CN102672727A - Robot monomer capable of realizing deformable robot - Google Patents
Robot monomer capable of realizing deformable robot Download PDFInfo
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- CN102672727A CN102672727A CN2012100963289A CN201210096328A CN102672727A CN 102672727 A CN102672727 A CN 102672727A CN 2012100963289 A CN2012100963289 A CN 2012100963289A CN 201210096328 A CN201210096328 A CN 201210096328A CN 102672727 A CN102672727 A CN 102672727A
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Abstract
The invention provides a robot monomer capable of realizing a deformable robot, belonging to the technical field of robots. The robot monomer, provided by the invention, comprises an upper shell and a lower shell, which are coaxially connected, wherein geometrical structures of the upper shell and the lower shell are the same, three lateral surfaces of the upper shell and the lower shell are respectively provided with a through hole, the upper shell is connected with the lower shell through a central axis, one end of the central axis connected with the upper shell is matched and movably connected with the upper shell through a bearing A and a bearing B, and a control circuit board is fixed on the bottom surface in the lower shell. The robot monomer, provided by the invention, has characteristics of modularization, reconstruction and strong expansibility, each robot monomer is provided with six faces used for connection, so that a complicated configuration can be combined by fewest robot monomers. The invention adopts a potentiometer high-precision feedback device, a potentiometer is directly arranged on a detection target, and a final angle comprises a mechanical idle stroke, so that motion precision of the robot is effectively improved.
Description
Technical field
The invention belongs to the technical field of robot, be specifically related to a kind of robot monomer that is used to realize the deformable robot.
Background technology
The development of Robotics makes the ability of robot improve constantly; The field of robot application and scope be constantly expansion; People hope that robot can accomplish complicated more task, and through it is programmed again, robot can accomplish many various tasks at an easy rate.Yet the scope that robot can finish the work receives the restriction of himself frame for movement, for given task, can select the optimum structure of robot according to mission requirements.Owing to constitute by a plurality of single robots during the flexible robot, can realize the co-operating of a plurality of robots, so the higher free degree is arranged than the ordinary robot, can better adapt to site environment
Yet the operation of or continuous variation unpredictable for some; Just the optimum structure of robot can't have been selected; Conventional machines people is difficult to adapt to the variation of working environment and task because of himself structural limitations, if again robot is developed with the different of task because of working environment, uses many robots with different motion and dynamics task that fulfils assignment; This way is costly, and the construction cycle is long.
At list of references 1: in the robot design that provides in " modularized self-reorganization robot research---present situation, opportunities and challenges "; Its each robot monomer only provides 4 reliable joint faces; At list of references 2: in " based on the reconstruction robot configuration comprehensive study of fault freedom " 2 reliable joint faces only are provided, at list of references 3: in " design of reconstruction robot cellular construction and combined characteristic analysis " 2 reliable joint faces only are provided, in above-mentioned prior art; Its reliable joint face is very limited; And movement interference is bigger, and the robot assembly of formation is difficult for installing, and also needs other rotatable parts to support mutually.
Summary of the invention
To the problem that exists in the prior art, the present invention proposes a kind of robot monomer that is used to realize the deformable robot, has modularization; Restructural; The characteristic that autgmentability is strong, each robot monomer have six faces and can supply to connect, and can use the synthetic complicated configuration of minimum robot set of monomers.And the present invention adopts potentiometer high accuracy feedback position, and its potentiometer is set directly at detection target place, and final angle comprises mechanical idle running, has improved robot motion's precision effectively.
The robot monomer that the present invention proposes comprises the two housing sections of coaxial connection up and down, and the geometry of last lower house is identical, and last lower house all obtains through following mode:
(1) choose positive triangular pyramid, three sides of positive triangular pyramid are orthogonal in twos;
(2) the bottom surface inscribed circle with positive triangular pyramid is the cylinder of bottom surface, and upwards three sides of the positive triangular pyramid of intercepting obtain solid;
The described lower house of going up is thin-wall case, is respectively arranged with through hole on three sides of last lower house, be used to realize and adjacent deformable robot between be electrically connected, last lower house bottom center all has through hole; Last lower house connects through central shaft; Central shaft is the axis body of core hollow, and a bottom portion of central shaft is fixedly connected with the bottom surface of lower house, and the other end passes upper shell bottom surface through hole; Central shaft one end that connects upper shell cooperates flexible connection through bearing A19, bearing B realization with upper shell; The outside of bearing B also is connected with gripper shoe, and the two ends of gripper shoe are connected with baffle plate, and the bottom of baffle plate is fixedly connected with the bottom surface of upper shell; The top of central shaft is connected with worm gear, is provided with sleeve in the centre of worm gear and bearing B, through the axial location of sleeve rigid bearing B; Top at worm gear is provided with nut; With the worm gear axial restraint, and on baffle plate, also be connected with worm screw through nut, be used with worm gear; Worm gear top is provided with potentiometer, and potentiometric main body is fixedly connected with baffle plate, also is fixed with conducting slip ring on the baffle plate; Conducting slip ring and spigot shaft coaxle, and be positioned at the potentiometer top, also be provided with DC speed-reducing on the baffle plate; DC speed-reducing drives worm screw through the gear interlock and rotates; Drive worm gear through worm screw and rotate, finally realize rotating, and then realize that upward lower house is rotatably connected relatively through the worm gear drives central shaft.
