CN100509310C - Miniature self-correcting reconfiguration device - Google Patents
Miniature self-correcting reconfiguration device Download PDFInfo
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- CN100509310C CN100509310C CNB2007101443153A CN200710144315A CN100509310C CN 100509310 C CN100509310 C CN 100509310C CN B2007101443153 A CNB2007101443153 A CN B2007101443153A CN 200710144315 A CN200710144315 A CN 200710144315A CN 100509310 C CN100509310 C CN 100509310C
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- pin
- reconstruct
- hole
- memory alloy
- restructuring
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Abstract
The present invention provides a miniature automatic correction and restructuring device comprising a restructuring pin and a restructuring hole fixed together; the inside of the restructuring pin is equipped with a CMOS camera which is fixed with a robot module by a connection; the restructuring hole is fixed with another robot module and a locking pin driven by memory alloy is equipped in the restructuring hole in radial direction; the locking pin driven by the memory alloy comprises a sliding pin, a return spring equipped under the sliding pin and a memory alloy spring; both ends of the memory alloy spring are connected with copper based electric connections; the upper end is fixed with the sliding pin and the lower end is fixed with the restructuring hole. The restructuring pin is fixed with one robot module by a connection and the restructuring hole is fixed with another robot module; when the two robot modules are butted, with the automatic correction function of the pin and hole, the robot poses can be adjusted to make the central lines of the restructuring pin and hole aligned approximately; after the relative motion of the two modules, the pin and hole are cooperated and the locking pin locks the restructuring pin to realize butt restructuring.
Description
(1) technical field
The present invention relates to a kind of reconstruct frame for movement, be specifically related to a kind of reconfiguration device of self-reorganization robot.
(2) background technology
Can self-reorganization robot realize reconstruct and realize efficient height from reconstruct, with reconfiguration device whether much relations rationally arranged.As the very important functional entity of self-reorganization robot, the design of reconfiguration device is constantly developed, and by retrieving existing domestic and foreign literature, each self-reorganization robot prototype has all designed corresponding robot reconfiguration device.These device major parts have all adopted pin, pore structure, and utilize memorial alloy to drive jump ring or stop pin realizes that detach procedure is controlled, but require pin, the strict centering of centerline hole in restructuring procedure, perhaps only allow in a very little deviation range.So just, increased self-reorganization robot in the control difficulty in the reconstruct process, reduced reliability and efficient from reconstruct.So, being necessary to design a kind of reconfiguration device with self-correcting function, reduction to the requirement of robot relative positional accuracy, is controlled difficulty thereby reduce in the reconstruct process, improve reconstruct efficient.
(3) summary of the invention
The object of the present invention is to provide a kind of self-correcting function that has, and the center line in robot reconstruct pin, reconstruct hole in the reconstruct process allows the miniature self-correcting reconfiguration device of skew in a big way.
The object of the present invention is achieved like this: it comprises reconstruct pin and the reconstruct hole that is connected, and the CMOS camera is set in the reconstruct pin, is connected by connector and robot module; Reconstruct hole and another robot module are connected, the reconstruct hole circle radially is provided with memory alloy driven stop pin in the hole, memory alloy driven stop pin comprises sliding pin, is arranged at the back-moving spring and the memory alloy spring of sliding pin below, the memory alloy spring two ends are connected to copper base electrical connector, the upper end is connected with sliding pin, and lower end and reconstruct hole are connected.
The present invention also has some technical characterictics like this:
1, the pin end of described reconstruct pin is the conical surface, is cylinder thereafter, and the centre is the inclined-plane behind the cylinder, and both sides are the conical surface, are the plane thereafter, cylinder section surface fluting or perforate;
2, described reconstruct hole is ladder square hole, circular hole structure combining, the circular hole corresponding with reconstruct pin face is arranged on the place ahead, after the correction square hole corresponding with inclined-plane, the conical surface behind the reconstruct pin face is arranged on circular hole, after the spacing square hole ladder corresponding with reconstruct pin plane is arranged on and proofreaies and correct square hole;
3, be connected through insulation board and sliding pin on the described memory alloy spring, the lower end is connected through insulation board, connecting plate and reconstruct hole, between back-moving spring and the memory alloy spring insulating sleeve is set.
