CN101254594A - Standard butt-joint device self-repair module - Google Patents
Standard butt-joint device self-repair module Download PDFInfo
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- CN101254594A CN101254594A CNA2008100361451A CN200810036145A CN101254594A CN 101254594 A CN101254594 A CN 101254594A CN A2008100361451 A CNA2008100361451 A CN A2008100361451A CN 200810036145 A CN200810036145 A CN 200810036145A CN 101254594 A CN101254594 A CN 101254594A
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Abstract
A standard mating device for self-repairing module of self-reconfigurable robot, which belongs to the technology field of machinery and electronic device, comprises a connection hole, a connection shaft and a motor gear box, wherein the connection hole and the connection shaft are fixed at a symmetrical central line on the upper surface of the motor gear box; a rotary plate at the bottom of the motor gear box is connected with a basic module; a connection hand at the upper end of the connection hole is openable and closable; the connection shaft is stuck by beads in a closed groove on the inner wall of the connection hand; and the connection hand can be opened when the module is defective to achieve rapid disconnection, thus facilitating the self-repairing operation. The standard mating device for self-repairing module of self-reconfigurable robot is designed after analyzing the characteristics of rapid mating task of each adjacent modules of the self-reconfigurable self-repairing robot to achieve rapid connection, disconnection and convenient self-repairing mating operation among modules of the self-reconfigurable self-repairing robot.
Description
Technical field
What the present invention relates to is a kind of standard docking facilities, and particularly a kind of standard docking facilities that is applicable to the self-repair module of self-reorganization robot is used for the mechanical electronic equipment technical field.
Background technology
Self-reorganization robot is made up of many similar basic modules, can dynamically change mutual connection fast, and a key character of self-reorganization robot is to have self-reparing capability.The design of the standard docking facilities in the self-repair module is crucial.To the research of this respect, domestic also do not have a relevant report.At the module of design separately, designed corresponding interface in the world, had the pluses and minuses of oneself, but do not have self-reparing capability, do not have versatility.
Find through literature search prior art, people such as Murata are in " Artificial Intelligent inEngineering " (" artificial intelligence in the engineering "), the 15th phase of calendar year 2001, P383-387, write articles " Conceptof self-reconfigurable modular robotic system " (" from the notion of reconstruct modular robot "), this article has been introduced each module interface permanent magnet has been installed, spring, sma coil, sensor, driver etc., two modules are by four pairs of permanent magnet absorption, during absorption, the suction of magnet is greater than the restoring force of spring, and two modules connect; When two modules will break away from, give marmem (SMA) coil heats, SMA produces distortion, and at this moment, the deformation force of SMA and the elastic force of spring are greater than the suction of magnet, and two modules break away from.Measure because this interface magnet magnetic force is difficult, and connect unstablely, the module gravitate might come off or depart from the origin-location and influence the butt joint of intermodule, and this kind interface only is fit to the butt joint of light intermodule, and does not have self-repair function.
Summary of the invention
The present invention is directed to the deficiencies in the prior art and defective, a kind of self-repair module standard docking facilities is provided, make its butt joint that can finish general big intermodule action, and can realize the selfreparing action of self-reorganization robot, thereby solve the problem that exists in the background technology.
The present invention is achieved by the following technical solutions, the present invention includes: connecting hole, connecting axle, motor gearbox, connected mode is: connecting hole and connecting axle are fixed on the symmetrical center line place of motor gearbox upper surface, the hole inwall of connecting hole upper end is fluted, connecting axle is stuck in the groove by pearl, to finish the butt joint of two intermodules; Connecting hole can freely open, close up, and is convenient to selfreparing; Be fixed with motor in the motor gearbox, motor can drive the opening and closing of connecting hole.
Described connecting hole comprises: connect hand, axle, connect at hand seat, round buss, slide block, screw mandrel, lead rail cylinder.Connected mode is: two connect hand and lump together by axle and be fixed on connection at hand on the seat, connecting at hand, seat connects with lead rail cylinder, the round buss bottom is fixed with slide block, slide block can slide in the guide rail that the lead rail cylinder both sides are opened, round buss is enclosed within outside the lead rail cylinder, can make two to connect hand altogether after round buss moves upward, screw mandrel screws in the screw in the middle of the slide block.Machine operation, the leading screw rotation drives slide block and moves up and down, and moves up and down thereby make slide block drive round buss, and two holes that connect between the hand can be opened or closure.
Described connecting axle comprises: pearl, central shaft, piston, hollow shaft, pore.Connected mode is: the hollow shaft upper end has three through holes, and pearl is placed in the through hole, and central shaft connects firmly on piston, and central shaft and hollow shaft are connected as a single entity and slide in the hollow shaft cavity, and pore is hollow shaft sidewall one through hole.After pore ventilation, gas promotes piston and moves up and down, and drives central shaft and slides in hollow shaft, thereby the through hole of pearl along hollow shaft ejected, and is stuck in the hole wall groove of connection hand of connecting hole.
