CN102862159A - Docking mechanism based on pin-hole clamping for self-reconfiguration robots - Google Patents
Docking mechanism based on pin-hole clamping for self-reconfiguration robots Download PDFInfo
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- CN102862159A CN102862159A CN2012103989986A CN201210398998A CN102862159A CN 102862159 A CN102862159 A CN 102862159A CN 2012103989986 A CN2012103989986 A CN 2012103989986A CN 201210398998 A CN201210398998 A CN 201210398998A CN 102862159 A CN102862159 A CN 102862159A
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Abstract
Disclosed is a docking mechanism based on pin-hole clamping for self-reconfiguration robots. The docking mechanism comprises a frame component, a movable pin component and a locating component, wherein the locating component is arranged on the end face of the frame component, the movable pin component is embedded into the frame component, one end face of the frame component is contacted with the end face of a frame component needed to be docked, and the other end face is connected with a module body of a self-reconfiguration robot; and the frame component comprises a sleeve, a locating ring, a disconnected electromagnet and a base plate, wherein the locating ring is fixed on the inner wall of sleeve, the base plate is connected with the sleeve, and the disconnected electromagnet is arranged at the center of base plate and in the sleeve. According to the docking mechanism, the structure is concise, and no complex part with curve lines and curved surfaces exists; the movement is simple, and only the movable pin component moves linearly; and the control is convenient, only two electromagnets are controlled to be powered on to start connection and disconnection of the docking mechanism, and the docking speed is reliable.
Description
Technical field
What the present invention relates to is to be used for the auxiliary equipment cooperates with manipulator in a kind of mechanical field, specifically a kind of docking mechanism that tightens based on pin-hole for self-reorganization robot.
Background technology
In recent years, robot application develops from the manufacturing field to non-manufacturing field.The industries such as ocean development, interplanetary probe, digging, building, medical treatment, agriculture and forestry, service amusement have all proposed roboticized requirement, and its main feature is destructuring and the uncertainty of robot working environment.Modularized self-reorganization robot can satisfy by changing individuality and whole shape and size the requirement of operation, is highly suitable in these non-structured working environments and finishes the task that the solid shape robot is difficult to finish.The shape and size of robot change the connection that is by numerous modules and separate to realize, this requires the docking mechanism of unit module must guarantee that the connection of intermodule is reliable, separate easily, want simultaneously cube little, energy-conservation, move simply.Therefore docking mechanism is one of problem important in the self-reorganization robot design.
At present, the docking mechanism of self-reorganization robot mainly contains: mechanical type, electromagnetic type, machinery and the modes such as marmem (SMA) combination, machinery and electromagnetic combination.Mechanical type consumes energy less, precision is high, good reliability, but the impact docking effects such as the machining accuracy of machinery, wear out failure.Electromagnetic type can reduce the complexity of mechanism design, but that volume is large, caloric value reaches greatly load capacity is little.Machinery is easy to control, reduced volume with the SMA frame mode, but SMA action time consumption and energy consumption is not suitable for connecting rapidly situation of separating action.Machinery and electromagnetic combination use mechanical connection, Electromagnetic Control then can connect reliably, move fast, also reduced volume, reduction energy consumption.
As shown in Figure 1, robot is in the connection module in the prior art, six faces of a module have all been arranged docking mechanism, integral body can be regarded a regular hexahedron as, because each face is square, need guarantee that then four positions of docking mechanism behind self middle shaft rotation 90,180,270,360 ° all can dock.The more employing pin of the mechanical part of docking mechanism-pore structure design, this type of interface principle is simple and clear, it is more convenient that docking realizes, but because pin and hole are separately, only has pair of pin-hole and can only be in the docking of position, but before the docking first by motor rotation interface to docking location, can be four positions docking or be evenly arranged 4 pairs of pin-and-holes at interface, but the component count that need move when having increased component number and docking.
