CN102672727B - Robot monomer capable of realizing deformable robot - Google Patents
Robot monomer capable of realizing deformable robot Download PDFInfo
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- CN102672727B CN102672727B CN201210096328.9A CN201210096328A CN102672727B CN 102672727 B CN102672727 B CN 102672727B CN 201210096328 A CN201210096328 A CN 201210096328A CN 102672727 B CN102672727 B CN 102672727B
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- robot
- circuit cylinder
- hollow circuit
- cylinder
- taper seat
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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 for realizing the robot monomer of transformable robot.
Background technology
The development of Robotics improves constantly the ability of robot, the field of robot application and scope be constantly expansion, people wish that robot can complete more complicated task, and by it is reprogramed, robot can complete many different tasks easily.But the scope that robot can finish the work is subject to the restriction of himself frame for movement, for Given task, can select according to mission requirements the optimum structure of robot.During due to flexible robot, formed by multiple single robots, can realize the co-operating of multiple robots, therefore have the higher free degree than ordinary robot, can better adapt to site environment
But the operation of or continuous variation unpredictable for some, just the optimum structure of robot cannot be selected, conventional machines people is difficult to adapt to the variation of working environment and task because of himself structural limitations, if because the difference of working environment and task is developed robot again, apply many robots with different motion and dynamics task that fulfils assignment, this way is costly, and the construction cycle is long.
At bibliography 1: " modularized self-reorganization robot research---present situation, opportunities and challenges " in the Robot Design that provides, its each robot monomer only provides 4 reliable joint faces, at bibliography 2: only provide 2 reliable joint faces in " the reconstruction robot configuration synthesis research based on fault freedom ", at bibliography 3: only provide 2 reliable joint faces in " design of reconstruction robot cellular construction and combined characteristic analysis ", in above-mentioned prior art, its reliable joint face is very limited, and movement interference is larger, the robot assembly forming is difficult for installing, also need other rotatable parts to support mutually.
Summary of the invention
For problems of the prior art, the present invention proposes a kind of for realizing the robot monomer of transformable robot, has modularization, restructural, the characteristic that autgmentability is strong, each robot monomer has six faces can, for connecting, can synthesize complicated configuration by minimum robot set of monomers.And the present invention adopts potentiometer high accuracy feedback position, its potentiometer is set directly at detection target place, and final angle comprises mechanical clearance, has effectively improved robot motion's precision.
The robot monomer that the present invention proposes comprises the coaxial two housing sections connecting up and down, and the geometry of upper-lower casing is identical, and upper-lower casing all obtains in the following way:
(1) choose positive triangular pyramid, three sides of positive triangular pyramid are orthogonal between two;
(2) cylinder taking the bottom surface inscribed circle of positive triangular pyramid as bottom surface, upwards intercepts three sides of positive triangular pyramid, obtains solid;
Described upper-lower casing is thin-wall case, on three sides of upper-lower casing, is respectively arranged with through hole, and for realizing the electrical connection between adjacent transformable robot, upper-lower casing bottom center all has through hole; Upper-lower casing connects by central shaft, central shaft is the axis body of core hollow, the bottom, one end of central shaft is fixedly connected with the bottom surface of lower house, the other end is through upper shell bottom surface through hole, the central shaft one end that connects upper shell is realized with upper shell and is coordinated and be flexibly connected by bearing A19, bearing B, the outside of bearing B is also 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, by the axial location of sleeve rigid bearing B in the centre of worm gear and bearing B, top at worm gear is provided with nut, by worm gear axial restraint, and on baffle plate, be also connected with worm screw by nut, be used in conjunction with worm gear; Worm gear top is provided with potentiometer, and potentiometric main body is fixedly connected with baffle plate, on baffle plate, be also fixed with conducting slip ring, conducting slip ring is coaxial with central shaft, and is positioned at potentiometer top, is also provided with DC speed-reducing on baffle plate, DC speed-reducing drives worm screw to rotate by engaged gears, drive worm gear to rotate by worm screw, final realization by worm gear drives central shaft rotation, and then realizes upper-lower casing and be relatively rotatably connected.
In lower house inner bottom surface, be fixed with control circuit board, potentiometer in upper shell, the line of motor are connected with control circuit board by conducting slip ring, by control circuit board and upper machine communication, control electric machine rotation, gather potentiometer signal, realize the control of upper-lower casing relative rotation angle.