Described motor gearbox comprises: motor, shaft coupling, gear, case cover, swivel plate.Connected mode is: motor is fixed in the case cover, connect by key and shaft coupling, and shaft coupling and gears engaged, the screw mandrel lower end and the gear of connecting hole are fixed, and case cover and swivel plate connect.Driving screw mandrel during machine operation rotates.
The present invention is directed to self-reorganization robot and have the ability of selfreparing, designed this standard docking facilities, finished the quick connection between each adjacent block of self-reorganization robot, the docking mission of disengaging, strengthened the self-reparing capability of self-reorganization robot.During work, swivel plate rotates, so that the connecting axle of adjacent block, connecting hole are corresponding fast.Connecting axle has just entered connecting hole, central shaft in the connecting axle pearl of not extruding, pearl is arranged in hollow shaft, when hollow shaft entered the hole wall groove, the ventilation body promoted piston in hollow shaft, drove central shaft and moved, central shaft moves to the position of pearl, half of pearl extruded hollow shaft, and the connecting axle of adjacent block correspondence is locked in the connecting hole, finishes the action that two modules connect fast; Machine operation in the motor gearbox is opened connecting hole, the pearl freedom, and connecting axle leaves connecting hole, finishes the quick disengaging action of two intermodules; When wherein a module is in malfunction, or connecting axle works, or two openhanded opening of connection of connecting hole, and connecting axle separates with connecting hole, is convenient to finish the selfreparing action.
Compared with prior art, the present invention has obvious progress, after the characteristics of analyzing each adjacent block rapid abutting joint task of self-reorganization robot, design a kind of standard docking facilities that the self-reorganization robot intermodule is finished the selfreparing action of being convenient to, can finish the quick connection from each intermodule of reconstruct self-repair robot, the butt joint action of disengaging.
Description of drawings
Fig. 1 standard docking facilities of the present invention structural representation
Fig. 2 connecting hole structural representation of the present invention
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1 and Figure 2, present embodiment comprises: connecting hole, connecting axle, motor gearbox, its connected mode is: connecting hole and connecting axle are fixed on the symmetrical center line place of motor gearbox upper surface, the hole inwall of connecting hole upper end is fluted, connecting axle is stuck in the groove by pearl, to finish the butt joint of two intermodules; Connecting hole can freely be opened the opening and closing lane, is convenient to selfreparing; Motor is fixed in the motor gearbox, can drive the opening and closing of connecting hole.
Described connecting hole comprises: two connect hand 1 and 2, axle 3, are connected at hand seat 4, round buss 5, slide block 6, screw mandrel 7, lead rail cylinder 8.Connected mode is: two connect hand 1,2 and lump together by axle 3 usefulness hinges fixing and fix on connection at hand on the seat 4, connecting at hand, seat 4 is connect by screw with lead rail cylinder 8, round buss 5 bottoms and slide block 6 are fixed by screw, slide block 6 can slide in the guide rail that open lead rail cylinder 8 both sides, round buss 5 is enclosed within outside the lead rail cylinder 8, can make two to connect hand 1,2 altogether after round buss 5 moves upward, screw mandrel 7 screws in the screw in the middle of the slide block 6.Motor 14 is worked, and leading screw 7 rotations drive slide block 6 and move up and down, and slide block 6 drives round busses 5 and moves up and down, and two holes that connect between the hand 1,2 can be opened or closure.
Described connecting axle comprises: pearl 9, central shaft 10, piston 11, hollow shaft 12, pore 13.Connected mode is: hollow shaft 12 upper ends have three through holes, and pearl 9 is placed in the through hole, and central shaft 10 connects firmly on piston 11, and central shaft 10 is connected as a single entity and slides in hollow shaft 12 cavitys with hollow shaft 12, and pore 13 is hollow shaft 12 sidewalls one through holes.After pore 13 ventilation, gas promotes piston 11 and moves up and down, and drives central shaft 10 and slides in hollow shaft 12, thereby the through hole of pearl 9 along hollow shaft 12 ejected, and is stuck in the hole wall groove of connection hand of another module.
Described motor gearbox comprises: motor 14, shaft coupling 15, gear 16, case cover 17, swivel plate 18.Its connected mode is: motor 14 is screwed in case cover 17, connect by key and shaft coupling 15, and shaft coupling 15 and gear 16 engagements, screw mandrel 7 lower ends and gear 16 are fixed, and case cover 7 is connect by screw with swivel plate 28.Driving screw mandrel 7 during motor 14 work rotates.
