CN102059709A - Mechanical butting device for robots - Google Patents
Mechanical butting device for robots Download PDFInfo
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- CN102059709A CN102059709A CN 201010587841 CN201010587841A CN102059709A CN 102059709 A CN102059709 A CN 102059709A CN 201010587841 CN201010587841 CN 201010587841 CN 201010587841 A CN201010587841 A CN 201010587841A CN 102059709 A CN102059709 A CN 102059709A
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- connecting rod
- slide block
- straight line
- chute
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Abstract
The invention discloses a mechanical butting device for robots in the technical field of robots. The device comprises a framework system and a power driving system, a motion conversion system, a connecting rod transmission system and a butting slide block arranged in the framework system, wherein the power driving system is arranged on a bottom plate of the framework system; the motion conversion system is movably connected with the power driving system; the connecting rod transmission system is arranged on a slide block of the motion conversion system and rotates by using the motion conversion system as a center; and the butting slide block is fixedly connected at the end of the connecting rod transmission system. The device can be used for mechanical connection of the robots and connection of other various mechanical devices, and has the characteristics of quick connection, high strength and good stability.
Description
Technical field
What the present invention relates to is the device in a kind of Robotics field, specifically is a kind of robot mechanical splice device.
Background technology
Highly reliable, high-intensity mechanical splice interface is the prerequisite of modular robot system's stable motion in the process of assembling, and the excellent interface design can realize rapidity, accuracy and the stability in reconstruct modular robot assembling conversion process.Simultaneously, high-intensity mechanical splice interface also is other plant equipment pressing for of connecting fast, separate.Following schemes are roughly arranged: 1. electromagnetism or permanent magnetism interface in Interface design in the past; 2.SMA magnetostriction interface; 3. mechanical interface.
The patent of invention of the Satoshi Murata of Tokyo technical research institute (US Patent No.6,568,869 B1) M-TRAN of design series self-reorganization robot module in (ThreeDimensional Universal Unit for Movable Structure) (the three-dimensional GU Generic Unit of removable frame), wherein M-TRAN II has adopted the permanent magnet interface, than mechanical interface, the bonding strength deficiency of permanent magnet interface, bearing capacity is little, be suitable for the little occasion of load, then adopted mechanical interface at another version M-TRAN III, but still the shortcoming of contact strength deficiency has been arranged.
People's such as the Wei-Min Shen of American South University of California patent of invention (US Patent No.6,635,781) the Superbot self-reorganization robot module of design in (DistributedControl and Collaboration of Autonomous Agents in a Dynamic Reconfigurable System) (dynamically controlling the distributed control and the cooperation of main body in the self-reconstruction system certainly), be provided with on the interface and be four slide block chucks that diagonal is arranged, thereby intermodule can be clamped down on and securely to connecting with matching each other.
People such as Mark Yim are at " IEEE/ASME TRANSACTIONS ON MECHATRONICS " (" IEEE/ASME mechano-electronic journal ") (Vol.7, No.4, in December, 2002) publish an article in " Connecting andDisconnecting for Chain Self-Reconfiguration with PolyBot " (" connection of chain type self-reorganization robot---PolyBot and disconnection "), the self-reorganization robot module of its proposition surrounds plane lattice by the strand connection.Reach two holes that are complementary with it by four axles on the interface during butt joint, securely to connecting by memorial alloy control size.But this design cost cost is too high and can not guarantee equally to realize the connection of space multiposition module bigger from the reconstruct task difficulty.In its follow-on robot, though also adopted mechanical interface, but still too complexity and intensity are not high.Therefore, from intensity, connection precision and the system robustness of reconstruct modular robot at interface, aspects such as energy source and power all are still waiting development at present.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of robot mechanical splice device is provided, can be used for the mechanical connection between the robot, and the connection of other various mechanical devices, connection had rapidly, intensity height, the characteristics of good stability.
The present invention is achieved by the following technical solutions, the present invention includes: frame system and be arranged at its inner power-driven system, motion conversion system, connecting rod transmission system and the butt joint slide block, wherein: power-driven system is arranged on the base plate of frame system, motion conversion system and power-driven system flexibly connect, the connecting rod transmission system is arranged on the slide block of motion conversion system and is that the center rotates with the motion conversion system, and the butt joint slide block is fixedly connected on the end of connecting rod transmission system.