The advantage that the present invention has is:
1, the present invention proposes a kind ofly have modularization for realizing the robot monomer of transformable robot, restructural, and the characteristic that autgmentability is strong, each robot monomer has six faces can, for connecting, can synthesize complicated configuration by minimum robot set of monomers; Also some extension element can be installed on individual machine people simultaneously;
2, the present invention proposes that a kind of it is 35.26 ° that the angle of its surfaces of revolution and each joint face is for realizing the robot monomer of transformable robot, but not common 90 ° with 180 °.Such design has increased range of movement and the deformation pattern of robot greatly;
3, the present invention propose a kind of for realizing the robot monomer of transformable robot, the mechanism that it adopts the additional worm and gear of DC speed-reducing to slow down, its torsion can reach 5NM, can be with mobile robot to move in space completely.It is arbitrarily angled that the mechanical arm of 7 ~ 8 single straight lines of robot monomer one-tenth capable of being combined arrives optional position in space;
4, the present invention proposes a kind ofly for realizing the robot monomer of transformable robot, and its conducting slip ring and potentiometric design have ensured that it can enclose arbitrarily rotation, but not 90 ~ 180 of this type of robot degree rotations conventionally;
5, the present invention proposes a kind of for realizing the robot monomer of transformable robot, adopt potentiometer high accuracy feedback position, its potentiometer is set directly at detection target place, and final angle comprises mechanical clearance, effectively improved robot motion's precision, its certainty of measurement is up to 0.06 °.
6, the present invention proposes a kind ofly to connect by electrical equipment for realizing the robot monomer of transformable robot, can realize multiple robots Collaborative Control, has the very high free degree.
Brief description of the drawings
Fig. 1: the present invention proposes a kind of for realizing the structural representation of robot monomer of transformable robot;
Fig. 2: the present invention proposes a kind of for realizing the housing front view of robot monomer of transformable robot;
Fig. 3: the present invention proposes a kind of for realizing the housing top view of robot monomer of transformable robot;
Fig. 4: the present invention proposes a kind of for realizing the enclosure interior structural representation of robot monomer of transformable robot;
Fig. 5: the present invention proposes a kind of for realizing the robot monomer housing internal structure explosive view of transformable robot;
Fig. 6: the present invention proposes a kind of structural representation of automated attachment;
Fig. 7: structural representation when the present invention proposes a kind of automated attachment without electric machine structure;
Fig. 8: the space structure schematic diagram 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 in the present invention;
Figure: 14: motor cabinet structural representation in the present invention;
Figure 15: the center bullet latch structure schematic diagram of middle and lower part of the present invention bullet pin pedestal.
In figure: 1-top socket snap ring; 2-bottom bullet pin pedestal; The upper hollow circuit cylinder A of 3-;
Hollow circuit cylinder B under 4-; 5-center bullet pin; 6-pedestal;
7-motor component; The upper hollow cone C of 8-; Hollow circuit cylinder D under 9-;
10-is top; 11-motor; 12-circular cone F;
13-cylinder G; 14-hollow circuit cylinder E; 15-motor cabinet;
16-upper shell; 17-lower house; 18-central shaft;
19-bearing A; 20-bearing B; 21-sleeve;
22-baffle plate; 23-worm gear; 24-nut;
25-worm screw; 26-potentiometer; 27-conducting slip ring;
28-DC speed-reducing; 29-gripper shoe.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in detail.
The present invention proposes a kind of for realizing the robot monomer of transformable robot, and as shown in Figure 1, this robot monomer comprises the coaxial two housing sections connecting up and down, and the geometry of upper-lower casing is identical, and upper-lower casing all obtains in the following way:
1, choose positive triangular pyramid, three sides of positive triangular pyramid are orthogonal between two, and the bottom surface inscribed circle radius of positive triangular pyramid is r;
2, the cylinder taking the bottom surface inscribed circle of positive triangular pyramid as bottom surface, upwards intercepts three sides of positive triangular pyramid, obtains irregular geometry.
Described upper-lower casing is thin-wall case, as shown in Figures 2 and 3, is provided with through hole, for realizing the electrical connection between adjacent transformable robot on three sides of upper-lower casing.Upper-lower casing bottom center all has through hole, and central shaft 18 is the axis body of core hollow, and core connects for cabling.The bottom, one end of central shaft 18 is fixedly connected with the bottom surface of lower house, the other end is through upper shell bottom surface through hole, by bearing A19, bearing B20 realizes with upper shell and coordinates and be flexibly connected, as shown in Figure 4 and Figure 5, the outside of bearing B20 is also connected with gripper shoe 29, 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, centre at worm gear 23 and bearing B20 is also connected with sleeve 21, by the axial location of sleeve 21 rigid bearing B20, be provided with nut 24 at the top of worm gear 23, by nut 24 by worm gear 23 axial restraints, and on baffle plate 22, be also connected with worm screw 25, be used in conjunction 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, is also fixed with conducting slip ring 27 on baffle plate 22, and conducting slip ring 27 is coaxial with central shaft 18, and is positioned at potentiometer 26 tops.On baffle plate 22, be also provided with DC speed-reducing 28, DC speed-reducing 28 drives worm screw 25 to rotate by engaged gears, drives worm gear 23 to rotate by worm screw 25, and final realization drives central shaft 18 to rotate by worm gear 23.Finally realizing upper-lower casing by central shaft 18 is rotatably connected relatively.
