CN108789377A - A kind of connection unit of chute-type space via Self-reconfiguration cellular machineries people - Google Patents
A kind of connection unit of chute-type space via Self-reconfiguration cellular machineries people Download PDFInfo
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- CN108789377A CN108789377A CN201810902270.XA CN201810902270A CN108789377A CN 108789377 A CN108789377 A CN 108789377A CN 201810902270 A CN201810902270 A CN 201810902270A CN 108789377 A CN108789377 A CN 108789377A
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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
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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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Abstract
The present invention relates to a kind of connection units of chute-type space via Self-reconfiguration cellular machineries people, it is characterised in that：The shape of the connection unit is regular hexahedron, including six joint faces, two groups of active terminal pads, link block, four groups of random passive coupling flanges, guide rail supporting frame and active bindiny mechanism, wherein：Two groups of active terminal pads are respectively arranged on the one of which opposing connecting surface of six joint faces, and are connected respectively by screw by four groups of cuboid link blocks being circumferentially evenly arranged；Four groups of random passive coupling flanges are arranged on four joint faces in addition to one group of opposing connecting surface that active terminal pad occupies, and need to be connected or removed with screw according to connection；The present invention has the active linkage function of two relative directions, and is independent of each other during the connection process, enhances the function adaptability of connection unit, and the bonding strength of active bindiny mechanism is big, and interface disengaging is the inverse movement of interface connection, saves the via Self-reconfiguration time.
Description
Technical field
The invention belongs to robotic technology fields, are related to a kind of via Self-reconfiguration mechanical structure, specifically, being related to a kind of sliding slot
The connection unit of formula space via Self-reconfiguration cellular machineries people.
Background technology
Space self-reorganization robot is also a kind of spatial cell robot, is to answer the principle of cell division, differentiation, combination
For the product among robot technology.By the reconstruct of the different levels such as cell, tissue, organ and robot so that machine
People can change the shape of itself, size and function to adapt to the variation of task and environment situation automatically.Space via Self-reconfiguration machine
This feature of people is by the connectivity and surrounding's ring for perceiving of interchangeability and module sensors between robot module
Border information is realized by mutual operation between a large amount of modules and movement, also therefore space self-reorganization robot is made to have
The advantages that adaptability, diversity, reliability, autgmentability, economy, it is large-scale fully to adapt to operation object in the following space mission
Change, complicate, the trend of non-establishment of cooperatives.
Space self-reorganization robot is no longer limited by specific structure, function and forms of motion compared with traditional robot,
Each module can have different function and structures, but have unified machinery, electric interfaces, and the limited individual module of function is logical
Cross the cumulative task and environmental suitability for greatly expanding robot of quantity；Compared with Modular reconfigurable robot, mould
Block selection, configuration are built to be participated in without artificial, astronaut can be made to avoid in dangerous space from primary transform configuration and function
In environment.
The performance of via Self-reconfiguration cellular machineries people bindiny mechanism largely influences the working performance of entire robot.Example
Such as, for the intensity of bindiny mechanism by the maximum quantity of decision module, the speed that is connected and disconnected from of interface will the dead weight of influence robot
The speed of structure.In current existing several bindiny mechanisms, electromagnetic type bindiny mechanism connects by electromagnetic force, and docking speed is fast,
To neutral good, but strength of joint is limited, and disengaging process complexity is time-consuming, and interference is also easy to produce between link block；Electrostatic force formula connects
Connection mechanism is connected by the attraction of positive and negative charge, it may have strength of joint is relatively low, is detached from the slow disadvantage of process；Mechanically connect
Connection mechanism includes pin hole formula, the diversified forms such as Alcula type and nylon hasp-type, and connection is reliable, and it is rapid to be connected and disconnected from process, but
Complex structural designs, occupied space is big, to neutral bad.
Invention content
Present invention aim to address above-mentioned the deficiencies in the prior art, it is reliable to provide a kind of connection, energy saving, to neutrality
Well, connection and the connection unit for being detached from the rapid chute-type space via Self-reconfiguration cellular machineries people of process.
