CN107498549B - Connecting mechanism of reconfigurable module robot and working method thereof - Google Patents
Connecting mechanism of reconfigurable module robot and working method thereof Download PDFInfo
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- CN107498549B CN107498549B CN201710831042.3A CN201710831042A CN107498549B CN 107498549 B CN107498549 B CN 107498549B CN 201710831042 A CN201710831042 A CN 201710831042A CN 107498549 B CN107498549 B CN 107498549B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention relates to a connecting mechanism of a reconfigurable module robot, which comprises an active connecting panel arranged outside one joint module and a passive connecting panel arranged outside the other joint module, wherein the active connecting panel is provided with at least one active fastening hole; the invention also relates to a working method of the connecting mechanism of the reconfigurable module robot. The multi-degree-of-freedom reconfigurable module robot is simple, compact and reasonable in structural design, convenient to connect, easy to disassemble, good in transportability, suitable for multi-degree-of-freedom reconfigurable module robots and easy to popularize.
Description
Technical Field
The invention relates to a connecting mechanism of a reconfigurable module robot and a working method thereof.
Background
Most of the conventional robot designs are universal designs and have a fixed structure and a degree of freedom. Such robots are generally only capable of fixed working conditions and working objectives, which are difficult to achieve for new working conditions and objectives. However, due to global competition of the market, the application range of the required robot is wider and wider, and in order to solve the situation, research and development of the reconfigurable modular robot are unprecedented.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a connecting mechanism of a reconfigurable module robot and a working method thereof, which are reasonable in structural design, efficient and convenient.
In order to solve the technical problem, the technical scheme of the invention is as follows: the utility model provides a coupling mechanism of restructural module robot, is including setting up the initiative linking panel outside a joint module and setting up the passive linking panel outside another joint module, at least one initiative straining hole has been seted up on the initiative linking panel, set up the passive straining hole with initiative straining hole one-to-one on the passive linking panel, be provided with the swing hook on the initiative linking panel, the swing hook passes initiative straining hole in proper order, links together initiative linking panel and passive linking panel behind the passive straining hole.
Preferably, a cam-like disc is arranged on the driving connecting panel, the swing claw is connected with the cam-like disc through a analogizing rod, at least one curve groove is formed in the cam-like disc, an upper limit point of the curve groove is arranged close to the circle center of the cam-like disc, a lower limit point of the curve groove is arranged close to the outer edge of the cam-like disc, one end of the push rod is matched with the curve groove to form sliding connection, the other end of the push rod is matched with one end of the claw to form rotating connection, the other end of the swing claw is provided with a straight groove, and the straight groove of the swing claw is matched with a connecting pin on the driving connecting panel to form rotating and sliding connection.
Preferably, the cam-like disc, the analogizing rod and the swing claw are all arranged in an inner cavity of the joint module.
Preferably, the cam-like disc is driven to rotate by a stepping motor.
Preferably, the active connection panel is provided with three curve slots, and the three curve slots are radially and uniformly distributed at intervals by taking the center of the active connection panel as a circle center.
Preferably, the initiative connection panel is last to have seted up three initiative straining hole, passive connection panel is last to have seted up three passive straining hole with initiative straining hole one-to-one alignment, and is three the initiative straining hole is radially even interval distribution as the centre of a circle with the center of initiative connection panel, and is three passive straining hole is radially even interval distribution with the center of passive connection panel as the centre of a circle.
Preferably, the joint module is globular, the joint module contains episphere shell and lower hemisphere shell, the hemisphere week side of episphere shell and the hemisphere week side equipartition of lower hemisphere shell have been put one initiative connection panel and two passive connection panels, one initiative connection panel and the center of two passive connection panels use episphere shell's center or the center of lower hemisphere shell be the radial even interval distribution of centre of a circle.
Preferably, the active connection panel is provided with a plurality of positioning holes, the passive connection panel is provided with positioning pins aligned with the positioning holes one by one, the positioning holes are radially and uniformly distributed at intervals with the center of the active connection panel as the center of circle, and the positioning pins are radially and uniformly distributed at intervals with the center of the passive connection panel as the center of circle.
A method for operating a connection mechanism of a reconfigurable module robot, including any one of the connection mechanisms of the reconfigurable module robot described above, comprising the steps of: the swing claw swings outwards, extends out of the active connecting panel, and sequentially penetrates through the active fastening hole and the passive fastening hole to connect the active connecting panel and the passive connecting panel together; the swing hook claw swings inwards, the swing hook claw retracts to the back of the active connecting panel, and the active connecting panel is disconnected with the passive connecting panel.
