Foldable modular robot

Abstract

The utility model provides a foldable modularized robot which comprises a base, a plurality of joint modules, a plurality of adapters, a plurality of connecting rods and a tool output flange, and the joint modules sequentially comprise a first joint module, a second joint module, a third joint module, a fourth joint module, a fifth joint module and a sixth joint module. The connecting rods comprise a first connecting rod, a second connecting rod and a third connecting rod; the axis of the first connecting rod is parallel to the axis of the base. Through sequential connection of a series of modular assemblies, high modularization, foldability and movement flexibility of the robot are achieved, the working capacity of the robot in a narrow space is also improved through the folding design, and the adaptability of the working environment is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a foldable modular robot. Background Art

[0002] With the rapid development of robotics, there is an increasing demand for modularity, foldability, and flexibility in robot structures. However, existing robot structures often have problems such as low modularity, difficulty in folding, and limited flexibility in movement. Therefore, it is of great significance to develop a robot with high modularity, foldability, and flexibility in movement. Utility Model Content

[0003] The technical problem to be solved by the embodiments of the utility model is to provide a foldable modular robot that achieves a high degree of modularity and foldability.

[0004] In order to solve the above technical problems, the utility model provides a foldable modular robot, including a base, a plurality of joint modules, a plurality of adapters, a plurality of connecting rods and a tool output flange.

[0005] The joint modules include: a first joint module, a second joint module, a third joint module, a fourth joint module, a fifth joint module, and a sixth joint module in sequence; the connecting rods include a first connecting rod, a second connecting rod, and a third connecting rod; the base is connected to the first joint module, the first joint module is connected to the second joint module in sequence through an adapter and a first connecting rod; the second joint module is connected to the third joint module in sequence through an adapter and a second connecting rod; the axis of the first connecting rod is parallel to the axis of the base;

[0006] The third joint module is connected to the fourth joint module; the fourth joint module is connected to the fifth joint module through the third connecting rod; the fifth joint module is connected to the sixth joint module; or, the third joint module is connected to the fourth joint module through the connecting head and the third connecting rod; the fourth joint module is connected to the fifth joint module and the sixth joint module in sequence;

[0007] The sixth joint module is connected to the tool output flange and is used to connect and drive various tools or actuators.

[0008] Furthermore, one end of each joint module is a fixed flange, and the other end is an output flange; the base is connected to the output flange of the first joint module, and the fixed flange of the first joint module is connected to the fixed flange of the second joint module in sequence through an adapter and a first connecting rod; the output flange of the second joint module is connected to the fixed flange of the third joint module in sequence through an adapter and a second connecting rod.

[0009] Furthermore, the output flange of the third joint module is connected to the fixed flange of the fourth joint module; the output flange of the fourth joint module is connected to the fixed flange of the fifth joint module through the third connecting rod; the output flange of the fifth joint module is connected to the fixed flange of the sixth joint module; the output flange of the sixth joint module is connected to the tool output flange, for connecting and driving various tools or actuators.

[0010] Furthermore, the output flange of the third joint module is connected to the fixed flange of the fourth joint module through a connecting head and a third connecting rod; the output flange of the fourth joint module is connected to the fixed flange of the fifth joint module; the output flange of the fifth joint module is connected to the fixed flange of the sixth joint module; the output flange of the sixth joint module is connected to the tool output flange, for connecting and driving various tools or actuators.

[0011] Furthermore, the axes of the first connecting rod, the second connecting rod and the third connecting rod are arranged in parallel in space and the length of the first connecting rod is greater than the length of the second connecting rod.

[0012] Furthermore, the rotation axis of the output flange of the first joint module is perpendicular to and intersects with the rotation axis of the output flange of the second joint module; the rotation axis of the output flange of the third joint module is parallel to the rotation axis of the output flange of the second joint module. The robot is more flexible when rotating and swinging in a large range, and can easily achieve multi-directional movement, while helping to enhance the stability and accuracy of the robot in the horizontal direction.

[0013] Furthermore, the rotation axis of the fourth joint module output flange is arranged to intersect perpendicularly with the rotation axis of the third joint module output flange; the rotation axis of the fifth joint module output flange is arranged to intersect perpendicularly with the rotation axis of the fourth joint module output flange; the rotation axis of the sixth joint module output flange is arranged to intersect perpendicularly with the rotation axis of the fifth joint module output flange.