Find through the retrieval to prior art, Chinese patent literature CN101670586A, open day 2010-3-7, put down in writing a kind of " be used for Self-Reconfigurable Module robot based on pin-by the docking mechanism that agrees with ", this technology comprises: fixed cover communication module, movable sleeve docking mechanism and frame structure, wherein: the fixed cover communication module places the end face cylindrical of docking mechanism, the movable sleeve docking mechanism rotates and is nested in the fixed cover communication module, frame mechanism one end is arranged at the fixed cover bottom, and the other end links to each other with robot arm.But the prior art: only have a pair of bearing pin arranged apart and cannelure on the interface, so that interface only can connect a position, so must adjust interface when connecting to this position, increased the action of docking; The driving force of using motor to provide docking mechanism to connect and disconnect, not only power consumption, and increased the weight of docking mechanism and the complexity of control system.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of docking mechanism based on pin-hole chucking for self-reorganization robot is provided, the present invention is simple for structure, does not have the parts of complex curve and curved surface; Motion is simple, only has assembly of removable pin to do rectilinear motion; It is convenient to control, and only needs the energising of two electromagnet of control just can start the docking mechanism connection and disconnect action, and the docking fast speed is reliable, can realize the quick and convenient accurate docking between the robot module.
The present invention is achieved by the following technical solutions, the present invention includes: frame assembly, removable pin assembly and positioning component, wherein: positioning component is arranged at the end face of frame assembly, the removable pin assembly is nested in the frame assembly, one end face of frame assembly contacts with the end face of the frame assembly of required docking, and the other end links to each other with the module body of described self-reorganization robot.
Described frame assembly comprises: sleeve, locating ring, disconnection electromagnet and base plate, and wherein: locating ring is fixed on sleeve lining, and base plate is connected with sleeve, and the disconnection electromagnet is arranged at base plate central authorities and places in the sleeve.
Described removable pin assembly comprises: adapter sleeve, clamping pin, elastic construction and stretching structure, wherein: adapter sleeve is arranged in the hole of sleeve of frame assembly, clamping pin is arranged in the adapter sleeve, elastic construction is arranged between adapter sleeve bottom surface and the clamping pin, and stretching structure is arranged between the locating ring of clamping pin and frame assembly.
Described positioning component comprises: be arranged at the sensor on the frame assembly end face circumference.
Described sensor comprises: receiver and transmitter, wherein: receiver is evenly arranged on the frame assembly end face circumference take 90 ° as the interval, transmitter be arranged between any two receivers and with one of them receiver 30 ° at interval on circumference.
Described adapter sleeve comprises: two Connection Card balls, two card ball maintaining items, limited blocks be connected with the connection locating flange wherein: two Connection Card balls are embedded in respectively in the hole of two card ball maintaining items, article two, card ball maintaining item lays respectively at the two ends of the sleeve inner periphery diameter line of frame assembly, the bottom of card ball maintaining item connects locating flange and is connected with limited block for connecting locating flange.
Described sleeve one end has the protrusion position limiting structure, has the connection annular groove on the inwall of protrusion position limiting structure end face.
Described connection locating flange and the gap of protruding position limiting structure are that the center of Connection Card ball is to 2 times of the sleeve end face distance of frame assembly.
The thickness of described card ball maintaining item is less than the diameter of Connection Card ball, and the bore dia of card ball maintaining item is greater than the diameter of Connection Card ball, and the width of every card ball maintaining item is less than or equal to 1/12 of the circumference of adapter sleeve.
The diameter of the groove of described connection annular groove equals the diameter of Connection Card ball, and the maximum gauge that connects the ring of annular groove is the diameter that the cylinder diameter of plunger adds twice Connection Card ball.
Described clamping pin comprises: plunger, connection start electromagnet, some fixed card balls, card ball maintenance cylinder, movable block and chucking locating flange, wherein: connect the startup electromagnet and be arranged at the bottom center of plunger and place the card ball to keep in the cylinder, some fixed card balls are embedded in the barrel of card ball maintenance cylinder with even interval, movable block with the conical surface places the card ball to keep in the cylinder, the base plate of plunger keeps cylinder to be connected with the card ball, and the cylinder of movable block keeps the inwall of cylinder to form rubbing surface with the card ball.