Be fixed with control circuit board on the lower house inner bottom surface; Potentiometer in the upper shell, the line of motor are connected with control circuit board through conducting slip ring, and through control circuit board and upper machine communication, the control motor rotates; Gather the potentiometer signal, lower house relative rotation angle control in the realization.
The advantage that the present invention has is:
1, the present invention proposes a kind of robot monomer that is used to realize the deformable robot, has modularization, restructural, and the characteristic that autgmentability is strong, each robot monomer has six faces and can supply to connect, and can use the synthetic complicated configuration of minimum robot set of monomers; Also can some extension element be installed on the individual machine people simultaneously;
2, the present invention proposes a kind of robot monomer that is used to realize the deformable robot, and it is 35.26 ° that the angle of its surfaces of revolution and each joint face is, but not common 90 ° with 180 °.Such design has increased the range of movement and the deformation pattern of robot greatly;
3, the present invention proposes a kind of robot monomer that is used to realize the deformable robot, the mechanism that it adopts the additional worm and gear of DC speed-reducing to slow down, and its torsion can reach 5NM, can drive robot fully and in the space, move.The mechanical arm of 7 ~ 8 single straight lines of robot monomer one-tenth capable of being combined arrives the optional position in the space arbitrarily angled;
4, the present invention proposes a kind of robot monomer that is used to realize the deformable robot, and its conducting slip ring and potentiometric design have guaranteed that it can enclose rotation arbitrarily, but not this robotlike's 90 ~ 180 degree rotations usually;
5, the present invention proposes a kind of robot monomer that is used to realize the deformable robot; Adopt potentiometer high accuracy feedback position, its potentiometer is set directly at detection target place, and final angle comprises mechanical idle running; Improved robot motion's precision effectively, its certainty of measurement is up to 0.06 °.
6, the present invention proposes a kind of robot monomer that is used to realize the deformable robot, connects through electrical equipment, can realize a plurality of robots Collaborative Control, has the very high free degree.
Description of drawings
Fig. 1: the present invention proposes a kind of structural representation that is used to realize the robot monomer of deformable robot;
Fig. 2: the present invention proposes a kind of housing front view that is used to realize the robot monomer of deformable robot;
Fig. 3: the present invention proposes a kind of housing vertical view that is used to realize the robot monomer of deformable robot;
Fig. 4: the present invention proposes a kind of enclosure interior structural representation that is used to realize the robot monomer of deformable robot;
Fig. 5: the present invention proposes a kind of robot monomer housing internal structure explosive view that is used to realize the deformable robot;
Fig. 6: the present invention proposes a kind of structural representation of automated attachment;
Fig. 7: the structural representation when the present invention proposes a kind of automated attachment and do not have electric machine structure;
Fig. 8: the space structure sketch map of socket snap ring in middle and upper part of the present invention;
Fig. 9: the front view of socket snap ring in middle and upper part of the present invention;
Figure 10: the sectional view of socket snap ring in middle and upper part of the present invention;
Figure 11: the structural representation of the pedestal of middle and lower part of the present invention bullet pin pedestal;
Figure 12: the motor component structural representation of middle and lower part of the present invention bullet pin pedestal;
Figure 13: motor cabinet structural representation among the present invention;
Figure: 14: motor cabinet structural representation among the present invention;
Figure 15: the center bullet latch structure sketch map of middle and lower part of the present invention bullet pin pedestal.