Technical solution is used by the present invention solves above-mentioned the deficiencies in the prior art：
A kind of connection unit of chute-type space via Self-reconfiguration cellular machineries people, it is characterised in that：Outside the connection unit
Shape is regular hexahedron, including six joint faces, two groups of active terminal pads, link block, four groups of random passive coupling flanges, guide supportings
Frame and active bindiny mechanism, wherein：Two groups of active terminal pads are respectively arranged at the one of which phase of six joint faces
To on joint face, and it is connected respectively by screw by four groups of cuboid link blocks being circumferentially evenly arranged；Described four groups with
Machine passive coupling flange is arranged on four joint faces in addition to one group of opposing connecting surface that active terminal pad occupies, according to connection
It needs to be connected or removed with screw；The active bindiny mechanism is arranged in the center of connection unit, by the joint face
It is supported with the guide rail supporting frame.
Two groups of heretofore described active terminal pads respectively include：Foreboard, insulated column and back plate, wherein：The foreboard
It is circular sheet, is along the circumferential direction uniformly provided with four groups of radial grooves, and by center whole hollow out；The back plate be with it is preceding
The isodiametric circular sheet of plate, is along the circumferential direction uniformly provided with four groups of radial grooves, center not hollow out；The insulated column is
Short cylinder is arranged between front and rear panels, and multiple insulated columns are fixedly connected with front and rear panels by bolt.
Four groups of heretofore described random passive coupling flanges respectively include：Inner panel and shell, wherein：The knot of the inner panel
Structure is identical with the front board structure of active terminal pad；The shell is groove type structure, with inner panel and the connection unit
Joint face is connected by bolt respectively.
Heretofore described active bindiny mechanism includes：Servo motor, electric machine support, driving shaft, incomplete bevel gear,
Two groups of conjugate cams, bearing spider, roller assembly, two groups of cross guide rail components, two driven wheel of differential, driven wheel of differential axis and
Slide block assembly, wherein：The servo motor is connected and fixed on electric machine support；The company of the electric machine support and the connection unit
It is connected on the inside of junction；The driving shaft is connected by shaft coupling with servo motor output shaft；Two groups of conjugate cams are sleeved on master
Close to one end of servo motor on moving axis, it is symmetrical with the center of the connection unit, is realized by the shaft shoulder and sleeve axial
Positioning, is realized circumferentially positioned by flat key；The incomplete bevel gear is sleeved on one end far from servo motor on driving shaft, passes through
Sleeve realizes axially position, is realized by flat key circumferentially positioned；It is cased with deep groove ball bearing, the bearing spider in active shaft end
The deep groove ball bearing is supported, and is fixedly connected to the inner side with the joint face of the connection unit；The roller assembly include bearing roller and
Roller supporting rack, bearing roller are mounted on one end of roller supporting rack, and embedded conjugate cam by connecting rod and shaft end round nut
In the groove with particular track of side, roller follower disc cam is constituted；The cross guide rail component is led including two
Rail and two connecting rods, two guide rail right-angled intersections are connected, and two connecting rods are mounted on the both ends of cross guide rail component；The set of rollers
The roller supporting rack of part is fixedly connected on the connecting rod center of the cross guide rail component；The side edge of the driven wheel of differential
Circumferencial direction is uniformly provided with four groups of grooves for meeting sinusoidal acceleration rule, and deep groove ball bearing, the deep-groove ball are embedded on the inside of wheel hub
Bearing holder (housing, cover) realizes axially position on the driven wheel of differential axis, by shaft end round nut and the shaft shoulder, and driven wheel of differential is made to be located at
It can be with the position of incomplete bevel gear correct engagement；Driven wheel of differential axis one end support driven wheel of differential, the other end according to
Axial restraint is realized in the spline that spline is embedded in joint face, and by shaft end round nut and the shaft shoulder；The slide block assembly packet
Containing sliding block, connecting rod and fixture block, sliding block is fixedly connected with fixture block by columned connecting rod；The sliding block is respectively with described ten
Four sections of rail sections that word guide assembly divides are chimeric, therefore every group of cross guide rail component corresponds to four groups of slide block assemblies；The company
Extension bar and the groove for meeting sinusoidal acceleration rule on the driven wheel of differential are tangent, and with the hollow out on connection unit joint face
Groove is tangent；The fixture block is wide in both ends, intermediate narrow dumbbell type structure, one end and the active terminal pad back plate inside fixture block
On groove it is mutually chimeric.
Four groups of radial grooves of heretofore described active terminal pad foreboard are radial sliding with four groups of active terminal pad back plate
Slot is mutually aligned after the assembly of active terminal pad is completed, and active terminal pad back plate is connected in company by cuboid link block
In junction, and make the direction of four groups of sliding slots along the diagonal of connection unit joint face.
