards simultaneously, thereby raising or lowering the pitch adjustment front plate 3. Specifically, when the electric push rod 1 extends and drives the lower support plate 5 to tilt downwards, the descent of the pitch adjustment front plate 3 causes the elastic rope 6 to stretch and accumulate elastic potential energy. When the electric push rod 1 retracts and drives the lower support plate 5 to tilt upwards, the tension of the electric push rod 1 and the elastic force released by the retraction of the elastic rope 6 work together to ensure stable load smoothness during robot attitude adjustment.

[0042] Taking the horizontal tilting attitude adjustment module V as an example, when it is necessary to adjust the robot's horizontal tilting attitude, the worm gear reducer motor 14 is first started, which drives the drive gear 24 to rotate. Since the drive gear 24 meshes with the transition gear 25, the drive gear 24 will roll along the transition gear 25. At this time, the reverse torque generated by the drive gear 24 during the rolling process will be transmitted to the truss plate 15 through the worm gear reducer motor 14, and drive the truss plate 15 to tilt horizontally around the front axle 23. As the truss plate 15 tilts horizontally, it will simultaneously drive the rear axle 21 to revolve around the front axle 23, and then drive the front bearing seat 22 to revolve around the front axle 23 and rotate around the front axle 23, so that the horizontal tilting attitude adjustment front base plate 17 revolves around the front axle 23, and finally realizes that the horizontal tilting attitude adjustment front base plate 17 can tilt to the left or right, and the tilting range is 0 to 180°. During the horizontal swinging and posture adjustment process, the front drive gear 27 rolls along the rear drive gear 26 while the upper support rod 18 and the lower support rod 19 follow the truss plate 15 to swing horizontally around the front axle rod 23, so that the robot has stable load smoothness during posture adjustment.

[0043] When the work environment and actual tasks change, the robot can be modularly reconfigured. Figure 3 The two-DOF robot shown is the initial configuration. When it needs to be reconfigured... Figure 5When configuring the four-DOF robot as shown, first remove the quick-connect fastening screw 35 on the quick-connect module III between the end effector mount II and the initial horizontal tilting attitude adjustment module V, thus releasing the limiting position between the male connector plate 28 and the female connector bracket 29. Then, the male connector plate 28 and the female connector bracket 29 can be separated, and the male electrical contact 32 and the female electrical contact 34 will disengage, thus removing the end effector mount II. Next, connect the supplementary pitch attitude adjustment module IV to the initial horizontal tilting attitude adjustment module V via the quick-connect module III. Then, connect the supplementary horizontal tilting attitude adjustment module V to the supplementary pitch attitude adjustment module IV via the quick-connect module III. Finally, connect the previously removed end effector mount II to the supplementary horizontal tilting attitude adjustment module V via the quick-connect module III. At this point, the robot modular reconfiguration is complete.

[0044] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the present invention are included in the scope of protection of the present invention.