Among the figure: 1-top socket snap ring; 2-bottom bullet pin pedestal; The last hollow circuit cylinder A of 3-;
Hollow circuit cylinder B under the 4-; 5-center bullet pin; The 6-pedestal;
The 7-motor component; The last hollow cone C of 8-; Hollow circuit cylinder D under the 9-;
10-is top; The 11-motor; 12-circular cone F;
13-cylinder G; 14-hollow circuit cylinder E; The 15-motor cabinet;
The 16-upper shell; The 17-lower house; The 18-central shaft;
19-bearing A; 20-bearing B; The 21-sleeve;
The 22-baffle plate; The 23-worm gear; The 24-nut;
The 25-worm screw; The 26-potentiometer; The 27-conducting slip ring;
The 28-DC speed-reducing; The 29-gripper shoe.
The specific embodiment
To combine accompanying drawing that the present invention is elaborated below.
The present invention proposes a kind of robot monomer that is used to realize the deformable robot, and is as shown in Figure 1, and this robot monomer comprises the two housing sections of coaxial connection up and down, and the geometry of last lower house is identical, and last lower house all obtains through following mode:
1, choose positive triangular pyramid, three sides of positive triangular pyramid are orthogonal in twos, and the bottom surface inscribed circle radius of positive triangular pyramid is r;
2, the bottom surface inscribed circle with positive triangular pyramid is the cylinder of bottom surface, and upwards three sides of the positive triangular pyramid of intercepting obtain irregular geometry.
The described lower house of going up is thin-wall case, as shown in Figures 2 and 3, is provided with through hole on three sides of last lower house, be used to realize and adjacent deformable robot between be electrically connected.Last lower house bottom center all has through hole, and central shaft 18 is the axis body of core hollow, and core is used for cabling and connects.One bottom portion of central shaft 18 is fixedly connected with the bottom surface of lower house, and the other end passes upper shell bottom surface through hole, cooperates flexible connection with upper shell through bearing A19, bearing B20 realization; Like Fig. 4 and shown in Figure 5, the outside of bearing B20 also is connected with gripper shoe 29, and the two ends of gripper shoe 29 are connected with baffle plate 22; The bottom of baffle plate 22 is fixedly connected with the bottom surface of upper shell; The top of central shaft 18 is connected with worm gear 23, also is connected with sleeve 21 in the centre of worm gear 23 and bearing B20, through the axial location of sleeve 21 rigid bearing B20; Be provided with nut 24 at the top of worm gear 23; With worm gear 23 axial restraints, and on baffle plate 22, also be connected with worm screw 25 through nut 24, be used with worm gear 23.Worm gear 23 tops are provided with potentiometer 26 (angular transducer), and the main body of potentiometer 26 is fixedly connected with baffle plate 22, also are fixed with conducting slip ring 27 on the baffle plate 22, and conducting slip ring 27 is coaxial with central shaft 18, and is positioned at potentiometer 26 tops.Also be provided with DC speed-reducing 28 on the baffle plate 22, DC speed-reducing 28 drives worm screw 25 through the gear interlock and rotates, and drives worm gear 23 rotations through worm screw 25, and final the realization drives central shaft 18 rotations through worm gear 23.Finally realizing going up lower house through central shaft 18 is rotatably connected relatively.
Be fixed with control circuit board on the lower house inner bottom surface, the potentiometer 26 in the upper shell, the line of motor are connected with control circuit board through conducting slip ring 27, avoid owing to rotate the lead winding that causes.Through control circuit board and upper machine communication, the control motor rotates, and gathers potentiometer 26 signals, lower house relative rotation angle control in the realization.
The side through hole of lower house is provided with manual connector on robot monomer, realizes being connected with the quick of another robot monomer through manual connector, finally realizes the connection of a plurality of robots; Because two housings up and down of each robot monomer all can rotate relatively, the therefore final robot assembly integral body that forms all can be rotated, and is flexible higher; Can realize various deformation; Can 360 degree spinning movement scopes big, highly versatile need not to each work specialized designs robot in industry spot; Only need carry out various combination, programme and to finish the work, reduce cost the robot monomer.
Can also be provided with automated attachment on the through hole of preferred robot monomer, the upper surface of last hollow circuit cylinder A is fixed in the through hole of lower house, and realization is connected with connected piece; Like Fig. 6 and shown in Figure 7, automated attachment comprises top socket snap ring 1 and bottom bullet pin pedestal 2; Like Fig. 8, shown in Figure 9; Described top socket snap ring 1 comprises two hollow cylindrical structures of coaxial in order up and down connection; The external diameter of last hollow circuit cylinder A3 is less than the external diameter of following hollow circuit cylinder B4, and the edge of following hollow circuit cylinder B4 connects through screw and the outside connector that needs be connected.The internal face of last hollow circuit cylinder A3 is a taper seat, and this taper seat is the taper seat that downward hollow circuit cylinder B4 direction is shunk, and is shown in figure 10; And the angle between taper seat bus and the central axis is α; α＞45 °, the internal face of following hollow circuit cylinder B4 is taper seat, and is shown in figure 10; The taper seat that this taper seat shrinks for the hollow circuit cylinder A3 direction that makes progress, the angle between this taper seat bus and the central axis is β.