Four groups of sliding slot directions of heretofore described random passive coupling flange inner panel random passive coupling flange connect with
Afterwards along the diagonal of connection unit joint face.
The groove width of heretofore described conjugate cam both sides is identical as the bearing roller diameter in roller assembly, and
Side grooves are equidistant with homonymy cam outer contour respectively, two groups of conjugate cams close to connection unit center side cam and
The side trench is identical, and the identical roller assembly of a pair of of structure embedded simultaneously, and two groups of conjugate cams are far from connection unit
The side cam and the side trench of the heart are identical, and are embedded in the identical roller assembly of another pair structure simultaneously.
The keyway on the heretofore described incomplete roads Zhui Chi and two groups of conjugate cam respective shaft fragment positions on driving shaft
On same busbar.
When the present invention acts on, the left side flanged type active terminal pad of a connection unit is embedded in the recessed of another connection unit
In the random passive coupling flange of slot type, active terminal pad foreboard is made to be close to random passive coupling flange inner panel, while making actively to connect
Four groups of radial grooves on disk foreboard are aligned with four groups of radial grooves on random passive coupling flange inner panel, in the initial position,
Slide block assembly inside connection unit is located within active terminal pad foreboard.When connection, servo motor drives driving shaft rotation, main
Moving axis drives two groups of conjugate cams and incomplete bevel gear while in the counterclockwise direction 170 ° of uniform rotation by flat key, in this turn
During dynamic, the profile traces of the side cam far from connection unit center are in two groups of conjugate cams：First pass around 5 ° close
Then dormant state passes through 60 ° of rise stages, finally pass through 105 ° of remote dormant state；The area with teeth of incomplete bevel gear accounts for
90 ° of bevel gear circumference, when driving shaft turns over 70 °, incomplete bevel gear starts to engage with left side driven wheel of differential, works as driving shaft
Incomplete bevel gear is disengaged from left side driven wheel of differential when turning over 160 °；Close to connection unit center in two groups of conjugate cams
Side cam always be in nearly dormant state, specifically, in two groups of conjugate cams far from connection unit center side it is convex
Wheel is completed the rise stage first, and cam rise pushes roller assembly to move forward, and roller assembly pushes cross guide rail component forward
Mobile, cross guide rail components drive slide block assembly moves forward, and makes the dumb-bell shape fixture block in slide block assembly before active terminal pad
Plate stretches out, and makes the thickness that can coat two connecting plates in the middle part of fixture block at fluting just, then incomplete bevel gear and left side from
Dynamic bevel gear starts to engage, and driven wheel of differential rotates and by four groups of sinusoidal acceleration rule grooves to slide block assembly connecting rod
Restriction effect and guide rail make slide block assembly be slid in and out along four groups of sliding slots of active terminal pad the restriction effect of sliding block, bevel gear
The side cam far from connection unit center is in remote dormant state when intermeshing, when sliding block is moved to the final position of sliding slot
When, sinusoidal acceleration rule groove connects to just completing left side under the self-locking of slide block assembly connecting rod on driven wheel of differential
The connection procedure of mouth, at this time motor stopping.
In the connection procedure of above-mentioned left side interface, the side cam in two groups of conjugate cams close to connection unit center begins
It is in nearly dormant state eventually, incomplete bevel gear does not engage with right side driven wheel of differential, and right side active bindiny mechanism does not act on.For
Make right side interface docking, so that servo motor is rotated further on the basis of interface connection is completed in left side, motor drives active shaft rotation
Dynamic, driving shaft drives two groups of conjugate cams and incomplete bevel gear to continue uniform rotation in the counterclockwise direction simultaneously by flat key
170 °, in the rotation process, the profile traces of the side cam in two groups of conjugate cams close to connection unit center are：First
By 15 ° of nearly dormant state, then pass through 60 ° of rise stages, finally passes through 95 ° of remote dormant state；Incomplete bevel gear
Area with teeth account for 90 ° of bevel gear circumference, when driving shaft continues to revolve through 80 °, incomplete bevel gear starts with right side driven wheel of differential
Engagement, when driving shaft continues to revolve through 170 °, incomplete bevel gear is disengaged from right side driven wheel of differential；Two groups of conjugate cams
In far from connection unit center side cam always be in remote dormant state, specifically, in two groups of conjugate cams close to even
The side cam for connecing unit center is completed the rise stage first, and cam rise pushes roller assembly to move forward, and roller assembly pushes away
Dynamic cross guide rail component moves forward, and cross guide rail components drive slide block assembly moves forward, and makes the dumb-bell shape in slide block assembly
Fixture block is stretched out from active terminal pad foreboard, and makes the thickness that can coat two connecting plates in the middle part of fixture block at fluting just, then not
Complete bevel gear starts to engage with right side driven wheel of differential, and driven wheel of differential rotates and passes through four groups of sinusoidal acceleration rule grooves
Restriction effect and guide rail to slide block assembly connecting rod make slide block assembly along four groups of active terminal pad the restriction effect of sliding block
Sliding slot slides in and out, and side cam when bevel gear is intermeshed close to connection unit center is in remote dormant state, works as sliding block
When being moved to the final position of sliding slot, self-locking of the sinusoidal acceleration rule groove to slide block assembly connecting rod on driven wheel of differential
The connection procedure of right side interface is just completed under effect, motor stops at this time.