Compared with the prior art, the invention has the following beneficial effects: the multi-degree-of-freedom reconfigurable module robot is simple, compact and reasonable in structural design, convenient to connect, easy to disassemble, good in transportability, suitable for multi-degree-of-freedom reconfigurable module robots and easy to popularize.
The invention is described in further detail below with reference to the drawings and the detailed description.
Drawings
Fig. 1 is a schematic structural view of a joint module according to an embodiment of the present invention.
Fig. 2 is a top view of a joint module according to an embodiment of the present invention.
Fig. 3 is a bottom view of a joint module according to an embodiment of the invention.
Fig. 4 is a schematic configuration diagram of an embodiment of the present invention.
FIG. 5 is a schematic configuration diagram of an embodiment of the present invention.
FIG. 6 is a schematic configuration diagram of an embodiment of the present invention.
FIG. 7 is a schematic diagram of an early stage of exercise according to an embodiment of the present invention.
FIG. 8 is a schematic diagram of the middle stage of the exercise according to the embodiment of the present invention.
Fig. 9 is a schematic view of the structure of the later stage of the exercise according to the embodiment of the present invention.
Fig. 10 is a configuration schematic diagram of a six-degree-of-freedom reconfigurable modular robot according to an embodiment of the invention.
Fig. 11 is a schematic configuration diagram of a seven-degree-of-freedom reconfigurable modular robot according to an embodiment of the invention.
In the figure: 1-joint module, 2-active connecting panel, 3-passive connecting panel, 4-active fastening hole, 5-passive fastening hole, 6-swing claw, 7-type cam disc, 8-type push rod, 9-curved groove, 10-straight groove, 11-connecting pin, 12-stepping motor, 13-positioning hole and 14-positioning pin.
Detailed Description
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1 to 11, a connection mechanism of a reconfigurable modular robot includes an active connection panel 2 disposed outside one joint module 1 and a passive connection panel 3 disposed outside another joint module 1, the active connection panel 2 is provided with at least one active fastening hole 4, the passive connection panel 3 is provided with passive fastening holes 5 aligned with the active fastening holes 4 one by one, the active connection panel 2 is provided with a swing claw 6, and the swing claw 6 sequentially penetrates through the active fastening hole 4 and the passive fastening holes 5 to connect the active connection panel 2 and the passive connection panel 3 together.
In the embodiment of the invention, a cam-like disc 7 is arranged on the driving connecting panel 2, the swing claw 6 is connected with the cam-like disc 7 through a analogizing rod 8, at least one curve groove 9 is arranged on the cam-like disc 7, the upper limit point of the curve groove 9 is arranged close to the center of the cam-like disc 7, the lower limit point of the curve groove 9 is arranged close to the outer edge of the cam-like disc 7, one end of a push rod 8 is matched with the curve groove 9 to form sliding connection, the other end of the push rod 8 is matched with one end of the claw to form rotating connection, the other end of the swing claw 6 is provided with a straight groove 10, and the straight groove 10 of the swing claw 6 is matched with a connecting pin 11 on the driving connecting panel 2 to form rotating and sliding connection; the cam-like disc 7, the analogizing rod 8, the swing claw 6 and the active connecting panel 2 form a deformation mechanism of the crank rocker mechanism; as shown in fig. 7 to 9, in an earlier stage of the movement, the quasi push rod 8 is located at an upper limit point of the curved groove 9, the swing claw 6 is retracted to the back of the active connection panel 2, the quasi cam disk 7 rotates forward to the limit point, the quasi push rod 8 translates from the upper limit point to a lower limit point along the curved groove 9, the swing claw 6 swings outwards, the swing claw 6 extends out of the active connection panel 2, the swing claw 6 sequentially passes through the active fastening hole 4 and the passive fastening hole 5 and then connects the active connection panel 2 with the passive connection panel 3, and in the process, the straight groove 10 of the swing claw 6 rotates and slides relative to the connection pin 11 on the active connection panel 2.
In the embodiment of the invention, the cam-like disc 7, the analogizing rod 8 and the swing claw 6 are all arranged in the inner cavity of the joint module 1.
In the embodiment of the invention, the cam-like disc 7 is driven to rotate by a stepping motor 12.
In the embodiment of the present invention, three curved grooves 9 are formed on the active connection panel 2, and the three curved grooves 9 are uniformly distributed in a radial shape at intervals by using the center of the active connection panel 2 as a circle center.