The present invention is directed to existing reconfiguration device to the too high shortcoming of robot relative positional accuracy requirement, a kind of reconfiguration device with self-correcting function has been proposed, in the reconstruct process, the center line in reconstruct pin, reconstruct hole allows skew in a big way among the present invention in robot.The present invention is the pin-and-hole structure, the surface configuration that the reconstruct pin adopts cylinder, the conical surface, plane, inclined-plane to combine, and length 24mm, periphery diameter 14mm places miniature CMOS camera in the pin, be used for the auxiliary or periphery viewing from the reconstruct process; Ladder square hole, circular hole structure combining are adopted in the reconstruct hole, length 20mm, and Circularhole diameter 14mm, memory alloy driven stop pin of circular hole radial arrangement is used for pin-and-hole and cooperates locking and the release of back to the reconstruct pin.The reconstruct pin by a connector and a robot module be connected, reconstruct hole and another robot module be connected, when two robot modules are docked, because pin, hole have self-correcting function, by adjustment robot self pose reconstruct pin, reconstruct centerline hole roughly being alignd just can, make pin, hole finish cooperation after the two module move toward one another, stop pin is fixed with the reconstruct lock, and reconstruct achieves a butt joint.
(4) description of drawings
Fig. 1-2 is the miniature self-correcting reconfiguration device schematic diagram;
Fig. 3 is controlled stop pin frame for movement schematic diagram.
(5) specific embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments:
In conjunction with Fig. 1-3, present embodiment comprises reconstruct pin 2 and the reconstruct hole 4 that is connected, and CMOS camera 3 is set in the reconstruct pin 2, is connected with the robot module by connector 1; Reconstruct hole 4 is connected with another robot module, memory alloy driven stop pin 5 radially is set in 4 circular holes of reconstruct hole, memory alloy driven stop pin 5 comprises sliding pin 51, is arranged at the back-moving spring 56 and the memory alloy spring 54 of sliding pin 51 belows, memory alloy spring 54 two ends are connected to copper base electrical connector 53, the upper end is connected with sliding pin 51, and lower end and reconstruct hole 4 are connected.
In conjunction with Fig. 1-2, the surface configuration that reconstruct pin 2 adopts cylinder, the conical surface, plane, inclined-plane to combine, length 24mm, periphery diameter 14mm places miniature CMOS camera 3 in the pin, be used for the auxiliary or periphery viewing from the reconstruct process; Ladder square hole, circular hole structure combining are adopted in reconstruct hole 4, length 20mm, and Circularhole diameter 14mm, memory alloy driven stop pin 5 of circular hole radial arrangement is used for pin-and-hole and cooperates locking and the release of back to reconstruct pin 2.Reconstruct pin 2 by a connector 1 and a robot module be connected, reconstruct hole 4 is connected with another robot module, when two robot modules are docked, because pin, hole have self-correcting function, make reconstruct pin, reconstruct hole 4 center lines roughly align and just can by adjusting robot self pose, make pin, hole finish cooperation after the two module move toward one another, stop pin 5 is with 2 lockings of reconstruct pin, and reconstruct achieves a butt joint.
In conjunction with Fig. 1-2, reconstruct pin 2 surfaces adopt multiple shape to combine, and the pin end is guiding conical surface 21, with the contact and the importing of docking operation; Thereafter the face of cylinder 22 is used for cooperating with the circular hole 43 in reconstruct hole, has limited the reconstruct pin and has slided, rotates all frees degree outside two frees degree along center line; Fluting 23 on the face of cylinder 22 is used for cooperating with stop pin 5, and restriction reconstruct pin is along the free sliding degree of center line; The curved surface of inclined-plane 24 thereafter, the conical surface 25 combinations cooperates with the correction square hole 42 in reconstruct hole, is used for the deviation angle and the deflection angle of reconstruct pin 2, reconstruct hole 4 centreline spaces are proofreaied and correct; Thereafter four planes 26 cooperate the rotational freedom of restriction reconstruct pin 2 in back around center line with the spacing square hole 41 in reconstruct hole 4; So far, all free degree restrictions finish, and realize being connected in reconstruct pin 2 and reconstruct hole 4.