[0014] Furthermore, the rotation axis of the fourth joint module output flange is arranged in parallel with the rotation axis of the third joint module output flange; the rotation axis of the fifth joint module output flange is arranged to intersect perpendicularly with the rotation axis of the fourth joint module output flange; the rotation axis of the sixth joint module output flange is arranged to intersect perpendicularly with the rotation axis of the fifth joint module output flange.

[0015] The utility model provides a foldable modular robot, which realizes high modularity, foldability and movement flexibility of the robot by connecting a series of modular components in sequence. The folding design also increases the robot's ability to operate in a small space and improves the adaptability of the working environment. Through precisely controlled joint modules and high-quality adapters, connecting rods and other components, the robot arm can achieve high-precision motion control and positioning, ensuring the stability and reliability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is a schematic diagram of the structure of a foldable modular robot according to an embodiment of the utility model;

[0018] Figure 2 This is a schematic structural diagram of a foldable modular robot according to another embodiment of the utility model;

[0019] Figure 3 This is a schematic structural diagram of a foldable modular robot according to another embodiment of the utility model. DETAILED DESCRIPTION

[0020] The content of the present invention can be more easily understood by referring to the following detailed description of the preferred implementation method of the present invention and the included embodiments. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by ordinary technicians in the field to which the present invention belongs. When there is a conflict, the definition in this specification shall prevail.

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] Those skilled in the art will appreciate that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of ordinary technicians in the field to which the utility model belongs. It should also be understood that those terms such as those defined in general dictionaries should be understood to have the same meaning as the meaning in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0023] In the description of the present utility model, the meaning of "and / or" means that the situations where each exists alone or both exist at the same time are included.

[0024] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0025] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0026] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] like Figure 1 As shown, the utility model provides a foldable modular robot, comprising a base 1, a plurality of joint modules, a plurality of adapters, a plurality of connecting rods and a tool output flange 13.

[0028] The joint modules include: a first joint module 2, a second joint module 5, a third joint module 8, a fourth joint module 9, a fifth joint module 11, and a sixth joint module 12 in sequence; the connecting rod includes a first connecting rod 4, a second connecting rod 7, and a third connecting rod 10; the base 1 is connected to the first joint module 2, and the first joint module 2 is connected to the second joint module 5 in sequence through an adapter and a first connecting rod 4; the second joint module 5 is connected to the third joint module 8 in sequence through an adapter and a second connecting rod 7; the axis of the first connecting rod 4 is arranged parallel to the axis of the base 1; more specifically, the adapter includes a first adapter 3 and a second adapter 6, that is, the first joint module 2 is connected to the second joint module 5 in sequence through the first adapter 3 and the first connecting rod 4; the second joint module 5 is connected to the third joint module 8 in sequence through the second adapter 6 and the second connecting rod 7;

[0029] The third joint module 8 is connected to the fourth joint module 9; the fourth joint module 9 is connected to the fifth joint module 11 through the third connecting rod 10; the fifth joint module 11 is connected to the sixth joint module 12;

[0030] The sixth joint module 12 is connected to the tool output flange 13 and is used to connect and drive various tools or actuators.

[0031] like Figure 2-3 As shown, another embodiment of the utility model provides a foldable modular robot, comprising a base 1, a plurality of joint modules, a plurality of adapters, a plurality of connecting rods and a tool output flange 13,

[0032] Wherein the joint modules include in sequence: a first joint module 2, a second joint module 5, a third joint module 8, a fourth joint module 9, a fifth joint module 11, and a sixth joint module 12; the connecting rod includes a first connecting rod 4, a second connecting rod 7, and a third connecting rod 10; the base 1 is connected to the first joint module 2, and the first joint module 2 is connected to the second joint module 5 in sequence through an adapter and a first connecting rod 4; the second joint module 5 is connected to the third joint module 8 in sequence through an adapter and a second connecting rod 7; the axis of the first connecting rod 4 is arranged parallel to the axis of the base 1; more specifically, the adapter includes a first adapter 3, a second adapter 6, and a third adapter 14, that is, the first joint module 2 is connected to the second joint module 5 in sequence through the first adapter 3 and the first connecting rod 4; the second joint module 5 is connected to the third joint module 8 in sequence through the second adapter 6 and the second connecting rod 7;