Heretofore described each connection unit has the active linkage function of two relative directions, and is connecting
It is independent of each other in journey, including an active joint face independent role and two active joint faces act on two kinds of action modes simultaneously,
The function adaptability of connection unit is enhanced, meanwhile, the bonding strength of active bindiny mechanism is big, and interface disengaging is that interface connects
Inverse movement, saves the via Self-reconfiguration time.
Description of the drawings
Attached drawing 1 is the structural schematic diagram of the present invention.
Attached drawing 2 is the structural schematic diagram of active terminal pad in the present invention.
Attached drawing 3 is the structural schematic diagram of random passive coupling flange in the present invention.
Attached drawing 4, attached drawing 5 are the structural schematic diagrams of active bindiny mechanism in the present invention.
Attached drawing 6, attached drawing 7 are the structural schematic diagrams of conjugate cam in the present invention.
Attached drawing 8 is the structural schematic diagram of driven wheel of differential in the present invention.
Attached drawing 9 is the support construction schematic diagram of driven wheel of differential in the present invention.
Attached drawing 10 is the connection diagram of the present invention and other units.
Specific implementation mode
The connection unit of chute-type space via Self-reconfiguration cellular machineries people as shown in Figure 1 a kind of, including six joint faces 1,
Two groups of active terminal pads 2,3, four groups of random passive coupling flanges 5 of link block, guide rail supporting frame 4 and active bindiny mechanism 6；Described two
Group active terminal pad 2 is respectively arranged on the one of which opposing connecting surface of six joint faces 1, and respectively by circumferentially
Four groups of cuboid link blocks 3 being evenly arranged are connected by screw；Four groups of random passive coupling flanges 5 setting is except actively connecting
It connects on four joint faces other than one group of opposing connecting surface of the occupancy of disk 2, needs to be connected or removed with screw according to connection；It is described
Active bindiny mechanism 6 is arranged in the center of connection unit, is propped up by the joint face 1 and the guide rail supporting frame 4
Support.
As shown in Figure 2 and Figure 3, two groups of active terminal pads 2 respectively include foreboard 2-1, insulated column 2-2 and back plate 2-
3；The foreboard 2-1 is circular sheet, is along the circumferential direction uniformly provided with four groups of radial grooves, and by center whole hollow out；
The back plate 2-3 be with the isodiametric circular sheets of foreboard 2-1, be along the circumferential direction uniformly provided with four groups of radial grooves, centre bit
Set not hollow out；The insulated column 2-2 is short cylinder, is arranged between foreboard 2-1 and back plate 2-3, and multiple insulated column 2-2 are relied on
Bolt is fixedly connected with foreboard 2-1 and back plate 2-3；Four groups of random passive coupling flanges 5 respectively include inner panel 5-1 and shell 5-
2, wherein：The structure of the inner panel 5-1 is identical with the foreboard 2-1 structures of active terminal pad 2；The shell 5-2 is groove
Formula structure is connected by bolt respectively with the joint face 1 of inner panel 5-1 and the connection unit.