In the embodiment of the present invention, three active fastening holes 4 are formed on the active connection panel 2, three passive fastening holes 5 aligned with the active fastening holes 4 one by one are formed on the passive connection panel 3, the three active fastening holes 4 are radially and uniformly distributed at intervals with the center of the active connection panel 2 as the center of circle, and the three passive fastening holes 5 are radially and uniformly distributed at intervals with the center of the passive connection panel 3 as the center of circle; one active fastening hole 4 corresponds to one passive fastening hole 5, one active fastening hole 4 corresponds to one swing claw 6, one swing claw 6 corresponds to one similar push rod 8, and one similar push rod 8 corresponds to one curve groove 9.
In the embodiment of the present invention, the joint module 1 is spherical, the joint module 1 includes an upper hemispherical shell and a lower hemispherical shell, an active connection panel 2 and two passive connection panels 3 are disposed on the periphery of the hemispherical surface of the upper hemispherical shell and the periphery of the hemispherical surface of the lower hemispherical shell, and the active connection panel 2 and the two passive connection panels 3 are radially and uniformly distributed at intervals with the center of the upper hemispherical shell or the center of the lower hemispherical shell as the center of a circle.
In the embodiment of the present invention, a plurality of positioning holes 13 are disposed on the active connection panel 2, positioning pins 14 aligned with the positioning holes 13 one by one are disposed on the passive connection panel 3, the positioning holes 13 are uniformly distributed in a radial shape at intervals with the center of the active connection panel 2 as a center, the positioning pins 14 are uniformly distributed in a radial shape at intervals with the center of the passive connection panel 3 as a center, preferably, the number of the positioning holes 13 and the number of the positioning pins 14 are three, and the positioning holes 13 are disposed in a crossing manner with the active fastening holes 4 or the passive fastening holes 5.
In an embodiment of the present invention, a method for operating a connection mechanism of a reconfigurable module robot, including any one of the connection mechanisms of the reconfigurable module robot described above, includes the steps of: the swing claw 6 swings outwards, the swing claw 6 extends out of the active connection panel 2, and the swing claw 6 sequentially penetrates through the active fastening hole 4 and the passive fastening hole 5 to connect the active connection panel 2 with the passive connection panel 3; the swing claw 6 swings inwards, the swing claw 6 retracts to the back of the active connection panel 2, and the active connection panel 2 is disconnected from the passive connection panel 3.
The present invention is not limited to the above preferred embodiments, and any person can derive various other forms of connection mechanisms of reconfigurable modular robots and working methods thereof according to the teaching of the present invention. All equivalent changes and modifications made according to the claims of the present invention should be covered by the present invention.
Claims (8)
1. A coupling mechanism of reconfigurable module robot which characterized in that: the joint module comprises an active connecting panel arranged outside one joint module and a passive connecting panel arranged outside the other joint module, wherein at least one active fastening hole is formed in the active connecting panel, passive fastening holes aligned with the active fastening holes one by one are formed in the passive connecting panel, a swinging claw is arranged on the active connecting panel, and the swinging claw sequentially penetrates through the active fastening holes and the passive fastening holes and then connects the active connecting panel with the passive connecting panel;
the driving connecting panel is provided with a cam-like disc, the swinging claw is connected with the cam-like disc through a analogizing rod, at least one curve groove is formed in the cam-like disc, the upper limit point of the curve groove is arranged close to the circle center of the cam-like disc, the lower limit point of the curve groove is arranged close to the outer edge of the cam-like disc, one end of the curve push rod is matched with the curve groove to form sliding connection, the other end of the curve push rod is matched with one end of the claw to form rotating connection, the other end of the swinging claw is provided with a straight groove, and the straight groove of the swinging claw is matched with a connecting pin on the driving connecting panel to form rotating and sliding connection.
2. The reconfigurable module robot connection mechanism of claim 1, wherein: the cam-like disc, the analogizing rod and the swinging claw are all arranged in the inner cavity of the joint module.
3. The reconfigurable modular robot connection mechanism according to claim 1, wherein: the cam-like disc is driven to rotate by a stepping motor.
4. The reconfigurable modular robot connection mechanism according to claim 1, wherein: the active connection panel is provided with three curve grooves which are radially and uniformly distributed at intervals by taking the center of the active connection panel as a circle center.
5. The reconfigurable modular robot connection mechanism according to claim 1, wherein: the active connection panel is provided with three active fastening holes, the passive connection panel is provided with three passive fastening holes aligned with the active fastening holes one by one, the active fastening holes are radially and uniformly distributed at intervals by taking the center of the active connection panel as the circle center, and the passive fastening holes are radially and uniformly distributed at intervals by taking the center of the passive connection panel as the circle center.
