Modular Robot Architecture With Swappable Function Modules
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Solution Overview
Problem
Existing modular robots for pipeline inspection have limited modularity, with modules being highly specific and requiring common control and power signals, limiting their adaptability and functionality.
Innovation Solution
A modular robot design featuring interchangeable modules with custom circuits that connect to a motherboard via a common power and data bus, allowing modules to be easily swapped and controlled by a single processor, enabling diverse functionalities and adaptability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If modules use common control and power signals, then device complexity is reduced, but adaptability and functionality are limited
Solution Approach 1:
The robot is divided into modular segments where each module contains its own custom circuit board with specific functionality. These modular units can be independently designed, manufactured, and replaced. The segmentation allows each module to have specialized control circuits tailored to its specific function while maintaining a standardized mechanical interface.
Solution Approach 2:
A standardized motherboard serves as an intermediary between the custom module circuits and the external control system. The motherboard provides a common power and data bus that interfaces with various custom module circuits, allowing diverse functionalities to be integrated through a unified communication protocol and physical interface.
2Adaptability or versatility
If modules are highly specific with custom functions, then adaptability is improved, but device complexity increases
Solution Approach 1:
The standardized motherboard and interface design enable universal compatibility across different module types. The same mechanical coupling mechanism and electrical interface standard can accommodate various custom modules with different functions, allowing a single robot platform to perform multiple tasks by simply swapping modules.
Solution Approach 2:
Each module is designed with localized custom circuitry optimized for its specific function, while the overall system maintains standardized interfaces. This allows each module to have high functional specificity locally while the global system architecture remains simple and unified through standardization.
3Ease of operation
If modules are interchangeable with easy swapping, then ease of operation is improved, but manufacturing precision requirements increase
Solution Approach 1:
The robot architecture is segmented into discrete modular units with standardized mechanical interfaces. Each module can be independently manufactured and assembled, then quickly attached to or detached from the main body through standardized coupling mechanisms that guide precise alignment.
Solution Approach 2:
The modular interface design incorporates self-aligning features such as guide rails,定位 pins, or complementary geometric shapes that automatically ensure precise alignment when modules are coupled. This self-alignment mechanism reduces the need for manual adjustment and maintains manufacturing precision while enabling easy operator-level module replacement.
Data Source
AI summary
A modular robot (11) has an elongated body portion (14) including at least one interchangeable module (29) having an elongated profile containing circuitry configured to implement a predetermined functionality of the robot. At least one motherboard (37) is disposed at at least one end of the robot and is configured to connect to the module circuitry.