Described movable block keeps cylinder to be equipped with pore with the card ball.
Have fixedly annular groove on the described locating ring.
The diameter of the groove of described fixedly annular groove equals the diameter of fixed card ball, and fixedly the maximum gauge of the ring of annular groove is the diameter that the cylinder diameter of movable block adds twice fixed card ball.
Described elastic construction is arranged between the upper base surface of plunger of adapter sleeve bottom surface and clamping pin, and stretching structure is arranged between the locating ring of the bottom of plunger of clamping pin and frame assembly.
Described elastic construction and stretching structure are spring, and the stretching force of stretching structure is greater than the stretching force of elastic construction.
The present invention is simple for structure, does not have the parts of complex curve and curved surface.Motion is simple, only has assembly of removable pin to do rectilinear motion.It is convenient to control, and only needs the energising of two electromagnet of control just can start the docking mechanism connection and disconnect action.The position distribution that adapter sleeve and sensor are staggered is docked take 90 ° of four positions as the interval so that docking mechanism can axis own be the axle rotation.The docking fast speed is reliable.The present invention has adopted the combined type project organization in addition, and the utilization of some bolt-connections is so that all parts can be realized safeguarding easily.
Description of drawings
Fig. 1 be in the prior art robot to the schematic diagram of connection module.
Fig. 2 is the structural representation of docking mechanism of the present invention.
Fig. 3 is the top view of docking mechanism of the present invention.
The specific embodiment
The below elaborates to embodiments of the invention, and the present embodiment is implemented under take technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment
As shown in Figures 2 and 3, the present embodiment comprises: frame assembly 1, removable pin assembly 2 and positioning component 3, wherein: positioning component 3 is arranged at the end face of frame assembly 1, removable pin assembly 2 is nested in the frame assembly 1, one end face of frame assembly 1 contacts with the end face of the frame assembly 1 of required docking, and the other end links to each other with the module body of described self-reorganization robot.
Described frame assembly 1 comprises: sleeve 4, locating ring 5, disconnection electromagnet 6 and base plate 7, and wherein: locating ring 5 is fixed on sleeve 4 inwalls, and base plate 7 connects with sleeve 4, and disconnection electromagnet 6 is arranged at base plate central authorities and places in the sleeve 4.
Described locating ring 5 with finger setting, be fixed by bolts to sleeve 4 inwalls.
Described removable pin assembly 2 comprises: adapter sleeve 8, clamping pin 9, elastic construction 10 and stretching structure 11, wherein: adapter sleeve 8 is arranged in the hole of sleeve 4 of frame assembly 1, clamping pin 9 is arranged in the adapter sleeve 8, elastic construction 10 is arranged between adapter sleeve 8 bottom surfaces and the clamping pin 9, and stretching structure 11 is arranged between the locating ring 5 of clamping pin 9 and frame assembly 1.
Described positioning component 3 comprises: be arranged at the sensor 12 on the frame assembly 1 end face circumference.
Described sensor 12 comprises: receiver 13 and transmitter 14, wherein: receiver 13 is evenly arranged on the frame assembly 1 end face circumference with 90 ° of intervals, transmitter 14 be arranged between any two receivers 13 and with one of them receiver 30 ° at interval on circumference.
Described 90 °, 30 ° is that the interval is less for interface docks specific setting 90 °, 180 °, 270 °, 0 ° four position, and the position that interface can dock is more.
Described sleeve 4 one ends have the position limiting structure 15 of protrusion, have on the inwall of protrusion position limiting structure 15 end faces to connect annular groove 16.