[0033] The third joint module 8 is connected to the fourth joint module 9 via a third adapter 14 and a third connecting rod 10; the fourth joint module 9 is connected to the fifth joint module 11 and the sixth joint module 12 in sequence;

[0034] The sixth joint module 12 is connected to the tool output flange 13 and is used to connect and drive various tools or actuators.

[0035] The robot consists of multiple independent joint modules, adapters, connecting rods and tool output flanges. This modular design makes the assembly, disassembly and maintenance of the robot extremely convenient. Through the connection of adapters and connecting rods, the robot can be folded when not in use, which greatly saves storage space and is convenient for transportation and storage. At the same time, the folding design also increases the robot's ability to operate in a small space and improves its adaptability to the working environment.

[0036] In a preferred embodiment, one end of each joint module is a fixed flange and the other end is an output flange; the base 1 is connected to the output flange of the first joint module 2, the fixed flange of the first joint module 2 is connected to the fixed flange of the second joint module 5 through the first adapter 3 and the first connecting rod 4 in sequence; the output flange of the second joint module 5 is connected to the fixed flange of the third joint module 8 through the second adapter 6 and the second connecting rod 7 in sequence. The output flange of each joint module can rotate 360 ​​degrees, with a wide range of motion.

[0037] In a preferred embodiment, the output flange of the third joint module 8 is connected to the fixed flange of the fourth joint module 9; the output flange of the fourth joint module 9 is connected to the fixed flange of the fifth joint module 11 through the third connecting rod 10; the output flange of the fifth joint module 11 is connected to the fixed flange of the sixth joint module 12; the output flange of the sixth joint module 12 is connected to the tool output flange 13, for connecting and driving various tools or actuators.

[0038] In a preferred embodiment, the output flange of the third joint module 8 is connected to the fixed flange of the fourth joint module 9 through the third connecting head 14 and the third connecting rod 10; the output flange of the fourth joint module 9 is connected to the fixed flange of the fifth joint module 11; the output flange of the fifth joint module 11 is connected to the fixed flange of the sixth joint module 12; the output flange of the sixth joint module 12 is connected to the tool output flange 13, for connecting and driving various tools or actuators.

[0039] In a preferred embodiment, the axes of the first connecting rod 4, the second connecting rod 7 and the third connecting rod 10 are arranged in parallel in space and the length of the first connecting rod 4 is greater than the length of the second connecting rod 7. This not only enhances the rigidity and stability of the robot arm, but also enables the robot to maintain better accuracy and balance when performing long-distance operations. At the same time, the combination of connecting rods of different lengths provides more flexibility, allowing the robot to better adapt to different operating requirements and space constraints.

[0040] In a preferred embodiment, the rotation axis of the output flange of the first joint module 2 is perpendicular to and intersects with the rotation axis of the output flange of the second joint module 5; the rotation axis of the output flange of the third joint module 8 is parallel to the rotation axis of the output flange of the second joint module 5. The robot is more flexible when rotating and swinging in a large range, and can easily achieve multi-directional movement, which helps to enhance the stability and accuracy of the robot in the horizontal direction.

[0041] In a preferred embodiment, the rotation axis of the output flange of the fourth joint module 9 is arranged to intersect perpendicularly with the rotation axis of the output flange of the third joint module 8; the rotation axis of the output flange of the fifth joint module 11 is arranged to intersect perpendicularly with the rotation axis of the output flange of the fourth joint module 9; the rotation axis of the output flange of the sixth joint module 12 is arranged to intersect perpendicularly with the rotation axis of the output flange of the fifth joint module 11.

[0042] In a preferred embodiment, the rotation axis of the output flange of the fourth joint module 9 is arranged parallel to the rotation axis of the output flange of the third joint module 8; the rotation axis of the output flange of the fifth joint module 11 is arranged to intersect perpendicularly with the rotation axis of the output flange of the fourth joint module 9; the rotation axis of the output flange of the sixth joint module 12 is arranged to intersect perpendicularly with the rotation axis of the output flange of the fifth joint module 11.

