The invention provides a multi-variable-structure modular robot, and relates to the technical field of robots. The multi-variable-structure modular robot comprises a robot module. The robot module comprises a trunk and three legs; the trunk comprises five connecting rods which are rotationally connected end to end and define a ring, a first actuator and a second actuator are installed on the two sides of the fifth connecting rod respectively, the first actuator is in transmission connection with the first connecting rod to drive the first connecting rod to rotate around the connecting point of the first connecting rod and the fifth connecting rod, and the second actuator is in transmission connection with the fourth connecting rod to drive the fourth connecting rod to rotate around the connecting point of the fifth connecting rod. The fourth connecting rod is driven to rotate around a connecting point with the fifth connecting rod; the three legs are rotationally mounted on the fifth connecting rod, the second connecting rod and the third connecting rod respectively and are uniformly distributed in the circumferential direction of the trunk; each leg foot comprises two rotating joints which are rotationally connected. According to the multi-variable-structure modular robot, the technical problems that in the prior art, multiple sets of robots are prone to losing balance, the motion mode is single, and design and control are complex are solved.
本发明提供了一种多重变构模块化机器人,涉及机器人技术领域。该多重变构模块化机器人包括机器人模块;机器人模块包括躯干和三个腿足;躯干包括首尾相转动连接且围合成环状的五个连杆,第五连杆的两侧分别安装有第一致动器和第二致动器,第一致动器与第一连杆传动连接,以驱动第一连杆绕与第五连杆的连接点旋转,第二致动器与第四连杆传动连接,以驱动第四连杆绕与第五连杆的连接点旋转;三个腿足分别转动安装于第五连杆、第二连杆和第三连杆上,且沿躯干的周向均匀分布;腿足包括两个转动连接的旋转关节。本发明提供的多重变构模块化机器人解决了现有技术中存在的多组机器人易失去平衡、运动方式单一以及设计和控制复杂的技术问题。
Multi-variable-structure modular robot
多重变构模块化机器人
2023-12-19
Patent
Elektronische Ressource
Chinesisch
Multi-mode modular electrically variable transmission
Europäisches Patentamt | 2016
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