Described frame system comprises: base plate, cover plate, sensor and electric interfaces spare, wherein: a side of base plate links to each other with cover plate, opposite side links to each other with robot, one side of cover plate is connected on the base plate, with the cavity of a base closed of base plate formation, sensor and electric interfaces spare are arranged at respectively on the end face of cover plate.
Have arc chute on the end face of described cover plate.
Described power-driven system comprises: power source and keyset, and wherein: power source links to each other with frame system, and keyset one end is arranged on the output shaft of power source, and the other end links to each other with motion conversion system.
Described motion conversion system comprises: spiral slide slotted disk, straight line chute dish, straight line chute copper sheathing and cylindrical roller slide block, wherein: the spiral slide slotted disk links to each other with the keyset of power-driven system, straight line chute dish links to each other with the base plate of frame system and spatially the spiral slide slotted disk is included in its bottom cavity, the cross section that straight line chute copper sheathing is arranged on straight line chute dish is in the straight line chute of notch cuttype, the cylindrical roller slide block embeds and to be arranged in the straight line chute copper sheathing, and its terminal roller passes in the constant speed helix chute that the straight line chute is inserted into the spiral slide slotted disk.
Have constant speed helix chute on the described spiral slide slotted disk, this constant speed helix chute is along the constant speed spiral motion, and is when turning over the same angular displacement, also identical at the displacement increment of radial direction.
Have notch cuttype straight line chute above the described straight line chute dish.
Described connecting rod transmission system comprises: the butt joint slide block, first connecting rod group and one group of second connecting rod group of two groups of left-right symmetry configurations, wherein: every group of first connecting rod group is made up of two connecting rods that are hinged, these two connecting rod one ends link to each other with the cylindrical roller slide block of motion conversion system, the other end respectively with corresponding second connecting rod group in the bottom surface of connecting rod link to each other, the second connecting rod group is made up of two rod hinge connections, in the second connecting rod group in the bottom surface of connecting rod and the corresponding first connecting rod group connecting rod be connected, its end face links to each other with the butt joint slide block.
Described butt joint slide block is a stairstepping slide unit structure, and left and right sides end face is the inclined-plane, and the reverse extending line on this inclined-plane is on the hinged central axis of second liang of bar.
Be respectively equipped with arc-shaped pins and arcuate socket that structure is complementary on the end face of the described left and right sides.
Docking mechanism of the present invention is simple for structure, reasonable, and control is convenient, reliable, merging precision and reliability height.Can guarantee the smooth realization of docking.
This interface can be used for the mechanical connection between the modular robot, also can be used for the mechanical interlocking of pipeline, safety door, cabin body, container end etc., has to connect simply rapidly intensity height, the characteristics of good stability.
Description of drawings
Fig. 1 structural representation of the present invention.
Fig. 2 is embodiment front view and vertical view.
Fig. 3 is the interface interior views.
Fig. 4 is a spiral slide slotted disk part drawing.
The specific embodiment
Below 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.
Shown in Fig. 1-4, present embodiment comprises: frame system 1, power-driven system 2, motion conversion system 3, connecting rod transmission system 4, butt joint slide block 5, wherein: frame system 1 one ends link to each other with robotic arm, power-driven system 2 is arranged on the base plate of frame system 1, motion conversion system 3 links to each other with the output of power-driven system 2, the connecting rod transmission system is provided with 4 on the slide block of motion conversion system 3, and can rotate around the central shaft that is fixed in motion conversion system 3, butt joint slide block 5 usefulness are threaded in the end of connecting rod transmission system 4.
Described frame system 1 comprises: base plate 6, cover plate 7, and sensor and electric interfaces spare 8, wherein: base plate 6 one ends link to each other with robotic arm, and the other end reaches with power-driven system 2 and links to each other; Cover plate 7 is connected on the base plate 6 by screw, and sensor and electric interfaces spare 8 is arranged on the end face of cover plate 7.
Described base plate 6 one ends are connected in robotic arm, are the basis instrument platforms of whole each assembly of docking system, and each primary clustering of all the other of system all depends on it.
