Omni-directional moving unit module structure of modularized self-reconfiguration robot

Abstract

A unit module used for constructing a modularized self-reconfiguration robot comprises a machine body, a pitching joint, a docking device and a coupled wheel device. The machine body is of a hexahedron structure overall and comprises an upper casing part and a lower casing part, and a main circuit board and three driving motors are arranged on the inner wall of the machine body casings. The pitching joint is characterized in that a steering engine is fixed on a left steering engine fixing frame and a right steering engine fixing frame to form a U-shaped steering engine joint, and the pitching joint is connected with the machine body through a steering plate and a bearing. The docking device comprises a driving docking mechanism and a driven docking mechanism, wherein the driving docking mechanism drives gear rotating hooks to rotate through a stepping motor, and the driven docking mechanism which is a slotted plate and a driven docking surface of the machine body are in fixed installation. The coupled wheel device comprises three independent iso-structural omni-directional wheel movement mechanisms which are fixed with the machine body, are in regular triangle distribution and are driven by a direct current motor. The unit module has strong movement capability, can achieve omni-directional movement of single part, and docking between the modules is facilitated due to the fact that each unit module is provided with many docking surfaces.

Description

technical field [0001] The invention relates to a unit module structure of a modular self-reconfigurable robot that can move in all directions, and belongs to the technical field of mechanical robots. Background technique [0002] A modular self-reconfigurable robot is a highly flexible robot. It is composed of several independent unit modules, and each unit module has a certain movement ability. These modules can change the overall configuration, realize different movement gaits, and complete corresponding operation tasks through docking and splitting. Modular self-reconfigurable robots have the following characteristics: 1) Self-reconfiguration function; (2) Easy repair; (3) Functional scalability; (4) Adaptability; (5) High reliability; (6) Good economy. [0003] The unit module is the most basic element for building a self-reconfigurable robot system, and the movement ability of a single module directly affects the coordinated movement and operation ability of the...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies in the prior art, the present invention provides a unit module for constructing a modular self-reconfigurable robot. In order to overcome the insufficient movement ability and low movement efficiency of a single modular self-reconfigurable robot existing in the background technology, the docking Few faces, difficult docking adjustment, and complex structure

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