Described adapter sleeve 8 comprises: two Connection Card balls 17, two card ball maintaining items 18, limited blocks 19 and be connected locating flange 20, wherein: two Connection Card balls 17 are embedded in respectively in the hole of two card ball maintaining items 18, article two, card ball maintaining item 18 lays respectively at the two ends of the sleeve 4 inner periphery diameter lines of frame assembly 1, the bottom of card ball maintaining item 18 connects locating flange 20 and is connected with limited block 19 for connecting locating flange 20.
The gap that connects locating flange 20 and protrusion position limiting structure 15 is 2 times that the docking mechanism end face distance is arrived at the center of Connection Card ball 17, like this when module is docked, this gap be 0 o'clock just the Connection Card ball 17 of party B can reach connection annular groove 16 places of the other side's frame mechanism 1.
The top of described card ball maintaining item 18 is rounded down, has certain fault-tolerant ability when making it in the hole of stretching into the other side's module, the thickness of card ball maintaining item 18 is less than the diameter of Connection Card ball 17, its bore dia is larger than the diameter of Connection Card ball 17, guarantee Connection Card ball 17 can mobile in the hole but can not be fully in the hole out, the width of every card ball maintaining item 18 is less than or equal to 1/12 of circumference.
Described card ball maintaining item 18 connects with limited block 19 usefulness dormant bolts.
Described clamping pin 9 comprises: plunger 21, connect and start electromagnet 22, some fixed card balls 23, the card ball keeps cylinder 24, movable block 25 and chucking locating flange 26, wherein: connect the bottom center that startup electromagnet 22 is arranged at plunger 21, and place the card ball to keep in the cylinder 24, can inhale nearly movable block 25 during energising, some fixed card balls 23 are embedded in the barrel of card ball maintenance cylinder 24 with even interval, movable block 25 with the conical surface places the card ball to keep in the cylinder 24, movable block 25 can be pressed into fixed card ball 23 in the annular groove of locating ring 5, after being connected 22 absorption of startup electromagnet, its conical surface is in the position of fixed card ball 23, slot milling is so that fixed card ball 23 can be from the annular groove of locating ring 5 out, the bottom of plunger 21 keeps cylinder 24 to pass through bolt-connection with the card ball, movable block 25 cylinders keep cylinder 24 inwalls to form rubbing surface with the card ball, under electromagnetic force, movable block 25 can be fixed on original position, movable block 25 keeps cylinder 24 all to leave pore with the card ball, can not produce air drag when movable block 25 moves.Elastic construction 10 is arranged between the upper base surface of plunger 21 of adapter sleeve 8 bottom surfaces and clamping pin 9, and stretching structure 11 is arranged between the locating ring 5 of the bottom of plunger 21 of clamping pin 9 and frame assembly 1.
Have fixedly annular groove 27 on the described locating ring 5.
The diameter of the groove of described connection annular groove 16 equals the diameter of Connection Card ball 17, and the maximum gauge that connects the ring of annular groove 16 is the diameter that the cylinder diameter of plunger 21 adds twice Connection Card ball 17.
Have on the described locating ring 5 fixedly annular groove 27 when module does not connect in order to embed fixed card ball 23, fixedly the diameter of the groove of annular groove 27 is the same with the diameter of fixed card ball 23, and fixedly the maximum gauge of the ring of annular groove 27 is the diameter that the cylinder diameter of movable block 25 adds twice fixed card ball 23.
Disconnect electromagnet 6 and be arranged at base plate central authorities, and place in the sleeve 4, electromagnetic force after its energising will be bigger than the stretching force of stretching structure 11, disconnect electromagnet 6 energisings during disconnection, compression stretching structure 11, attract whole removable pin assembly 2 to return to the fixed position, fixed card ball 23 is in fixedly annular groove 27 places at this moment, then movable block 25 is disconnected electromagnet 6 attractions and leaves connection startup electromagnet 22, the cylinder of movable block 25 is pressed into fixed card ball 23 in the fixedly annular groove 27 of locating ring 5 of frame assembly 1, thereby removable pin assembly 2 is fixed in the sleeve 4.