[0043] The foldable modular robot provided by the utility model realizes high modularity, foldability and movement flexibility of the robot by sequentially connecting a series of modular components. The folding design also increases the robot's ability to operate in a small space and improves its adaptability to the working environment. Through precisely controlled joint modules and high-quality adapters, connecting rods and other components, the robot arm can achieve high-precision motion control and positioning, ensuring the stability and reliability of the operation.

[0044] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0045] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A foldable modular robot, characterized in that: It includes a base, multiple joint modules, multiple adapters, multiple connecting rods and tool output flange. The joint modules include: a first joint module, a second joint module, a third joint module, a fourth joint module, a fifth joint module, and a sixth joint module in sequence; the connecting rods include a first connecting rod, a second connecting rod, and a third connecting rod; the base is connected to the first joint module, the first joint module is connected to the second joint module in sequence through an adapter and a first connecting rod; the second joint module is connected to the third joint module in sequence through an adapter and a second connecting rod; the axis of the first connecting rod is parallel to the axis of the base; The third joint module is connected to the fourth joint module; the fourth joint module is connected to the fifth joint module through a third connecting rod; the fifth joint module is connected to the sixth joint module; Or, the third joint module is connected to the fourth joint module through a connector and a third connecting rod; the fourth joint module is connected to the fifth joint module and the sixth joint module in sequence; The sixth joint module is connected to the tool output flange and is used to connect and drive a tool or an actuator.

2. The foldable modular robot according to claim 1, characterized in that: One end of each joint module is a fixed flange, and the other end is an output flange; the base is connected to the output flange of the first joint module, and the fixed flange of the first joint module is connected to the fixed flange of the second joint module in sequence through an adapter and a first connecting rod; the output flange of the second joint module is connected to the fixed flange of the third joint module in sequence through an adapter and a second connecting rod.

3. The foldable modular robot according to claim 2, characterized in that: The output flange of the third joint module is connected to the fixed flange of the fourth joint module; the output flange of the fourth joint module is connected to the fixed flange of the fifth joint module through the third connecting rod; The output flange of the fifth joint module is connected to the fixed flange of the sixth joint module; The output flange of the sixth joint module is connected to the tool output flange for connecting and driving a tool or an actuator.

4. The foldable modular robot according to claim 2, characterized in that: The output flange of the third joint module is connected to the fixed flange of the fourth joint module through a connector and a third connecting rod; the output flange of the fourth joint module is connected to the fixed flange of the fifth joint module; The output flange of the fifth joint module is connected to the fixed flange of the sixth joint module; The output flange of the sixth joint module is connected to the tool output flange for connecting and driving a tool or an actuator.

5. The foldable modular robot according to any one of claims 3 or 4, characterized in that: The axes of the first connecting rod, the second connecting rod and the third connecting rod are arranged in parallel in space and the length of the first connecting rod is greater than the length of the second connecting rod.

6. The foldable modular robot according to claim 2, characterized in that: The rotation axis of the output flange of the first joint module is perpendicular to and intersects with the rotation axis of the output flange of the second joint module; the rotation axis of the output flange of the third joint module is parallel to the rotation axis of the output flange of the second joint module.

7. The foldable modular robot according to claim 6, characterized in that: The rotation axis of the fourth joint module output flange is arranged to intersect perpendicularly with the rotation axis of the third joint module output flange; the rotation axis of the fifth joint module output flange is arranged to intersect perpendicularly with the rotation axis of the fourth joint module output flange; the rotation axis of the sixth joint module output flange is arranged to intersect perpendicularly with the rotation axis of the fifth joint module output flange.

8. The foldable modular robot according to claim 6, characterized in that: The rotation axis of the fourth joint module output flange is arranged parallel to the rotation axis of the third joint module output flange; the rotation axis of the fifth joint module output flange is arranged to intersect perpendicularly with the rotation axis of the fourth joint module output flange; the rotation axis of the sixth joint module output flange is arranged to intersect perpendicularly with the rotation axis of the fifth joint module output flange.

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