Shown in figure 11; Described bottom bullet pin pedestal 2 comprises center bullet pin 5, pedestal 6 and motor component 7, and pedestal 6 comprises the last hollow cone C8 and following hollow circuit cylinder D9 of coaxial connection in order, and the internal diameter of last hollow cone C8 equates with the internal diameter of following hollow circuit cylinder D9; The bottom surface external diameter of last hollow cone C8 is less than the bottom surface external diameter of following hollow circuit cylinder D9; And the bottom surface external diameter of following hollow circuit cylinder D9 is greater than the following hollow circuit cylinder B4 bottom surface internal diameter of top socket snap ring 1, and goes up the taper seat bus of hollow cone C3 and the angle of central axis is γ, is preferably γ=β; Through hole more than three is set on the sidewall of last hollow cone C8, is used for mounting center bullet pin 5.The inwall of following hollow circuit cylinder D9 is a helicitic texture; And the bottom of following hollow circuit cylinder D9 is coaxially connected with internal thread hollow circuit cylinder E14, and following hollow circuit cylinder D9 and internal thread hollow circuit cylinder E14 are internally connected with motor component 7, this motor component 7 comprise top 10 with motor 11 two parts; Shown in figure 12; Top 10 are divided into coaxial circular cone F12 and cylinder G13 two parts of one up and down, and circular cone F12 outer surface is a smooth surface, and the taper seat bus of circular cone and the angle of its center line are ζ; Cylinder G13 outer surface is an external threaded surface; The below of cylinder G13 is coaxially connected with motor 11, and motor 11 shafts and top 10 are circumferentially fixing, and motor component is connected in the female thread structure of hollow circuit cylinder E14 and following hollow circuit cylinder D9 through the external screw thread of cylinder G13.Under motor 11 drives, cylinder G13 is advanced in the internal thread of following hollow circuit cylinder D9 and hollow circuit cylinder E14, and then drive top 10 along the central axis axially-movable.Motor 11 is fixed in the bottom of hollow circuit cylinder D9 down through motor cabinet 15, like Figure 13 and shown in Figure 14, motor cabinet 15 is fixedly connected with pedestal.Shown in figure 15, center bullet pin 5 is the column structure of taper seat for two ends, and the angle of one of which end taper seat matches with top 10 circular cone F12 taper seat; The angle of this end taper seat bus and center line is δ; Preferred δ+ζ=90 °, the angle of center bullet pin 5 other end taper seats matches with the internal conical surface angle of last hollow circuit cylinder A, and this end taper seat bus and center line angle are θ; Preferred θ+α=90 °; Center bullet pin 5 is arranged in the through hole of hollow cone C8 sidewall, and center bullet pin 5 moves in the through hole of last hollow cone C8 under top 10 effects that motor 11 drives.Motor 11 drives top 10 axially-movables of screw thread, promotes center bullet pin 5 and ejects, and center bullet pin 5 cooperates with the internal conical surface of last hollow circuit cylinder B4, with top socket snap ring 1 and bottom bullet pin pedestal 2 chuckings.The bottom of motor cabinet is fixed in the through hole of lower house, and realization is connected with the active connector.
The described hollow cone C surface of going up is provided with the conduction slideway, and the surface of following hollow circuit cylinder B4 is provided with spring contact, contacts with the stable of spring contact through the conduction slideway, connects thereby carry out effective electromagnetism.When top socket snap ring 1 with after bottom bullet pin pedestal 2 is connected; The bullet pin auto lock of automated attachment connects; And conduction slideway and spring contact are communicated with; Make the active connector that is connected with top socket snap ring 1, bottom bullet pin pedestal 2 respectively, passive connector realize being electrically connected, when the active connector, when passive connector need separate, through the signal of telecommunication control part socket snap ring and the bottom bullet pin base-separation of active connector and passive connector.