In conjunction with Fig. 3, it is controlled that stop pin 5 drives realization by memory alloy spring 54.Memory alloy spring 54 two ends are connected to copper base electrical connector 53, and the upper end is connected through insulation board 52 and sliding pin 51, and the lower end is connected with reconstruct hole 4 through insulation board 58, connecting plate 59.After memory alloy spring 54 energisings were shunk, sliding pin 51 bounced back thereupon, removed the free degree restriction to the reconstruct pin; After memory alloy spring 54 outages, sliding pin 51 just can be kept in the center under the restoring force effect of back-moving spring 56; Between back-moving spring 56 and memory alloy spring 54, place insulating sleeve 55, play insulation and the double action of restriction sliding pin 51 to down stroke.
Claims (5)
1, a kind of miniature self-correcting reconfiguration device, it comprises reconstruct pin and the reconstruct hole that is connected, and it is characterized in that: the CMOS camera is set in the reconstruct pin, is connected by connector and robot module; Reconstruct hole and another robot module are connected, the reconstruct hole circle radially is provided with memory alloy driven stop pin in the hole, memory alloy driven stop pin comprises sliding pin, is arranged at the back-moving spring and the memory alloy spring of sliding pin below, the memory alloy spring two ends are connected to copper base electrical connector, the upper end is connected with sliding pin, and lower end and reconstruct hole are connected.
2, miniature self-correcting reconfiguration device according to claim 1 is characterized in that: the pin end of described reconstruct pin is the conical surface, and reconstruct pin rear portion is cylinder, be the inclined-plane in the middle of behind the cylinder, both sides are the conical surface, are the plane behind inclined-plane, the conical surface, cylinder section surface fluting or perforate.
3, miniature self-correcting reconfiguration device according to claim 1 and 2, it is characterized in that: described reconstruct hole is ladder square hole, circular hole structure combining, the circular hole corresponding with reconstruct pin face is arranged on the place ahead, after the correction square hole corresponding with inclined-plane, the conical surface behind the reconstruct pin face is arranged on circular hole, after the spacing square hole ladder corresponding with reconstruct pin plane is arranged on and proofreaies and correct square hole.
4, miniature self-correcting reconfiguration device according to claim 1 and 2, it is characterized in that: described memory alloy spring upper end is connected through insulation board and sliding pin, the lower end is connected through insulation board, connecting plate and reconstruct hole, between back-moving spring and the memory alloy spring insulating sleeve is set.
5, miniature self-correcting reconfiguration device according to claim 3, it is characterized in that: described memory alloy spring upper end is connected through insulation board and sliding pin, the lower end is connected through insulation board, connecting plate and reconstruct hole, between back-moving spring and the memory alloy spring insulating sleeve is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101443153A CN100509310C (en) | 2007-09-14 | 2007-09-14 | Miniature self-correcting reconfiguration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101443153A CN100509310C (en) | 2007-09-14 | 2007-09-14 | Miniature self-correcting reconfiguration device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101121266A CN101121266A (en) | 2008-02-13 |
| CN100509310C true CN100509310C (en) | 2009-07-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101443153A Expired - Fee Related CN100509310C (en) | 2007-09-14 | 2007-09-14 | Miniature self-correcting reconfiguration device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100509310C (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102436261B (en) * | 2011-12-05 | 2014-04-30 | 北京航空航天大学 | Butt joint positioning and navigation strategy for robot based on single camera and light-emitting diode (LED) |
| CN105015287A (en) * | 2015-07-07 | 2015-11-04 | 哈尔滨工业大学（威海） | Mobile self-reconfigurable micro robot |
-
2007
- 2007-09-14 CN CNB2007101443153A patent/CN100509310C/en not_active Expired - Fee Related
Non-Patent Citations (2)
| Title |
|---|
| 同构阵列式自重构机器人机构设计. 吴秋轩，曹广益，费燕琼，夏平.工艺与装备，第2005年第9期. 2005 |
| 同构阵列式自重构机器人机构设计. 吴秋轩，曹广益，费燕琼，夏平.工艺与装备，第2005年第9期. 2005 * |
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|---|---|
| CN101121266A (en) | 2008-02-13 |
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| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090708 Termination date: 20100914 |