In lower house inner bottom surface, be fixed with control circuit board, the potentiometer 26 in upper shell, the line of motor are connected with control circuit board by conducting slip ring 27, avoid the wire causing due to rotation to be wound around.By control circuit board and upper machine communication, control electric machine rotation, gather potentiometer 26 signals, realize the control of upper-lower casing relative rotation angle.
On the side through hole of a robot monomer upper-lower casing, be provided with Manual connecting component, realize with the quick of another robot monomer and being connected by Manual connecting component, finally realizing multiple robots connects, because two housings up and down of each robot monomer all can rotate relatively, therefore the final robot assembly entirety forming all can be rotated, flexibility is higher, can realize various deformation, can 360 degree spinning movement scopes large, highly versatile, industry spot without for each work specialized designs robot, only need to carry out various combination to robot monomer, programming can be finished the work, reduce cost.
On the through hole of preferred robot monomer, can also be provided with automated attachment, the upper surface of upper hollow circuit cylinder A is fixed in the through hole of upper-lower casing, and realization is connected with connected piece; As shown in Figure 6 and Figure 7, automated attachment comprises top socket snap ring 1 and bottom bullet pin pedestal 2; As shown in Figure 8, Figure 9, described top socket snap ring 1 comprises and coaxially connects in turn up and down two hollow cylindrical structures, the external diameter of upper hollow circuit cylinder A3 is less than the external diameter of lower hollow circuit cylinder B4, and the edge of lower hollow circuit cylinder B4 connects with the outside connector being connected that needs by screw.The internal face of upper hollow circuit cylinder A3 is taper seat, this taper seat is the taper seat that downward hollow circuit cylinder B4 direction is shunk, as shown in figure 10, and the angle between taper seat bus and central axis is α, 45 ° of α >, the internal face of lower hollow circuit cylinder B4 is taper seat, as shown in figure 10, this taper seat is the taper seat that upwards hollow circuit cylinder A3 direction is shunk, and the angle between this taper seat bus and central axis is β.
As shown in figure 11, described bottom bullet pin pedestal 2 comprises center bullet pin 5, pedestal 6 and motor component 7, pedestal 6 comprises coaxial upper hollow cone C8 and the lower hollow circuit cylinder D9 connecting in turn, the internal diameter of upper hollow cone C8 equates with the internal diameter of lower hollow circuit cylinder D9, the bottom surface external diameter of upper hollow cone C8 is less than the bottom surface external diameter of lower hollow circuit cylinder D9, and the bottom surface external diameter of lower hollow circuit cylinder D9 is greater than the lower hollow circuit cylinder B4 bottom surface internal diameter of top socket snap ring 1, and the taper seat bus of upper hollow cone C3 and the angle of central axis are γ, be preferably γ=β, three above through holes are set on the sidewall of upper hollow cone C8, for mounting center bullet pin 5.The inwall of lower hollow circuit cylinder D9 is helicitic texture, and the bottom of lower hollow circuit cylinder D9 is coaxially connected with internal thread hollow circuit cylinder E14, lower hollow circuit cylinder D9 and internal thread hollow circuit cylinder E14 are internally connected with motor component 7, this motor component 7 comprises top 10 and motor 11 two parts, as shown in figure 12, top 10 are divided into the coaxial circular cone F12 of upper and lower one and cylinder G13 two parts, circular cone F12 outer surface is smooth surface, the taper seat bus of circular cone and the angle of its center line are ζ, cylinder G13 outer surface is external threaded surface, the below of cylinder G13 is coaxially connected with motor 11, and motor 11 shafts and top 10 are circumferentially fixing, motor component is connected in the female thread structure of hollow circuit cylinder E14 and lower hollow circuit cylinder D9 by the external screw thread of cylinder G13.Under motor 11 drives, cylinder G13 is advanced in the internal thread of lower hollow circuit cylinder D9 and hollow circuit cylinder E14, and then drive top 10 along central axis axially-movable.Motor 11 is fixed on the bottom of lower hollow circuit cylinder D9 by motor cabinet 15, as shown in Figure 13 and Figure 14, motor cabinet 15 is fixedly connected with pedestal.As shown in figure 15, center bullet pin 5 is the column structure of taper seat for two ends, the angle of its one 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 upper hollow circuit cylinder A, 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, under top 10 effects that center bullet pin 5 drives at motor 11, in the through hole of upper hollow cone C8, move.Motor 11 drives top 10 axially-movables of screw thread, promotes center bullet pin 5 and ejects, and center bullet pin 5 coordinates with the internal conical surface of upper hollow circuit cylinder B4, top is socketed to snap ring 1 and bottom bullet pin pedestal 2 clamps.The bottom of motor cabinet is fixed in the through hole of upper-lower casing, and realization is connected with active connector.