6. The reconfigurable module robot connection mechanism of claim 1, wherein: the joint module is globular, the joint module contains episphere shell and lower hemisphere shell, the hemisphere week side of episphere shell and the hemisphere week side equipartition of lower hemisphere shell have been put one initiative connection panel and two passive connection panels, one the center of episphere shell or the center of lower hemisphere shell are radial even interval distribution as the centre of a circle with two passive connection panels.
7. The reconfigurable module robot connection mechanism of claim 1, wherein: the active connection panel is provided with a plurality of positioning holes, the passive connection panel is provided with positioning pins aligned with the positioning holes one by one, the positioning holes are radially and uniformly distributed at intervals by taking the center of the active connection panel as a circle center, and the positioning pins are radially and uniformly distributed at intervals by taking the center of the passive connection panel as a circle center.
8. A working method of a connecting mechanism of a reconfigurable module robot, comprising the connecting mechanism of the reconfigurable module robot as claimed in any one of claims 1 to 7, comprising the following steps: the swing claw swings outwards, extends out of the active connecting panel, and sequentially penetrates through the active fastening hole and the passive fastening hole to connect the active connecting panel and the passive connecting panel together; the swing hook claw swings inwards, the swing hook claw retracts to the back face of the active connecting panel, and the active connecting panel is disconnected with the passive connecting panel.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710831042.3A CN107498549B (en) | 2017-09-15 | 2017-09-15 | Connecting mechanism of reconfigurable module robot and working method thereof |
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| CN201710831042.3A CN107498549B (en) | 2017-09-15 | 2017-09-15 | Connecting mechanism of reconfigurable module robot and working method thereof |
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| CN107498549A CN107498549A (en) | 2017-12-22 |
| CN107498549B true CN107498549B (en) | 2023-03-03 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890635B (en) * | 2018-09-20 | 2019-08-02 | 哈尔滨理工大学 | A kind of interstitial cell being bi-directionally connected for spatial cell robot |
| CN109229432B (en) * | 2018-09-29 | 2020-09-18 | 北京卫星制造厂有限公司 | Multifunctional integrated interface assembly |
| CN109834699B (en) * | 2019-01-29 | 2022-03-01 | 南开大学 | Hook-baffle-bolt butt-joint mechanism |
| CN114029937B (en) * | 2021-11-23 | 2023-04-25 | 北京邮电大学 | Three-degree-of-freedom reconstruction robot module and reconstruction 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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| CN101288951A (en) * | 2008-03-10 | 2008-10-22 | 哈尔滨工业大学 | Double L-shaped cubic modularized self-reconstruction robot based on rotary hook hole |
| CN101314226A (en) * | 2008-06-13 | 2008-12-03 | 哈尔滨工业大学 | Universal modularized self-reorganization robot based on dual-rotational freedom |
| CN102699931A (en) * | 2012-05-09 | 2012-10-03 | 东南大学 | Connecting mechanism used between unit modules of modular self-reconfigurable robot |
| CN104401415A (en) * | 2014-10-23 | 2015-03-11 | 天津理工大学 | Knuckle reconfigurable robot unit module |
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|---|---|---|---|---|
| US6603281B2 (en) * | 2000-10-16 | 2003-08-05 | Xerox Corporation | High mechanical advantage ratcheting apparatus |
| US6725128B2 (en) * | 2001-07-02 | 2004-04-20 | Xerox Corporation | Self-reconfigurable robot |
| US6605914B2 (en) * | 2001-08-24 | 2003-08-12 | Xerox Corporation | Robotic toy modular system |
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- 2017-09-15 CN CN201710831042.3A patent/CN107498549B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101288951A (en) * | 2008-03-10 | 2008-10-22 | 哈尔滨工业大学 | Double L-shaped cubic modularized self-reconstruction robot based on rotary hook hole |
| CN101314226A (en) * | 2008-06-13 | 2008-12-03 | 哈尔滨工业大学 | Universal modularized self-reorganization robot based on dual-rotational freedom |
| CN102699931A (en) * | 2012-05-09 | 2012-10-03 | 东南大学 | Connecting mechanism used between unit modules of modular self-reconfigurable robot |
| CN104401415A (en) * | 2014-10-23 | 2015-03-11 | 天津理工大学 | Knuckle reconfigurable robot unit module |
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