Claims (7)
1. robot monomer that is used to realize the deformable robot is characterized in that: described robot monomer comprises the two housing sections of coaxial connection up and down, and the geometry of last lower house is identical, and last lower house all obtains through following mode:
(1) choose positive triangular pyramid, three sides of positive triangular pyramid are orthogonal in twos;
(2) the bottom surface inscribed circle with positive triangular pyramid is the cylinder of bottom surface, and upwards three sides of the positive triangular pyramid of intercepting obtain solid;
The described lower house of going up is thin-wall case, is respectively arranged with through hole on three sides of last lower house, be used to realize and adjacent deformable robot between be electrically connected, last lower house bottom center all has through hole; Last lower house connects through central shaft; Central shaft is the axis body of core hollow, and a bottom portion of central shaft is fixedly connected with the bottom surface of lower house, and the other end passes upper shell bottom surface through hole; Central shaft one end that connects upper shell cooperates flexible connection through bearing A, bearing B realization with upper shell; The outside of bearing B also is connected with gripper shoe, and the two ends of gripper shoe are connected with baffle plate, and the bottom of baffle plate is fixedly connected with the bottom surface of upper shell; The top of central shaft is connected with worm gear, is provided with sleeve in the centre of worm gear and bearing B, through the axial location of sleeve rigid bearing B; Top at worm gear is provided with nut; With the worm gear axial restraint, and on baffle plate, also be connected with worm screw through nut, be used with worm gear; Worm gear top is provided with potentiometer, and potentiometric main body is fixedly connected with baffle plate, also is fixed with conducting slip ring on the baffle plate; Conducting slip ring and spigot shaft coaxle, and be positioned at the potentiometer top, also be provided with DC speed-reducing on the baffle plate; DC speed-reducing drives worm screw through the gear interlock and rotates; Drive worm gear through worm screw and rotate, finally realize rotating, and then realize that upward lower house is rotatably connected relatively through the worm gear drives central shaft;
Be fixed with control circuit board on the lower house inner bottom surface; Potentiometer in the upper shell, the line of motor are connected with control circuit board through conducting slip ring, and through control circuit board and upper machine communication, the control motor rotates; Gather the potentiometer signal, lower house relative rotation angle control in the realization.
2. a kind of robot monomer that is used to realize the deformable robot according to claim 1; It is characterized in that: be respectively arranged with automated attachment on the through hole of described upward three sides of lower house, this automated attachment comprises top socket snap ring and bottom bullet pin pedestal; Top socket snap ring and bottom bullet pin pedestal are separately positioned in three side through holes of lower house, are used to realize the mutual butt joint between two robot monomers;
Described top socket snap ring comprises two hollow cylindrical structures of coaxial in order up and down connection; The internal face of last hollow circuit cylinder A is a taper seat; The internal face taper seat of the described hollow circuit cylinder A of going up is the taper seat that downward hollow circuit cylinder B direction is shunk; The internal face of following hollow circuit cylinder B is a taper seat, the taper seat that this taper seat shrinks for the hollow circuit cylinder A direction that makes progress, and the angle between this taper seat bus and the central axis is β; The upper surface of last hollow circuit cylinder A is fixed in the through hole of lower house, and realization is connected with connected piece;
Described bottom bullet pin pedestal comprises center bullet pin, pedestal and motor component, and pedestal comprises the last hollow cone C and following hollow circuit cylinder D of coaxial connection in order, and the internal diameter of last hollow cone C equates with the internal diameter of following hollow circuit cylinder D; Through hole more than three is set on the sidewall of last hollow cone C, is used for mounting center bullet pin, the inwall of following hollow circuit cylinder D is a helicitic texture; And the bottom of following hollow circuit cylinder D is coaxially connected with internal thread hollow circuit cylinder E; Following hollow circuit cylinder D and internal thread hollow circuit cylinder E are internally connected with motor component, and this motor component comprises top and motor two parts, top coaxial circular cone F and the cylinder G two parts of one up and down that are divided into; Circular cone F outer surface is a smooth surface; Cylinder G outer surface is an external threaded surface, and the below of cylinder G is coaxially connected with motor, and Motor Shaft and top circumferentially fixing; Motor component is connected in the female thread structure of hollow circuit cylinder E and following hollow circuit cylinder D through the external screw thread of cylinder G; Under motor-driven, cylinder G is advanced in the internal thread of following hollow circuit cylinder D and hollow circuit cylinder E, and then drive top along the central axis axially-movable; Motor is fixed in the bottom of hollow circuit cylinder D down through motor cabinet, and motor cabinet is fixedly connected with pedestal; Center bullet pin is the column structure that two ends are taper seat; The angle of one of which end taper seat matches with top circular cone F taper seat; The angle of other end taper seat matches with the internal conical surface angle of last hollow circuit cylinder A; Make center bullet pin be arranged in the through hole of hollow cone C sidewall, center bullet pin moves in the through hole of last hollow cone C under motor-driven top effect; The bottom of motor cabinet is fixed in the through hole of lower house, and realization is connected with the active connector;
The described hollow cone C surface of going up is provided with the conduction slideway, and the surface of following hollow circuit cylinder B is provided with spring contact, contacts with the stable of spring contact through the conduction slideway, realizes that electromagnetism connects.