As shown in figs. 4 through 10, the active bindiny mechanism 6 includes：It is servo motor 7, electric machine support 8, driving shaft 9, endless
Complete 10, two groups of conjugate cams 11 of bevel gear, bearing spider 12,13, two groups of roller assembly cross guide rail component 14, two are from mantle
Gear 15, driven wheel of differential axis 16 and slide block assembly 17；The servo motor 7 is connected and fixed on electric machine support 8；The motor
Holder 8 is connected with 1 inside of joint face of the connection unit；The driving shaft 9 passes through shaft coupling and 7 output shaft phase of servo motor
Even；Two groups of conjugate cams 11 are sleeved on driving shaft 9 close to one end of servo motor 7, are symmetrical in the connection unit
Heart position is realized axially position by the shaft shoulder and sleeve, is realized by flat key circumferentially positioned；The incomplete bevel gear 10 is sleeved on
One end far from servo motor 7 on driving shaft 9 is realized axially position by sleeve, is realized by flat key circumferentially positioned；Actively
9 end of axis is cased with deep groove ball bearing, and the bearing spider 12 supports the deep groove ball bearing, and with the joint face of the connection unit
1 fixedly connected to the inner side；The roller assembly 13 includes that bearing roller 13-1 and roller supporting rack 13-2, bearing roller 13-1 pass through connecting rod
One end of roller supporting rack 13-2, and the ditch with particular track of 11 side of embedded conjugate cam are mounted on shaft end round nut
In slot, roller follower disc cam is constituted；The cross guide rail component 14 includes two guide rail 14-1 and two connecting rod 14-2,
Two guide rail 14-1 right-angled intersections are connected, and two connecting rod 14-2 are mounted on the both ends of cross guide rail component 14；The roller assembly
13 roller supporting rack 13-2 is fixedly connected on the centers connecting rod 14-2 of the cross guide rail component 14；It is described from mantle tooth
The side of wheel 15 is along the circumferential direction uniformly provided with four groups of grooves for meeting sinusoidal acceleration rule, and deep-groove ball axis is embedded on the inside of wheel hub
Hold, which is sleeved on the driven wheel of differential axis 16, and axially position is realized by shaft end round nut and the shaft shoulder, make from
Dynamic bevel gear 15 is located at can be with the position of 10 correct engagement of incomplete bevel gear；The support of described 16 one end of driven wheel of differential axis from
Dynamic bevel gear 15, the other end are embedded in by spline in the spline of joint face 1, and are realized axially by shaft end round nut and the shaft shoulder
It is fixed；The slide block assembly 17 includes sliding block 17-1, connecting rod 17-2 and fixture block 17-3, and sliding block 17-1 and fixture block 17-3 passes through circle
Columnar connecting rod 17-2 is fixedly connected；Four sections of rail portions that the sliding block 17-1 is divided with the cross guide rail component 14 respectively
Divide and be fitted into, therefore every group of cross guide rail component 14 corresponds to four groups of slide block assemblies 17；The connecting rod 17-2 with it is described from mantle tooth
The groove for meeting sinusoidal acceleration rule on wheel 15 is tangent and tangent with the hollow out groove on connection unit joint face 1；The card
Block 17-3 is wide in both ends, intermediate narrow dumbbell type structure, inside fixture block 17-3 on one end and the active terminal pad back plate 2-3
Groove is mutually chimeric.
When the present invention acts on, the left side flanged type active terminal pad of a connection unit is embedded in the recessed of another connection unit
In the random passive coupling flange of slot type, active terminal pad foreboard is made to be close to random passive coupling flange inner panel, while making actively to connect
Four groups of radial grooves on disk foreboard are aligned with four groups of radial grooves on random passive coupling flange inner panel, in the initial position,
Slide block assembly inside connection unit is located within active terminal pad foreboard.When connection, servo motor drives driving shaft rotation, main
Moving axis drives two groups of conjugate cams and incomplete bevel gear while in the counterclockwise direction 170 ° of uniform rotation by flat key, in this turn
During dynamic, the profile traces of the side cam far from connection unit center are in two groups of conjugate cams：First pass around 5 ° close
Then dormant state passes through 60 ° of rise stages, finally pass through 105 ° of remote dormant state；The area with teeth of incomplete bevel gear accounts for
90 ° of bevel gear circumference, when driving shaft turns over 70 °, incomplete bevel gear starts to engage with left side driven wheel of differential, works as driving shaft
Incomplete bevel gear is disengaged from left side driven wheel of differential when turning over 160 °；Close to connection unit center in two groups of conjugate cams
Side cam always be in nearly dormant state, specifically, in two groups of conjugate cams far from connection unit center side it is convex
Wheel is completed the rise stage first, and cam rise pushes roller assembly to move forward, and roller assembly pushes cross guide rail component forward
Mobile, cross guide rail components drive slide block assembly moves forward, and makes the dumb-bell shape fixture block in slide block assembly before active terminal pad
Plate stretches out, and makes the thickness that can coat two connecting plates in the middle part of fixture block at fluting just, then incomplete bevel gear and left side from
Dynamic bevel gear starts to engage, and driven wheel of differential rotates and by four groups of sinusoidal acceleration rule grooves to slide block assembly connecting rod
Restriction effect and guide rail make slide block assembly be slid in and out along four groups of sliding slots of active terminal pad the restriction effect of sliding block, bevel gear
The side cam far from connection unit center is in remote dormant state when intermeshing, when sliding block is moved to the final position of sliding slot
When, sinusoidal acceleration rule groove connects to just completing left side under the self-locking of slide block assembly connecting rod on driven wheel of differential
The connection procedure of mouth, at this time motor stopping.
