CN101564843B - Clamping shaft mechanism of self-reconfigurable robot - Google Patents
Clamping shaft mechanism of self-reconfigurable robot Download PDFInfo
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- CN101564843B CN101564843B CN2009100524646A CN200910052464A CN101564843B CN 101564843 B CN101564843 B CN 101564843B CN 2009100524646 A CN2009100524646 A CN 2009100524646A CN 200910052464 A CN200910052464 A CN 200910052464A CN 101564843 B CN101564843 B CN 101564843B
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- hollow shaft
- shaft
- slide block
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Abstract
The invention relates to a clamping shaft mechanism of a self-reconfigurable robot in the technical field of mechanical electronical equipment. The clamping shaft mechanism comprises a dual-trapezoidal shaft, a hollow shaft, movable balls, an air cylinder, a slide block, a threaded rod, a motor and a shell, wherein three through holes are arranged on the circumference of the upper end of the hollow shaft, the moveable balls are arranged in the through holes of the hollow shaft, the hollow shaft is fixedly connected with the slide block, the dual-trapezoidal shaft is connected with the air cylinder and slides along the inner wall of the hollow shaft, the air cylinder is connected with the dual-trapezoidal shaft, the slide block is sleeved on the threaded rod which is fixedly connected withthe output shaft of the motor, and the motor is fixedly arranged in the shell. The embodiment of the clamping shaft mechanism is designed by analyzing the characteristics that adjacent modules can still accomplish tasks of butt and separation rapidly and reliably when the self-reconfigurable robot has larger and heavier basic modules and fails, and the clamping shaft mechanism is suitable for thetasks of self-deformation and self-repair of self-reconfigurable robots.
Description
Technical field
What the present invention relates to is a kind of clamping shaft mechanism of parts mechanism, particularly a kind of self-reorganization robot of robot of field of mechanical technique.
Background technology
Self-reorganization robot is made up of many similar basic modules, by the connection of intermodule, be deformed into different robot configurations fast to the separate mobile attitude, to adapt to the needs of varying environment and task.Wherein the design quick, connection, isolating construction reliably of each intermodule of self-reorganization robot is most important.Both at home and abroad at the self-reorganization robot that designs separately, corresponding connection, isolating construction have been designed, have pluses and minuses separately, but when part of module breaks down, its connection, isolating construction just are difficult to the energy operate as normal, influenced the service behaviour of module and robot, and it does 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 unstable, the module gravitate might come off or depart from the origin-location and influence the butt joint of intermodule, this kind interface only is fit to the butt joint of light intermodule, do not have versatility, particularly when module broke down, robot is difficult to can operate as normal.
Summary of the invention
The present invention is directed to the deficiencies in the prior art and defective, a kind of clamping shaft mechanism of self-reorganization robot is provided, make its can finish general big, than quick connection, the separating action of molality interblock, particularly when module breaks down, it still can operate as normal, do not influence the service behaviour 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: double trapezoid axle, hollow shaft, free ball, cylinder, slide block, screw mandrel, motor and housing, wherein: hollow shaft is provided with three through holes around the upper end, free ball is arranged in the through hole of hollow shaft, hollow shaft is fixedlyed connected with slide block, and the double trapezoid axle is connected with screw thread with cylinder and slides up and down along the hollow shaft inwall jointly, and slide block set is on screw mandrel, screw mandrel is fixedlyed connected with the output shaft of motor, and motor is fixedly set in housing.
Described through hole evenly is arranged at around the upper end of hollow shaft; The external diameter of described free ball is greater than the through-hole diameter of hollow shaft; The wall thickness of hollow shaft is greater than the radius of free ball.
Described double trapezoid axle comprises a notch portion, necked part and axis body, and wherein: the axle notch portion is positioned at an end of double trapezoid axle, and the two ends of necked part are connected with axis body with the axle notch portion respectively, and the diameter of its axis notch portion is greater than the diameter of necked part.
Self-reorganization robot is made up of many similar basic modules, and has clamping shaft and butt hole on each module, and what rely on clamping shaft on each module and butt hole is connected, is deformed into fast to the separate mobile attitude different robot configurations.
When the present invention worked, motor-driven leading screw rotation also drove slide block and moves up and down, thereby made slide block drive the double trapezoid axle and hollow shaft moves up and down simultaneously, and whole clamping shaft mechanism is clamped in place, cylinder operation, and double trapezoid is axially gone up to move and is made free ball be extruded; During the cylinder backhaul, double trapezoid axially down moves and makes free ball released, and the motor reverse operation makes slide block and chucking unit retreat, and this whole clamping shaft mechanism separates with the butt hole of link block, realize between the adjacent block connection with separate.