Claims

1. A modular reconfigurable robot, characterized in that: It includes a basic mounting base, an end effector mounting base, basic functional modules, and quick-connect connector modules; the basic functional modules are divided into pitch adjustment functional modules and yaw adjustment functional modules, and the number of pitch adjustment functional modules and yaw adjustment functional modules is several. When the robot has a single degree of freedom structure, the number of basic functional modules is one. The basic functional module adopts a pitch adjustment functional module or a horizontal swing adjustment functional module. One end of the basic functional module is connected to the basic mounting base through a quick-connect connector module, and the other end of the basic functional module is connected to the end effector mounting base through a quick-connect connector module. When the robot has a multi-degree-of-freedom structure, the number of basic functional modules is at least two. Multiple basic functional modules are connected in series to form a functional module assembly. One end of the functional module assembly is connected to the basic mounting base through a quick-connect module, and the other end of the functional module assembly is connected to the end effector mounting base through a quick-connect module. Adjacent basic functional modules within the functional module assembly are connected through quick-connect modules. The basic functional module combination forms within the functional module assembly include the following three types: Type 1: All basic functional modules in the functional module assembly are pitch and attitude adjustment functional modules; Type 2: All basic functional modules in the functional module assembly are horizontal swing and posture adjustment functional modules; Type 3: The basic functional modules in the functional module assembly include both pitch adjustment and yaw adjustment modules, and there is no limit to the number and position of the pitch adjustment and yaw adjustment modules in the functional module assembly. The pitch adjustment module includes an electric push rod, a rear pitch adjustment base plate, a front pitch adjustment base plate, an upper support plate, a lower support plate, an elastic rope, a rear reversing pulley, a front reversing pulley, an outer rope end clamp, and an inner rope end clamp. The upper end of the rear pitch adjustment base plate is hinged to the rear end of the upper support plate, the front end of the upper support plate is hinged to the upper end of the front pitch adjustment base plate, the lower end of the front pitch adjustment base plate is hinged to the front end of the lower support plate, and the rear end of the lower support plate is hinged to the lower end of the rear pitch adjustment base plate. The rear pitch adjustment base plate, the upper support plate, the front pitch adjustment base plate, and the lower support plate form a parallelogram mechanism. One end of the electric push rod is hinged to the middle of the front surface of the rear pitch adjustment base plate, and the other end of the electric push rod is hinged to the lower support plate. The front plate is hinged at the middle; the rear reversing pulley is embedded in the rear plate of the upper support plate; the front reversing pulley is installed on the lower surface of the front plate of the upper support plate; the outer rope end clamp is fixedly installed on the upper surface of the front plate of the upper support plate; the inner rope end clamp is connected to the rear surface of the pitch adjustment front plate, and the left and right sides of the rear surface of the pitch adjustment front plate are fixedly provided with transition ribs, and transition holes and slots are opened on the transition ribs. Positioning bolts are installed in the transition holes and slots, and the inner rope end clamp is connected to the transition ribs through the positioning bolts; one end of the elastic rope is fixedly connected to the outer rope end clamp, and the other end of the elastic rope passes through the rear reversing pulley and the front reversing pulley in sequence and is fixedly connected to the inner rope end clamp; The horizontal oscillation adjustment function module includes a worm gear reducer motor, a truss plate, a horizontal oscillation adjustment rear base plate, a horizontal oscillation adjustment front base plate, an upper support rod, a lower support rod, a rear bearing seat, a rear shaft, a front bearing seat, a front shaft, a drive gear, a transition gear, a rear transmission gear, and a front transmission gear. The rear shaft is vertically arranged and mounted on the front surface of the horizontal oscillation adjustment rear base plate via the rear bearing seat. The front shaft is vertically arranged and mounted on the rear surface of the horizontal oscillation adjustment front base plate via the front bearing seat. One end of the truss plate is hinged to the middle of the rear shaft, and the other end of the truss plate is hinged to the middle of the front shaft. The worm gear reducer motor... The geared motor is fixedly mounted on the lower surface of the truss plate with its motor shaft facing vertically downwards; the drive gear is coaxially fixedly mounted on the motor shaft of the worm gear reducer motor; the transition gear is coaxially fixedly mounted on the rear bearing housing, and the transition gear meshes with the drive gear; one end of the upper support rod is hinged to the upper part of the rear axle, and the other end of the upper support rod is hinged to the upper part of the front axle; one end of the lower support rod is hinged to the lower part of the rear axle, and the other end of the lower support rod is hinged to the lower part of the front axle; the rear transmission gear is coaxially fixedly mounted on the rear bearing housing; the front transmission gear is coaxially fixedly mounted on the front bearing housing, and the front transmission gear meshes with the rear transmission gear; The quick-connect module includes a male connector plate and a female connector bracket. The male connector plate has insertion grooves on both sides of its edges, with insertion limiting protrusions at the bottom of the grooves and male electrical contacts on the upper surface of the protrusions. The female connector bracket has a door frame structure, with insertion rails on the inner sides of its two vertical arms, which engage with the insertion grooves. Female electrical contacts are located on the bottom surfaces of the two vertical arms of the female connector bracket. The female electrical contact and the male electrical contact are in contact and energized; a quick-connect fastening screw is provided at the center of the horizontal cross arm of the female connector frame, and the female connector frame and the male connector plate are fixedly connected by the quick-connect fastening screw; male connector plates are provided on the rear surface of the pitch adjustment base plate, the rear surface of the horizontal swing adjustment base plate, and the rear surface of the end effector mounting base; female connector frames are provided on the front surface of the base mounting base, the front surface of the pitch adjustment base plate, and the front surface of the horizontal swing adjustment base plate.

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