In the connection procedure of above-mentioned left side interface, the side cam in two groups of conjugate cams close to connection unit center begins
It is in nearly dormant state eventually, incomplete bevel gear does not engage with right side driven wheel of differential, and right side active bindiny mechanism does not act on.For
Make right side interface docking, so that servo motor is rotated further on the basis of interface connection is completed in left side, motor drives active shaft rotation
Dynamic, driving shaft drives two groups of conjugate cams and incomplete bevel gear to continue uniform rotation in the counterclockwise direction simultaneously by flat key
170 °, in the rotation process, the profile traces of the side cam in two groups of conjugate cams close to connection unit center are：First
By 15 ° of nearly dormant state, then pass through 60 ° of rise stages, finally passes through 95 ° of remote dormant state；Incomplete bevel gear
Area with teeth account for 90 ° of bevel gear circumference, when driving shaft continues to revolve through 80 °, incomplete bevel gear starts with right side driven wheel of differential
Engagement, when driving shaft continues to revolve through 170 °, incomplete bevel gear is disengaged from right side driven wheel of differential；Two groups of conjugate cams
In far from connection unit center side cam always be in remote dormant state, specifically, in two groups of conjugate cams close to even
The side cam for connecing unit center is completed the rise stage first, and cam rise pushes roller assembly to move forward, and roller assembly pushes away
Dynamic cross guide rail component moves forward, and cross guide rail components drive slide block assembly moves forward, and makes the dumb-bell shape in slide block assembly
Fixture block is stretched out from active terminal pad foreboard, and makes the thickness that can coat two connecting plates in the middle part of fixture block at fluting just, then not
Complete bevel gear starts to engage with right side driven wheel of differential, and driven wheel of differential rotates and passes through four groups of sinusoidal acceleration rule grooves
Restriction effect and guide rail to slide block assembly connecting rod make slide block assembly along four groups of active terminal pad the restriction effect of sliding block
Sliding slot slides in and out, and side cam when bevel gear is intermeshed close to connection unit center is in remote dormant state, works as sliding block
When being moved to the final position of sliding slot, self-locking of the sinusoidal acceleration rule groove to slide block assembly connecting rod on driven wheel of differential
The connection procedure of right side interface is just completed under effect, motor stops at this time, and each connection unit has two relatively
The active linkage function in direction, and be independent of each other during the connection process, including an active joint face independent role and two
Active joint face acts on two kinds of action modes simultaneously.
Claims (8)
1. a kind of connection unit of chute-type space via Self-reconfiguration cellular machineries people, it is characterised in that：The shape of the connection unit
For regular hexahedron, including six joint faces, two groups of active terminal pads, link block, four groups of random passive coupling flanges, guide rail supporting frames
With active bindiny mechanism, wherein：The one of which that two groups of active terminal pads are respectively arranged at six joint faces is opposite
On joint face, and it is connected respectively by screw by four groups of cuboid link blocks being circumferentially evenly arranged；Described four groups random
Passive coupling flange is arranged on four joint faces in addition to one group of opposing connecting surface that active terminal pad occupies, according to connection need
It is connected or is removed with screw；The active bindiny mechanism is arranged in the center of connection unit, by the joint face and
The guide rail supporting frame is supported.
2. the connection unit of chute-type space via Self-reconfiguration cellular machineries people according to claim 1 a kind of, it is characterised in that
Two groups of active terminal pads respectively include：Foreboard, insulated column and back plate, wherein：The foreboard is circular sheet, circumferentially
Direction is uniformly provided with four groups of radial grooves, and by center whole hollow out；The back plate is thin with the isodiametric circle of foreboard
Plate, is along the circumferential direction uniformly provided with four groups of radial grooves, center not hollow out；The insulated column is short cylinder, and setting exists
Between front and rear panels, multiple insulated columns are fixedly connected with front and rear panels by bolt.