Compared with prior art, the present invention after analyzing each adjacent block of self-reorganization robot and connecting, separate the characteristics of task fast, designed a kind ofly can reliably connect, adjacent two modules are separated fast, connected when being convenient to finish malfunctioning module clamping shaft mechanism.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a double trapezoid axle schematic diagram 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, present embodiment comprises: double trapezoid axle 1, free ball 2, hollow shaft 3, cylinder 4, slide block 5, screw mandrel 6, motor 7 and housing 8, wherein: evenly have three through holes around hollow shaft 3 upper ends, free ball 2 is placed in the through hole, the external diameter of free ball is greater than the through-hole diameter of hollow shaft, the wall thickness of hollow shaft is greater than the radius of free ball, hollow shaft 3 is connected with slide block 5, double trapezoid axle 1 is threaded with cylinder 4 usefulness, and slide up and down along hollow shaft 3 inwalls together, cylinder 4 is connected with the double trapezoid axle 1 of chucking in the unit, and for ease of being fastenedly connected, double trapezoid axle upper trapezoid size is greater than the lower trapezoid size, slide block 5 is fixed with the hollow shaft 3 in the chucking unit, slide block 5 is enclosed within on the screw mandrel 6, and screw mandrel 6 connects firmly with 7 in motor, and motor 7 is fixed on the shell 8.
As shown in Figure 2, described double trapezoid axle 1 comprises a notch portion 9, necked part 10 and axis body 11, wherein: axle notch portion 9 is positioned at an end of double trapezoid axle 1, the two ends of necked part 10 are connected with axis body 11 with axle notch portion 9 respectively, and the diameter of its axis notch portion 9 is greater than the diameter of necked part 10.
When motor 7 forwards were worked, slide block 5 advanced, and the chucking unit advances, put in place, and cylinder 4 work, double trapezoid axle 1 advances, and the free ball 2 in the chucking unit is extruded by the double trapezoid axle, in the butt hole of this present embodiment clamping shaft mechanism chucking link block;
When cylinder 4 backhauls, double trapezoid axle 1 retreats, free ball 2 in the chucking unit is released, the butt hole of this present embodiment clamping shaft mechanism and adjacent block unclamps, motor 7 reverse operations, slide block 5 retreats, and the chucking unit retreats, and this present embodiment clamping shaft mechanism separates with the butt hole of link block.
Claims (4)
1. the clamping shaft mechanism of a self-reorganization robot, it is characterized in that, double trapezoid axle, hollow shaft, free ball, cylinder, slide block, screw mandrel, motor and housing, wherein: hollow shaft is provided with three through holes around the upper end, and free ball is arranged in the through hole of hollow shaft, and hollow shaft is fixedlyed connected with slide block, the double trapezoid axle is connected with screw thread with cylinder and slides up and down along the hollow shaft inwall jointly, slide block set is on screw mandrel, and screw mandrel is fixedlyed connected with the output shaft of motor, and motor is fixedly set in housing;
Described double trapezoid axle comprises a notch portion, necked part and axis body, and wherein: the axle notch portion is positioned at an end of double trapezoid axle, and the two ends of necked part are connected with axis body with the axle notch portion respectively, and the diameter of its axis notch portion is greater than the diameter of necked part.
2. the clamping shaft mechanism of self-reorganization robot according to claim 1 is characterized in that, described through hole evenly is arranged at around the upper end of hollow shaft.
3. the clamping shaft mechanism of self-reorganization robot according to claim 1 is characterized in that, the external diameter of described free ball is greater than the through-hole diameter of hollow shaft.
4. the clamping shaft mechanism of self-reorganization robot according to claim 1 is characterized in that, the wall thickness of described hollow shaft is greater than the radius of free ball.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100524646A CN101564843B (en) | 2009-06-04 | 2009-06-04 | Clamping shaft mechanism of self-reconfigurable robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100524646A CN101564843B (en) | 2009-06-04 | 2009-06-04 | Clamping shaft mechanism of self-reconfigurable robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101564843A CN101564843A (en) | 2009-10-28 |
| CN101564843B true CN101564843B (en) | 2011-03-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100524646A Expired - Fee Related CN101564843B (en) | 2009-06-04 | 2009-06-04 | Clamping shaft mechanism of self-reconfigurable robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN101564843B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015633B (en) * | 2019-12-26 | 2022-07-08 | 中国矿业大学 | Reconfigurable flexible connection wall-crossing climbing robot and control method thereof |
| CN114559424B (en) * | 2022-02-17 | 2023-06-20 | 中国矿业大学 | Module robot self-reconstruction docking mechanism and docking method based on programmable magnet |
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2009
- 2009-06-04 CN CN2009100524646A patent/CN101564843B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN101564843A (en) | 2009-10-28 |
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| PB01 | Publication | ||
| 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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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110330 Termination date: 20140604 |