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专利名称: 一种模块化可重构机器人
其他题名: Modular reconfigurable robot
作者: 王洪光; 姜勇; 潘新安; 余岑; 何能
所属部门: 空间自动化技术研究室
专利权人: 中国科学院沈阳自动化研究所
专利代理: 沈阳科苑专利商标代理有限公司 21002
专利国别: 中国
专利类型: 发明
专利状态: 有效
摘要: 一种模块化可重构机器人,属于关节型机器人技术领域。包括上位机和机器人,所述机器人通过CAN总线与上位机的CAN通信接口卡连接,其特征在于:所述机器人包括基座模块、夹爪模块及两者之间多个交替连接的关节模块和连杆模块,组合成2~7个自由度的多种构型机器人,其中:基座模块连接关节模块,夹爪模块连接连杆模块,各模块内均设有用于电气连接的电源/信号总线。本发明所有模块的电气连接接口均采用插拔式D型连接器;所有模块的机械接口均采用法兰式结构,安装拆卸简单,易于定位。组装后的机器人无电线暴露在外,机器人运动时不会发生电线缠绕问题。关节模块内部均设有机械和电气限位,提高了机器人使用的安全性。
英文摘要: The invention discloses a modular reconfigurable robot, and belongs to the technical field of articulated robots. The modular reconfigurable robot comprises an upper computer and a robot, wherein the robot is connected with a controller area network (CAN) communication interface card of the upper computer through a CAN bus. The modular reconfigurable robot is characterized in that: the robot comprises a base module, a clamping jaw module and a plurality of joint modules and connecting rod modules alternately connected between the base module and the clamping jaw module, and the modules are combined into multiple structural robots of 2 to 7 degrees of freedom, wherein the base module is connected with the joint modules, the clamping jaw module is connected with the connecting rod modules, and a power/signal bus for electric connection is arranged in each module. Plug D-type connectors are adopted at electric connection interfaces of all the modules and flange structures are adopted at mechanical interfaces of all the modules, so the robot is simply assembled and disassembled and easily positioned. The assembled robot has no exposed electric wire, so the electric wire winding problem is not produced when the robot moves. Mechanical and electric limits are arranged in the joint modules, so the use safety of the robot is improved.
是否PCT专利:
申请日期: 2009-12-18
公开日期: 2011-06-22
授权日期: 2012-09-26
专利申请号: CN200910248530.7
公布/公告号: CN102101290A
语种: 中文
产权排序: 1
内容类型: 专利
URI标识: http://ir.sia.cn/handle/173321/13425
Appears in Collections:空间自动化技术研究室_专利

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Recommended Citation:
王洪光,姜勇,潘新安,等. 一种模块化可重构机器人. CN102101290A. 2011.
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文件名: CN200910248530.7.pdf
格式: Adobe PDF
文件名: CN200910248530.7授权.pdf
格式: Adobe PDF
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