3. the connection unit of chute-type space via Self-reconfiguration cellular machineries people according to claim 1 a kind of, it is characterised in that
Four groups of random passive coupling flanges respectively include：Inner panel and shell, wherein：The structure of the inner panel and active terminal pad
Front board structure is identical；The shell is groove type structure, passes through spiral shell respectively with the joint face of inner panel and the connection unit
Bolt is connected.
4. the connection unit of chute-type space via Self-reconfiguration cellular machineries people according to claim 1 a kind of, it is characterised in that
The active bindiny mechanism includes：Servo motor, electric machine support, driving shaft, incomplete bevel gear, two groups of conjugate cams, axis
Bearing, roller assembly, two groups of cross guide rail components, two driven wheel of differential, driven wheel of differential axis and slide block assembly are held, wherein：
The servo motor is connected and fixed on electric machine support；It is connected on the inside of the electric machine support and the joint face of the connection unit；
The driving shaft is connected by shaft coupling with servo motor output shaft；Two groups of conjugate cams are sleeved on driving shaft close to servo
One end of motor is symmetrical with the center of the connection unit, and axially position is realized by the shaft shoulder and sleeve, passes through flat key reality
It is existing circumferentially positioned；The incomplete bevel gear is sleeved on one end far from servo motor on driving shaft, and it is axial fixed to be realized by sleeve
Position, is realized circumferentially positioned by flat key；It is cased with deep groove ball bearing in active shaft end, the bearing spider supports the deep-groove ball axis
It holds, and is fixedly connected to the inner side with the joint face of the connection unit；The roller assembly includes bearing roller and roller supporting rack, bearing
Roller is mounted on one end of roller supporting rack by connecting rod and shaft end round nut, and embedded conjugate cam side has specific rail
In the groove of mark, roller follower disc cam is constituted；The cross guide rail component include two guide rails and two connecting rods, two
Guide rail right-angled intersection is connected, and two connecting rods are mounted on the both ends of cross guide rail component；The roller supporting rack of the roller assembly is solid
Surely it is connected to the connecting rod center of the cross guide rail component；The side of the driven wheel of differential is along the circumferential direction uniformly provided with
Four groups of grooves for meeting sinusoidal acceleration rule, wheel hub inside are embedded with deep groove ball bearing, which is sleeved on described driven
On bevel gear shaft, axially position is realized by shaft end round nut and the shaft shoulder, so that driven wheel of differential is located at can be with incomplete cone tooth
Take turns the position of correct engagement；Driven wheel of differential axis one end supports driven wheel of differential, the other end to be embedded in joint face by spline
Spline in, and pass through shaft end round nut and the shaft shoulder and realize axial restraint；The slide block assembly includes sliding block, connecting rod and card
Block, sliding block are fixedly connected with fixture block by columned connecting rod；The sliding block respectively with the cross guide rail component clustering
Four sections of rail sections are chimeric, therefore every group of cross guide rail component corresponds to four groups of slide block assemblies；The connecting rod with it is described from mantle
The groove for meeting sinusoidal acceleration rule on gear is tangent, and tangent with the hollow out groove on connection unit joint face；The card
Block is wide in both ends, intermediate narrow dumbbell type structure, and one end and the groove in the active terminal pad back plate are mutually embedding inside fixture block
It closes.
5. the connection unit of chute-type space via Self-reconfiguration cellular machineries people according to claim 2 a kind of, it is characterised in that
Four groups of radial grooves of the active terminal pad foreboard are filled with four groups of radial grooves of active terminal pad back plate in active terminal pad
With being mutually aligned after completing, active terminal pad back plate is connected in by cuboid link block on joint face, and makes four groups
The direction of sliding slot along connection unit joint face diagonal.
6. the connection unit of chute-type space via Self-reconfiguration cellular machineries people according to claim 3 a kind of, it is characterised in that
Four groups of sliding slot directions of the random passive coupling flange inner panel connect after the connection of random passive coupling flange along connection unit
The diagonal of junction.
7. the connection unit of chute-type space via Self-reconfiguration cellular machineries people according to claim 4 a kind of, it is characterised in that
The groove width of the conjugate cam both sides is identical as the bearing roller diameter in roller assembly, and side grooves respectively with together
Side cam outer contour is equidistant, side cam and the side trench complete phase of two groups of conjugate cams close to connection unit center
Together, and simultaneously the identical roller assembly of embedded a pair of of structure, side cam of two groups of conjugate cams far from connection unit center and
The side trench is identical, and is embedded in the identical roller assembly of another pair structure simultaneously.