Described upper hollow cone C surface is provided with conduction slideway, and the surface of lower hollow circuit cylinder B4 is provided with spring contact, contacts, thereby carry out effective electromagnetism connection by conduction slideway with the stable of spring contact.After top socket snap ring 1 is connected with bottom bullet pin pedestal 2, the bullet pin auto lock of automated attachment connects, and make to conduct electricity slideway and spring contact and be communicated with, make the active connector, the passive connector that are connected with top socket snap ring 1, bottom bullet pin pedestal 2 respectively realize electrical connection, in the time that active connector, passive connector need to separate, by signal of telecommunication control part socket snap ring and the bottom bullet pin base-separation of active connector and passive connector.
Claims (6)
1. for realizing a robot monomer for transformable robot, it is characterized in that: described robot monomer comprises the coaxial two housing sections connecting up and down, and the geometry of upper-lower casing is identical, and upper-lower casing all obtains in the following way:
(1) choose positive triangular pyramid, three sides of positive triangular pyramid are orthogonal between two;
(2) cylinder taking the bottom surface inscribed circle of positive triangular pyramid as bottom surface, upwards intercepts three sides of positive triangular pyramid, obtains solid;
Described upper-lower casing is thin-wall case, on three sides of upper-lower casing, is respectively arranged with through hole, and for realizing the electrical connection between adjacent transformable robot, upper-lower casing bottom center all has through hole; Upper-lower casing connects by central shaft, central shaft is the axis body of core hollow, the bottom, one end of central shaft is fixedly connected with the bottom surface of lower house, the other end is through upper shell bottom surface through hole, the central shaft one end that connects upper shell is realized with upper shell and is coordinated and be flexibly connected by bearing A, bearing B, the outside of bearing B is also 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, by the axial location of sleeve rigid bearing B in the centre of worm gear and bearing B, top at worm gear is provided with nut, by worm gear axial restraint, and on baffle plate, be also connected with worm screw by nut, be used in conjunction with worm gear; Worm gear top is provided with potentiometer, and potentiometric main body is fixedly connected with baffle plate, on baffle plate, be also fixed with conducting slip ring, conducting slip ring is coaxial with central shaft, and is positioned at potentiometer top, is also provided with DC speed-reducing on baffle plate, DC speed-reducing drives worm screw to rotate by engaged gears, drive worm gear to rotate by worm screw, final realization by worm gear drives central shaft rotation, and then realizes upper-lower casing and be relatively rotatably connected;
In lower house inner bottom surface, be fixed with control circuit board, potentiometer in upper shell, the line of motor are connected with control circuit board by conducting slip ring, by control circuit board and upper machine communication, control electric machine rotation, gather potentiometer signal, realize the control of upper-lower casing relative rotation angle.