Described cover plate 7 is the rectangular box part that an one side is removed, the centre is emptied, and is connected on base plate 6 by screw, and the internal structure of docking mechanism is encapsulated in its cavity.Have the deep-slotted chip breaker 10. of centre bore 9 and four symmetrical distributions on the front end face of described cover plate 7
Described centre bore 9 is the assembly technology hole.
Described four cannelures 10 are symmetrically distributed on the same circumference, and each groove structure is identical, and folded central angle equates.The i.e. motion in described cannelure 10 of butt joint slide block 5.
Described sensor 8-1 and electric interfaces spare 8-2 are separately positioned on the end face of cover plate 7.Wherein: sensor 8-1 is two groups of different sensors, and corresponding one-tenth is symmetrically arranged, and by the induction location of sensor 8-1, can guarantee two accurate contrapositions of interface during butt joint; Electric interfaces spare 8-2 is the contact structure, also for being symmetrical set.
Described power-driven system 2 comprises: power source 11, ring flange 12, keyset 13, and wherein: power source 11 is arranged on the base plate 6, and ring flange 12 directly is connected on the output shaft of power source 11, and keyset 13 and ring flange 12 are connected by screw.
Described power source 11 can adopt motor, manpower handle or other hydraulic pressure, pneumatic rotary part, only needs to provide the rotary power of rotating to get final product.
Described ring flange 12 is connected on the output shaft of power source 11 by spline.
Described keyset 13 1 termination ring flanges 12, the other end links to each other with the spiral slide slotted disk 14 of motion conversion system 3 with screw.
Described motion conversion system 3 comprises: spiral slide slotted disk 14, straight line chute dish 15, straight line chute copper sheathing 16, cylindrical roller slide block 17, wherein: spiral slide slotted disk 14 is connected on the keyset 13, and straight line chute dish 15 links to each other with base plate 6 by screw, and straight line chute copper sheathing 16 is arranged in the straight line chute 18 of straight line chute dish 15 end faces, cylindrical roller slide block 17 intermediate host slide blocks embed in the straight line chute copper sheathing 16, and the bottom roller inserts in the constant speed helix chute 19 of spiral slide slotted disk 14.
Have two centrosymmetric constant speed helixes (archimedes curve) chute 19 on the described spiral slide slotted disk 14.
Described constant speed helix chute 19 for even depth, be the curved groove of directrix with the constant speed helix, during along this runner movement, with respect to chute initial point (being constant speed helix starting point), when angular displacement was identical, radial direction top offset increment was also identical.
Have notch cuttype straight line chute 18 on the described straight line chute dish 15, copper sheathing 16 promptly is arranged in the straight line chute 18.
Frictional resistance when described straight line chute copper sheathing 16 roles are moved in the straight line chute for reducing cylindrical roller slide block 17, the smoothness and the precision of assurance motion delay wear out failure;
Described cylindrical roller slide block 17 is made up of three parts, and its underpart roller constrains in the constant speed helix chute 19 of spiral slide slotted disk 14, and intermediate host notch cuttype slide block embeds in the chute copper sheathing 16, hinge-coupled first connecting rod group on the end face.
Connecting rod transmission system 4 comprises: first connecting rod group 20, and second connecting rod group 21, wherein: first connecting rod group 20 is hinged on the upper surface of the cylindrical roller slide block 17 of motion conversion system 3, and the other end and second connecting rod group are hinged; Butt joint slide block 5 is set on the end face of second connecting rod group.
Described first connecting rod group 20 is divided into two groups, and two every group, same group of connecting rod is hinged, two groups of connecting rod left-right symmetry configurations.
Totally two of described second connecting rod groups 21, two bar centers are hinged, and its central shaft overlaps with cover plate 7 central shafts.
Described butt joint slide block 5 is arranged on the end face of second liang of bar group.
Described butt joint slide block 5 main bodys are the stairstepping slide unit, and left and right sides end face is the inclined-plane, and its reverse extending line is on the hinged central axis of second liang of bar.
Be respectively equipped with arc-shaped pins 5-1 and arcuate socket 5-2 on the left and right sides angled end-face of described butt joint slide block 5, wherein pin, hole basic size unanimity cooperatively interact.