8. the connection unit of chute-type space via Self-reconfiguration cellular machineries people according to claim 4 a kind of, it is characterised in that
The keyway on the incomplete roads Zhui Chi and two groups of conjugate cam respective shaft fragment positions on driving shaft is located on same busbar.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810902270.XA CN108789377A (en) | 2018-08-09 | 2018-08-09 | A kind of connection unit of chute-type space via Self-reconfiguration cellular machineries people |
| CN201811578457.5A CN109571451B (en) | 2018-08-09 | 2018-12-24 | Connecting unit of sliding groove type space self-reconstruction cell robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810902270.XA CN108789377A (en) | 2018-08-09 | 2018-08-09 | A kind of connection unit of chute-type space via Self-reconfiguration cellular machineries people |
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| CN201811578457.5A Active CN109571451B (en) | 2018-08-09 | 2018-12-24 | Connecting unit of sliding groove type space self-reconstruction cell robot |
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| CN109702726A (en) * | 2019-01-29 | 2019-05-03 | 西安交通大学 | A kind of modular space multistable allosteric humanoid robot |
| CN110394788A (en) * | 2019-07-30 | 2019-11-01 | 哈尔滨理工大学 | A kind of spatial cell robot double locking is to connection module |
| CN110524529A (en) * | 2018-11-16 | 2019-12-03 | 南京工程学院 | The isomorphism type Automatic Link Establishment of self-reorganization robot multidigit connection can be achieved |
| CN114789467A (en) * | 2021-01-24 | 2022-07-26 | 哈尔滨工业大学（威海） | Equator interface power switching device of space self-reconfigurable spherical cell robot |
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| US6636781B1 (en) * | 2001-05-22 | 2003-10-21 | University Of Southern California | Distributed control and coordination of autonomous agents in a dynamic, reconfigurable system |
| US6725128B2 (en) * | 2001-07-02 | 2004-04-20 | Xerox Corporation | Self-reconfigurable robot |
| CN1332787C (en) * | 2005-12-15 | 2007-08-22 | 上海交通大学 | Self-reconstitution robot by full gear transmission driving six rotative surfaces of module |
| ES2282050B1 (en) * | 2007-02-02 | 2008-09-16 | Educocio, S.L. | "PUZZLE FORMED BY A PLURADITY OF CUBES". |
| CN101135897A (en) * | 2007-10-25 | 2008-03-05 | 上海交通大学 | Module joint location regulating system |
| CN101239466B (en) * | 2007-12-28 | 2010-06-02 | 北京工业大学 | Minisize maze robot |
| DE102012017305A1 (en) * | 2012-09-03 | 2014-03-06 | Leonhard Oschütz | Connecting construction between construction elements and construction element |
| CN103332231B (en) * | 2013-07-12 | 2015-08-05 | 天津理工大学 | Removable module self-reorganization robot |
| CN107363808A (en) * | 2017-06-15 | 2017-11-21 | 华东理工大学 | A kind of modularization drive lacking spring-go robot cell's module |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110524529A (en) * | 2018-11-16 | 2019-12-03 | 南京工程学院 | The isomorphism type Automatic Link Establishment of self-reorganization robot multidigit connection can be achieved |
| CN110524529B (en) * | 2018-11-16 | 2022-09-20 | 南京工程学院 | Method for realizing multi-position connection of self-reconfigurable robot |
| CN109702726A (en) * | 2019-01-29 | 2019-05-03 | 西安交通大学 | A kind of modular space multistable allosteric humanoid robot |
| CN109702726B (en) * | 2019-01-29 | 2021-01-19 | 西安交通大学 | Modular space multistable allosteric robot |
| CN110394788A (en) * | 2019-07-30 | 2019-11-01 | 哈尔滨理工大学 | A kind of spatial cell robot double locking is to connection module |
| CN114789467A (en) * | 2021-01-24 | 2022-07-26 | 哈尔滨工业大学（威海） | Equator interface power switching device of space self-reconfigurable spherical cell robot |
| CN114789467B (en) * | 2021-01-24 | 2023-07-04 | 哈尔滨工业大学（威海） | Equatorial interface power switching device of space reconstruction spherical cell robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109571451B (en) | 2022-10-14 |
| CN109571451A (en) | 2019-04-05 |
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