3. a kind of automated attachment according to claim 2 is characterized in that: described motor is fixed in the bottom of hollow circuit cylinder D down through motor cabinet, and motor cabinet is fixedly connected with pedestal.
4. a kind of automated attachment according to claim 2 is characterized in that: the described external diameter of going up the external diameter of hollow circuit cylinder A less than following hollow circuit cylinder B, the edge of following hollow circuit cylinder B is connected with exterior part through screw.
5. a kind of automated attachment according to claim 2 is characterized in that: described internal face taper seat bus and the angle between the central axis of going up hollow circuit cylinder A is α, α＞45 °.
6. a kind of automated attachment according to claim 2; It is characterized in that: the bottom surface external diameter of the described hollow cone C of going up is less than the bottom surface external diameter of following hollow circuit cylinder D; And the bottom surface external diameter of following hollow circuit cylinder D is greater than the following hollow circuit cylinder B bottom surface internal diameter of top socket snap ring; And the taper seat bus of last hollow cone C and the angle of central axis are γ, γ=β.
7. a kind of automated attachment according to claim 2 is characterized in that: described center bullet pin contacts an end with top circular cone F taper seat bus and center line angle δ satisfies δ+ζ=90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210096328.9A CN102672727B (en) | 2012-04-01 | 2012-04-01 | Robot monomer capable of realizing deformable robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210096328.9A CN102672727B (en) | 2012-04-01 | 2012-04-01 | Robot monomer capable of realizing deformable robot |
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| CN102672727A true CN102672727A (en) | 2012-09-19 |
| CN102672727B CN102672727B (en) | 2014-07-30 |
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| CN201210096328.9A Expired - Fee Related CN102672727B (en) | 2012-04-01 | 2012-04-01 | Robot monomer capable of realizing deformable robot |
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Cited By (7)
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| CN105818160A (en) * | 2015-01-08 | 2016-08-03 | 中国科学院上海微***与信息技术研究所 | Universal robot joints and robot arm |
| WO2018032963A1 (en) * | 2016-08-17 | 2018-02-22 | 杨健勃 | Information processing method and device for configuration control, and user terminal |
| WO2019120153A1 (en) * | 2017-12-19 | 2019-06-27 | 北京可以科技有限公司 | Subunit module for constructing modular robot |
| CN110125975A (en) * | 2019-03-25 | 2019-08-16 | 广东工业大学 | A kind of complete cycle rotary machine person joint's module |
| CN110480677A (en) * | 2019-09-11 | 2019-11-22 | 安徽人和智能制造有限公司 | A kind of installation clamping structure for rotation section at mechanical arm rotation connection |
| CN114030000A (en) * | 2021-11-23 | 2022-02-11 | 北京邮电大学 | Electromechanical integration butt joint interface of modularization self-reconfigurable robot |
| EP4088879A4 (en) * | 2020-01-07 | 2024-01-24 | Beijing Keyi Tech Co Ltd | Module unit position servo system and control method therefor, and modular robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105818160A (en) * | 2015-01-08 | 2016-08-03 | 中国科学院上海微***与信息技术研究所 | Universal robot joints and robot arm |
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| CN110480677A (en) * | 2019-09-11 | 2019-11-22 | 安徽人和智能制造有限公司 | A kind of installation clamping structure for rotation section at mechanical arm rotation connection |
| EP4088879A4 (en) * | 2020-01-07 | 2024-01-24 | Beijing Keyi Tech Co Ltd | Module unit position servo system and control method therefor, and modular robot |
| CN114030000A (en) * | 2021-11-23 | 2022-02-11 | 北京邮电大学 | Electromechanical integration butt joint interface of modularization self-reconfigurable robot |
| CN114030000B (en) * | 2021-11-23 | 2024-02-23 | 北京邮电大学 | Modularized self-reconfiguration robot electromechanical integrated docking interface |
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| Publication number | Publication date |
|---|---|
| CN102672727B (en) | 2014-07-30 |
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