During work, power source 11 drives 14 rotations of spiral slide slotted disk, and under the constraint of spiral slide slotted disk 14 and straight line chute dish 15, two cylindrical roller slide blocks 17 will be along straight line chute copper sheathing 16 move toward one another.The spatial six-bar mechanism that first connecting rod group 20 and second connecting rod group 21 are formed under the driving of two cylindrical roller slide blocks 17,21 liang of connecting rods of second connecting rod group will be realized corresponding crisscross motion, and four interface slide blocks 5 that are connected on second connecting rod group 21 end faces also will correspondingly move close or separation along cover plate 7 end face deep-slotted chip breakers 10 mutually.
In alignment procedures, the interface that connects will adjust in advance: the butt joint slide block 5 residing initial positions of two interface arrangements need corresponding staggering, could guarantee like this that in the process of drawing close four interface slide blocks 5 of two interface correspondences embed respectively in the space of the other side's chute 10.
After aligning is finished, only need to move separately or the interface slide block of an independent interface, two group interface slide blocks all can slip into the corresponding interface pin in the corresponding pin-and-hole, thereby have realized the fastening of butt joint.
Wherein, the sensor that is arranged in cover plate 7 end faces has played the function that instructs aligning in docking operation; Electric interfaces spare has been realized the mutual of energy information after combination.
In sum, this device compact overall structure, the intensity height, arranges docking, and convenient, fast, the characteristics firmly of docking have been improved the in the past shortcoming of joint strength deficiency between the module. And this device not only can be used as the self-reorganization robot module, also can be used as intelligence interface and is applied to other mechanical devices.
Claims (10)
1. robot mechanical splice device, it is characterized in that, comprise: frame system and be arranged at its inner power-driven system, motion conversion system, connecting rod transmission system and the butt joint slide block, wherein: power-driven system is arranged on the base plate of frame system, motion conversion system and power-driven system flexibly connect, the connecting rod transmission system is arranged on the slide block of motion conversion system and is that the center rotates with the motion conversion system, and the butt joint slide block is fixedly connected on the end of connecting rod transmission system.
2. robot according to claim 1 mechanical splice device, it is characterized in that, described frame system comprises: base plate, cover plate, sensor and electric interfaces spare, wherein: a side of base plate links to each other with cover plate, opposite side links to each other with robot, one side of cover plate is connected on the base plate, and with the cavity of a base closed of base plate formation, sensor and electric interfaces spare are arranged at respectively on the end face of cover plate.
3. robot according to claim 2 mechanical splice device is characterized in that, has arc chute on the end face of described cover plate.
4. robot according to claim 1 mechanical splice device, it is characterized in that described power-driven system comprises: power source and keyset, wherein: power source links to each other with frame system, keyset one end is arranged on the output shaft of power source, and the other end links to each other with motion conversion system.
5. robot according to claim 1 mechanical splice device, it is characterized in that, described motion conversion system comprises: the spiral slide slotted disk, straight line chute dish, straight line chute copper sheathing and cylindrical roller slide block, wherein: the spiral slide slotted disk links to each other with the keyset of power-driven system, straight line chute dish links to each other with the base plate of frame system and spatially the spiral slide slotted disk is included in its bottom cavity, the cross section that straight line chute copper sheathing is arranged on straight line chute dish is in the straight line chute of notch cuttype, the cylindrical roller slide block embeds and to be arranged in the straight line chute copper sheathing, and its terminal roller passes in the constant speed helix chute that the straight line chute is inserted into the spiral slide slotted disk.
6. robot according to claim 5 mechanical splice device, it is characterized in that, have constant speed helix chute on the described spiral slide slotted disk, this constant speed helix chute is along the constant speed spiral motion, when turning over the same angular displacement, also identical at the displacement increment of radial direction.
7. robot according to claim 5 mechanical splice device is characterized in that, has notch cuttype straight line chute above the described straight line chute dish.