Described stretching structure 11 and elastic construction 10 all are stage clips, and the stretching force of stretching structure 11 is greater than elastic construction 10, and when module docking chucking, stretching structure 11 can contact with adapter sleeve 8 by elasticity of compression structure 10 to chucking locating flange 26.
The module of self-reorganization robot is mutually docked by its docking mechanism and is realized.When the interface of two modules abuts against each other, signal by alignment sensor 12, the connection of two docking mechanisms starts electromagnet 22 and switches on simultaneously, so that the cylinder of movable block 25 leaves fixed card ball 23, fixed card ball 23 is able to from fixedly deviating from the annular groove 27, then whole removable pin assembly 2 stretches out sleeve 4 under the stretching force effect of stretching structure 11, the top of adapter sleeve 8 enters in the hole of the other side's module sleeve 4, when connection locating flange 20 touches protrusion position limiting structure 15, adapter sleeve 8 is stuck and no longer stretches out, one's own side's Connection Card ball 17 just was in the other side and connected annular groove 16 positions this moment, elastic construction 10 is compressed, clamping pin 9 continues to stretch out until tighten when locating flange 26 touches adapter sleeve 7 and stop, and is pressed in one's own side's the connection annular groove 16 by the Connection Card ball 17 of plunger 21 with the other side, so that the module docking is firm.When module disconnects, the disconnection electromagnet 6 of two docking mechanisms is switched on simultaneously, attract first clamping pin 9 compression stretching structures 11, when the base plate of plunger 21 touches limited block 19, the cylinder of plunger 21 has left Connection Card ball 17, Connection Card ball 17 can be deviate from from connect annular groove 16, then whole removable pin assembly 2 is near disconnecting electromagnet 6, until touching locating ring 5, limited block 19 stops, fixed card ball 23 is in the fixedly position of annular groove 27 at this moment, movable block 25 is disconnected electromagnet 6 and attracts, and its cylinder is pressed into fixed card ball 23 fixedly and in the annular groove 27 removable pin assembly 2 is fixed, and module disconnects mutually.
Claims (10)
1. docking mechanism based on pin-hole chucking that is used for self-reorganization robot, it is characterized in that, comprise: frame assembly, removable pin assembly and positioning component, wherein: positioning component is arranged at the end face of frame assembly, the removable pin assembly is nested in the frame assembly, one end face of frame assembly contacts with the end face of the frame assembly of required docking, and the other end links to each other with the module body of described self-reorganization robot;
Described frame assembly comprises: sleeve, locating ring, disconnection electromagnet and base plate, and wherein: locating ring is fixed on sleeve lining, and base plate is connected with sleeve, and the disconnection electromagnet is arranged at base plate central authorities and places in the sleeve;
Described removable pin assembly comprises: adapter sleeve, clamping pin, elastic construction and stretching structure, wherein: adapter sleeve is arranged in the hole of sleeve of frame assembly, clamping pin is arranged in the adapter sleeve, elastic construction is arranged between adapter sleeve bottom surface and the clamping pin, and stretching structure is arranged between the locating ring of clamping pin and frame assembly.
2. the docking mechanism based on pin-hole chucking for self-reorganization robot according to claim 1 is characterized in that, described positioning component comprises: be arranged at the sensor on the frame assembly end face circumference.
3. the docking mechanism based on pin-hole chucking for self-reorganization robot according to claim 2, it is characterized in that, described sensor comprises: receiver and transmitter, wherein: receiver is evenly arranged on the frame assembly end face circumference with 90 ° of intervals, transmitter be arranged between any two receivers and with one of them receiver 30 ° at interval on circumference.
4. the docking mechanism based on pin-hole chucking for self-reorganization robot according to claim 1, it is characterized in that, described adapter sleeve comprises: two Connection Card balls, two card ball maintaining items, limited blocks be connected with the connection locating flange wherein: two Connection Card balls are embedded in respectively in the hole of two card ball maintaining items, article two, card ball maintaining item lays respectively at the two ends of the sleeve inner periphery diameter line of frame assembly, the bottom of card ball maintaining item connects locating flange and is connected with limited block for connecting locating flange.
