초록 ▼

A modular articulated robot structure (FIG. 4) composed of a series of independent modules (10,100,300) releasably connected to each other to form various configurations. The modules (10,100,300) may be of the rotary (10), linear (100), or wheeled (300) type. The rotary modules (10) are generally fo

A modular articulated robot structure (FIG. 4) composed of a series of independent modules (10,100,300) releasably connected to each other to form various configurations. The modules (10,100,300) may be of the rotary (10), linear (100), or wheeled (300) type. The rotary modules (10) are generally formed of first and second substantially U-shaped structural members (12,14) pivotally attached to one another by means of a pair of axles or pivot pins (26) adapted to support a workload exerted on the module (10). A motor (48) is mounted internally of the module (10) for pivoting the second structural member (14) relative to the first structural member (12). The motor (48) is connected to the second structural member (14) in such a way that it is not submitted to outside loads exerted on the module (10). Typically, the first and second structural members (12,14) are provided with cooperating abutment surfaces (17,19,74,76,78,80) for increasing the overall structural rigidity of the module (10) in certain positions thereof.

대표청구항 ▼

[ What is claimed is:] [1.]1. A module for forming a segment of an articulated robot structure, comprising first and second structural members, an axle for pivotally mounting said second structural member to said first structural member, motor means for pivoting said second structural member relativ

[ What is claimed is:] [1.]1. A module for forming a segment of an articulated robot structure, comprising first and second structural members, an axle for pivotally mounting said second structural member to said first structural member, motor means for pivoting said second structural member relative to said first structural member, sensing means for sensing a position of said second structural member, and control means connected to said sensing means for controlling movements of said second structural member, wherein said first and second structural members each includes a base plate and a pair of spaced-apart side plates extending from said base plate, and wherein said base plates of said first and second structural members each includes attachment means for releasably attaching said module to respective adjacent modules, said base plates further including electrical connectors for mating engagement with other electrical connectors of said respective adjacent modules, said electrical connectors being connected to said control means for allowing control commands to be fed through a given number of assembled modules.