8. robot according to claim 1 mechanical splice device, it is characterized in that, described connecting rod transmission system comprises: the butt joint slide block, first connecting rod group and one group of second connecting rod group of the configuration of two groups of difference left-right symmetry, wherein: every group of first connecting rod group is made up of two connecting rods that are hinged, these two connecting rod one ends link to each other with the cylindrical roller slide block of motion conversion system, the other end respectively with corresponding second connecting rod group in the bottom surface of connecting rod link to each other, the second connecting rod group is made up of two rod hinge connections, in the second connecting rod group in the bottom surface of connecting rod and the corresponding first connecting rod group connecting rod be connected, its end face links to each other with the butt joint slide block.
9. robot according to claim 8 mechanical splice device is characterized in that, described butt joint slide block is a stairstepping slide unit structure, and left and right sides end face is the inclined-plane, and the reverse extending line on this inclined-plane is on the hinged central axis of second liang of bar group.
10. robot according to claim 9 mechanical splice device is characterized in that, is respectively equipped with arc-shaped pins and arcuate socket that structure is complementary on the end face of the described left and right sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010587841A CN102059709B (en) | 2010-12-15 | 2010-12-15 | Mechanical butting device for robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010587841A CN102059709B (en) | 2010-12-15 | 2010-12-15 | Mechanical butting device for robots |
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| Publication Number | Publication Date |
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| CN102059709A true CN102059709A (en) | 2011-05-18 |
| CN102059709B CN102059709B (en) | 2012-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010587841A Expired - Fee Related CN102059709B (en) | 2010-12-15 | 2010-12-15 | Mechanical butting device for robots |
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| CN (1) | CN102059709B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632510A (en) * | 2012-04-01 | 2012-08-15 | 北京航空航天大学 | Automatic connecting element |
| CN108858259A (en) * | 2018-07-18 | 2018-11-23 | 卢响锋 | A kind of four paws manipulator that Grabbing properties are stable |
| CN114770488A (en) * | 2022-06-23 | 2022-07-22 | 中国科学院沈阳自动化研究所 | Coupling interface for modular reconfigurable robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1308249A1 (en) * | 2000-07-06 | 2003-05-07 | Pascal Kabushiki Kaisha | Tool connecting device for robot hand |
| US6568869B1 (en) * | 1999-11-09 | 2003-05-27 | Agency Of Industrial Science & Technology | Three dimensional universal unit for movable structure |
| US6636781B1 (en) * | 2001-05-22 | 2003-10-21 | University Of Southern California | Distributed control and coordination of autonomous agents in a dynamic, reconfigurable system |
| CN101254594A (en) * | 2008-04-17 | 2008-09-03 | 上海交通大学 | Standard butt-joint device self-repair module |
-
2010
- 2010-12-15 CN CN201010587841A patent/CN102059709B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6568869B1 (en) * | 1999-11-09 | 2003-05-27 | Agency Of Industrial Science & Technology | Three dimensional universal unit for movable structure |
| EP1308249A1 (en) * | 2000-07-06 | 2003-05-07 | Pascal Kabushiki Kaisha | Tool connecting device for robot hand |
| US6636781B1 (en) * | 2001-05-22 | 2003-10-21 | University Of Southern California | Distributed control and coordination of autonomous agents in a dynamic, reconfigurable system |
| CN101254594A (en) * | 2008-04-17 | 2008-09-03 | 上海交通大学 | Standard butt-joint device self-repair module |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632510A (en) * | 2012-04-01 | 2012-08-15 | 北京航空航天大学 | Automatic connecting element |
| CN102632510B (en) * | 2012-04-01 | 2014-11-05 | 北京航空航天大学 | Automatic connecting element |
| CN108858259A (en) * | 2018-07-18 | 2018-11-23 | 卢响锋 | A kind of four paws manipulator that Grabbing properties are stable |
| CN108858259B (en) * | 2018-07-18 | 2021-09-24 | 义乌市旻具五金工具有限公司 | Snatch stable performance's four-claw manipulator |
| CN114770488A (en) * | 2022-06-23 | 2022-07-22 | 中国科学院沈阳自动化研究所 | Coupling interface for modular reconfigurable robot |
| CN114770488B (en) * | 2022-06-23 | 2022-09-13 | 中国科学院沈阳自动化研究所 | Coupling interface for modular reconfigurable robot |
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| CN102059709B (en) | 2012-09-05 |
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Granted publication date: 20120905 Termination date: 20211215 |