5. the docking mechanism based on pin-hole chucking for self-reorganization robot according to claim 4 is characterized in that, described sleeve one end has the protrusion position limiting structure, has the connection annular groove on the inwall of protrusion position limiting structure end face.
6. the docking mechanism based on pin-hole chucking for self-reorganization robot according to claim 5 is characterized in that, described connection locating flange and the gap of protruding position limiting structure are that the center of Connection Card ball is to 2 times of the sleeve end face distance of frame assembly.
7. the docking mechanism based on pin-hole chucking for self-reorganization robot according to claim 1, it is characterized in that, described clamping pin comprises: plunger, connect and start electromagnet, some fixed card balls, the card ball keeps cylinder, movable block and chucking locating flange, wherein: connect the startup electromagnet and be arranged at the bottom center of plunger and place the card ball to keep in the cylinder, some fixed card balls are embedded in the barrel of card ball maintenance cylinder with even interval, movable block with the conical surface places the card ball to keep in the cylinder, the base plate of plunger keeps cylinder to be connected with the card ball, and the cylinder of movable block keeps the inwall of cylinder to form rubbing surface with the card ball.
8. the docking mechanism based on pin-hole chucking for self-reorganization robot according to claim 7, it is characterized in that, have fixedly annular groove on the described locating ring, fixedly the diameter of the groove of annular groove equals the diameter of fixed card ball, and fixedly the maximum gauge of the ring of annular groove is the diameter that the cylinder diameter of movable block adds twice fixed card ball.
9. the docking mechanism based on pin-hole chucking for self-reorganization robot according to claim 7, it is characterized in that, described elastic construction is arranged between the upper base surface of plunger of adapter sleeve bottom surface and clamping pin, and stretching structure is arranged between the locating ring of the bottom of plunger of clamping pin and frame assembly.
10. the docking mechanism based on pin-hole chucking for self-reorganization robot according to claim 9 is characterized in that, described elastic construction and stretching structure are spring, and the stretching force of stretching structure is greater than elastic construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210398998.6A CN102862159B (en) | 2012-10-19 | 2012-10-19 | Docking mechanism based on pin-hole clamping for self-reconfiguration robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210398998.6A CN102862159B (en) | 2012-10-19 | 2012-10-19 | Docking mechanism based on pin-hole clamping for self-reconfiguration robots |
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| Publication Number | Publication Date |
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| CN102862159A true CN102862159A (en) | 2013-01-09 |
| CN102862159B CN102862159B (en) | 2014-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210398998.6A Expired - Fee Related CN102862159B (en) | 2012-10-19 | 2012-10-19 | Docking mechanism based on pin-hole clamping for self-reconfiguration robots |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109571535A (en) * | 2019-01-09 | 2019-04-05 | 沈阳安德镭斯智能科技有限公司 | A kind of wisdom storage reconstruct device of feeding robot end effector |
| WO2021032085A1 (en) * | 2019-08-19 | 2021-02-25 | 北京海益同展信息科技有限公司 | Interlocking mechanism and bionic hand employing same |
| CN112518769A (en) * | 2020-11-24 | 2021-03-19 | 北京邮电大学 | Docking mechanism for docking self-reconstruction spherical robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109571535A (en) * | 2019-01-09 | 2019-04-05 | 沈阳安德镭斯智能科技有限公司 | A kind of wisdom storage reconstruct device of feeding robot end effector |
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| CN112518769A (en) * | 2020-11-24 | 2021-03-19 | 北京邮电大学 | Docking mechanism for docking self-reconstruction spherical robot |
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| CN102862159B (en) | 2014-08-27 |
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Granted publication date: 20140827 Termination date: 20171019 |