During work, swivel plate 18 rotates, so that the connecting axle of adjacent block, connecting hole are corresponding fast.Connecting axle has just entered connecting hole, central shaft 10 in the connecting axle pearl 9 of not extruding, pearl 9 is arranged in hollow shaft 12, when hollow shaft 12 entered connecting hole hole wall groove, the ventilation body promoted piston 11 in hollow shaft 12, drove central shaft 10 and moved, central shaft 10 moves to the position of pearl 9, half of pearl 9 extruded hollow shaft 12, and the connecting axle of adjacent block correspondence is locked in the connecting hole, finishes the action that two modules connect fast; Motor 14 work are opened connecting hole in the motor gearbox ,-pearl 9 freedom, and connecting axle leaves connecting hole, finishes the quick disengaging action of two intermodules; When wherein a module is in malfunction, or connecting axle works, or two openhanded opening of connection of connecting hole, and connecting axle separates with connecting hole, is convenient to finish the selfreparing action.
Claims (4)
1, a kind of standard docking facilities of self-reorganization robot self-repair module, comprise: motor gearbox, it is characterized in that also comprising: connecting hole, connecting axle, connecting hole and connecting axle are fixed on the symmetrical center line place of motor gearbox upper surface, the hole inwall of connecting hole upper end is fluted, and connecting axle is stuck in the groove by pearl, and connecting hole can freely open, close up, be fixed with motor in the motor gearbox, the opening and closing of motor-driven connecting hole;
Described connecting hole comprises: two connect hand, axle, connect at hand seat, round buss, slide block, screw mandrel, lead rail cylinder, two connect hand and lump together by axle and be fixed on connection at hand on the seat, connecting at hand, seat connects with lead rail cylinder, the round buss bottom is fixed with slide block, round buss is enclosed within outside the lead rail cylinder, round buss moves upward and makes two to connect hand altogether, and screw mandrel screws in the screw in the middle of the slide block;
Described connecting axle comprises: pearl, central shaft, piston, hollow shaft, pore, the hollow shaft upper end has three through holes, and pearl is placed in the through hole, and central shaft connects firmly on piston, central shaft and hollow shaft are connected as a single entity and slide in the hollow shaft cavity, and pore is hollow shaft sidewall one through hole.
2, the standard docking facilities of self-reorganization robot self-repair module according to claim 1 is characterized in that, described slide block slides in the guide rail that the lead rail cylinder both sides are opened.
3, the standard docking facilities of self-reorganization robot self-repair module according to claim 1, it is characterized in that, described motor gearbox comprises: motor, shaft coupling, gear, case cover, swivel plate, motor is fixed in the case cover, connect by key and shaft coupling, shaft coupling and gears engaged, case cover and swivel plate connect.
4, the standard docking facilities of self-reorganization robot self-repair module according to claim 1 is characterized in that, screw mandrel lower end and the gear in the motor gearbox in the described connecting hole are fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100361451A CN100558515C (en) | 2008-04-17 | 2008-04-17 | The standard docking facilities of self-repair module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100361451A CN100558515C (en) | 2008-04-17 | 2008-04-17 | The standard docking facilities of self-repair module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101254594A true CN101254594A (en) | 2008-09-03 |
| CN100558515C CN100558515C (en) | 2009-11-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2008100361451A Expired - Fee Related CN100558515C (en) | 2008-04-17 | 2008-04-17 | The standard docking facilities of self-repair module |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101462267B (en) * | 2009-01-08 | 2010-08-18 | 上海交通大学 | Three-arm buttjunction module flat lattice type self-reorganization robot |
| CN102059709A (en) * | 2010-12-15 | 2011-05-18 | 上海交通大学 | Mechanical butting device for robots |
| CN101670586B (en) * | 2009-10-19 | 2012-09-05 | 上海交通大学 | Butt joint mechanism for self-reconstruction modular robot based on pin-shaft wedging |
| CN104249368A (en) * | 2014-09-09 | 2014-12-31 | 上海交通大学 | Double-column self-reconfigurable modular robot |
| CN113146679A (en) * | 2021-04-20 | 2021-07-23 | 哈尔滨工业大学 | Incomplete-constraint quick butt joint mechanism |
-
2008
- 2008-04-17 CN CNB2008100361451A patent/CN100558515C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101462267B (en) * | 2009-01-08 | 2010-08-18 | 上海交通大学 | Three-arm buttjunction module flat lattice type self-reorganization robot |
| CN101670586B (en) * | 2009-10-19 | 2012-09-05 | 上海交通大学 | Butt joint mechanism for self-reconstruction modular robot based on pin-shaft wedging |
| CN102059709A (en) * | 2010-12-15 | 2011-05-18 | 上海交通大学 | Mechanical butting device for robots |
| CN102059709B (en) * | 2010-12-15 | 2012-09-05 | 上海交通大学 | Mechanical butting device for robots |
| CN104249368A (en) * | 2014-09-09 | 2014-12-31 | 上海交通大学 | Double-column self-reconfigurable modular robot |
| CN113146679A (en) * | 2021-04-20 | 2021-07-23 | 哈尔滨工业大学 | Incomplete-constraint quick butt joint mechanism |
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| Publication number | Publication date |
|---|---|
| CN100558515C (en) | 2009-11-11 |
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Granted publication date: 20091111 Termination date: 20120417 |