2. according to claim 1 a kind of for realizing the robot monomer of transformable robot, it is characterized in that: on the through hole of three sides of described upper-lower casing, be respectively arranged with automated attachment, 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 upper-lower casing, for realizing the mutual docking between Liang Ge robot monomer;
Described top socket snap ring comprises and coaxially connects in turn up and down two hollow cylindrical structures, the internal face of upper hollow circuit cylinder A is taper seat, the internal face taper seat of described upper hollow circuit cylinder A is the taper seat that downward hollow circuit cylinder B direction is shunk, the internal face of lower hollow circuit cylinder B is taper seat, this taper seat is the taper seat that upwards hollow circuit cylinder A direction is shunk, and the angle between this taper seat bus and central axis is β; The upper surface of upper hollow circuit cylinder A is fixed in the through hole of upper-lower casing, and realization is connected with connected piece;
Described bottom bullet pin pedestal comprises center bullet pin, pedestal and motor component, pedestal comprises coaxial upper hollow cone C and the lower hollow circuit cylinder D connecting in turn, the internal diameter of upper hollow cone C equates with the internal diameter of lower hollow circuit cylinder D, three above through holes are set on the sidewall of upper hollow cone C, for mounting center bullet pin, the inwall of lower hollow circuit cylinder D is helicitic texture, and the bottom of lower hollow circuit cylinder D is coaxially connected with internal thread hollow circuit cylinder E, lower hollow circuit cylinder D and internal thread hollow circuit cylinder E are internally connected with motor component, this motor component comprises top and motor two parts, the top coaxial circular cone F of upper and lower one and cylinder G two parts of being divided into, circular cone F outer surface is smooth surface, cylinder G outer surface is external threaded surface, the below of cylinder G is coaxially connected with motor, and motor output shaft and top circumferentially fixing, motor component is connected in by the external screw thread of cylinder G in the female thread structure of hollow circuit cylinder E and lower hollow circuit cylinder D, under motor drives, cylinder G is advanced in the internal thread of lower hollow circuit cylinder D and hollow circuit cylinder E, and then drive top along central axis axially-movable, motor is fixed on the bottom of lower hollow circuit cylinder D by motor cabinet, motor cabinet is fixedly connected with pedestal, Dan Xiaowei two ends, center are the column structure of taper seat, the angle of its one 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 upper hollow circuit cylinder A, make center bullet pin be arranged in the through hole of hollow cone C sidewall, center bullet pin, under motor-driven top effect, moves in the through hole of upper hollow cone C, the bottom of motor cabinet is fixed in the through hole of upper-lower casing, and realization is connected with active connector,
Described upper hollow cone C surface is provided with conduction slideway, and the surface of lower hollow circuit cylinder B is provided with spring contact, contacts with the stable of spring contact by conduction slideway, realizes electromagnetism and connects.
3. according to claim 2 a kind of for realizing the robot monomer of transformable robot, it is characterized in that: the external diameter of described upper hollow circuit cylinder A is less than the external diameter of lower hollow circuit cylinder B, and the edge of lower hollow circuit cylinder B is connected with exterior part by screw.
4. according to claim 2 a kind of for realizing the robot monomer of transformable robot, it is characterized in that: the angle between internal face taper seat bus and the central axis of described upper hollow circuit cylinder A is α, 45 ° of α >.
5. according to claim 2 a kind of for realizing the robot monomer of transformable robot, it is characterized in that: the bottom surface external diameter of described upper hollow cone C is less than the bottom surface external diameter of lower hollow circuit cylinder D, and the bottom surface external diameter of lower hollow circuit cylinder D is greater than the lower hollow circuit cylinder B bottom surface internal diameter of top socket snap ring, and the taper seat bus of upper hollow cone C and the angle of central axis are γ, γ=β.
6. according to claim 2 a kind of for realizing the robot monomer of transformable robot, it is characterized in that: described center bullet pin contacts one end taper seat bus and center line angle δ with top circular cone F meet δ+ζ=90 °, and described ζ is the angle of taper seat bus and its center line.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210096328.9A CN102672727B (en) | 2012-04-01 | 2012-04-01 | Robot monomer capable of realizing deformable robot |
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| CN201210096328.9A CN102672727B (en) | 2012-04-01 | 2012-04-01 | Robot monomer capable of realizing deformable robot |
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| CN102672727A CN102672727A (en) | 2012-09-19 |
| CN102672727B true CN102672727B (en) | 2014-07-30 |
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| CN105818160A (en) * | 2015-01-08 | 2016-08-03 | 中国科学院上海微系统与信息技术研究所 | Universal robot joints and robot arm |
| CN106272550B (en) * | 2016-08-17 | 2019-09-06 | 北京可以科技有限公司 | Configuration controls information processing method and device |
| CN108274458B (en) | 2017-12-19 | 2020-12-18 | 北京可以科技有限公司 | Subunit module for building modular robot |
| CN109910050A (en) * | 2019-03-25 | 2019-06-21 | 广东工业大学 | A kind of microminiature complete cycle revolute joint module |
| CN110480677B (en) * | 2019-09-11 | 2020-06-09 | 安徽人和智能制造有限公司 | A installation joint structure that is used for arm to rotate junction and rotates festival |
| 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 |
| 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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| CN101537620A (en) * | 2009-04-20 | 2009-09-23 | 北京航空航天大学 | Modular reconfigurable crawler-type wall climbing robot |
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