CN109834699B

CN109834699B - Hook-baffle-bolt butt-joint mechanism

Info

Publication number: CN109834699B
Application number: CN201910083528.2A
Authority: CN
Inventors: 方勇纯; 朱威; 郭宪; 张学有
Original assignee: Nankai University
Current assignee: Nankai University
Priority date: 2019-01-29
Filing date: 2019-01-29
Publication date: 2022-03-01
Anticipated expiration: 2039-01-29
Also published as: CN109834699A

Abstract

A hook-baffle-bolt butt-joint mechanism comprises a hook connector with a guide rail, a baffle with a hole and a cross bolt meshed with the hook, wherein the hook connector serves as a male head of one external mechanical device, the baffle serves as a female head of the other external mechanical device, the guide rail guides the two mechanical devices to be in butt joint automatically, and when the male head and the female head are matched completely, the cross bolt can enable the male head and the female head to be fixed completely and realize self-locking under the action of an external driving device. The invention is a novel high-strength and high-fault-tolerance butt joint mechanism, provides a technical basis for the complete automatic butt joint and separation between self-reconfigurable robot modules, and has wide application prospect.

Description

Hook-baffle-bolt butt-joint mechanism

Technical Field

The invention belongs to an automatic docking mechanism, which is generally used in the field of self-reconfiguration modular robots.

Background

There are two main types of docking mechanisms for self-reconfigurable modular robots. One is a passive docking mechanism, e.g. Hirose^[1]Iso, Choset^[2-3]Etc. and Liljeback^[4]The modules of the multi-modular snake-shaped robot are fixedly connected through a hinge mechanism, and although the strength is high, the modules are inconvenient to disassemble and assemble; yim^[5]And the like, the permanent magnet is used as the passive connection, and the connection strength is relatively poor although the assembly and disassembly are easy. The other is an active docking mechanism, Ijspeert^[6]The connecting module of the hook claw mechanism is applied, the hook claws can be automatically separated and closed through the gear transmission of the motor, so that the modules can be automatically separated and connected, but the bearing capacity of the hook claw-gear mechanism is poor, self-locking cannot be realized in the connecting state, and the driving motor is always in the working state to keep the hook claws fixed; kobayashi^[7]While simple, the use of electromagnets for the connection between modules is relatively limited in load carrying capacity. The active connection mechanism is not completely active, because the matching process between the two modules still needs human participation, and the driving device can control the deadlock of the mechanism only after the two modules are completely matched with each other.

Disclosure of Invention

The invention aims to develop a docking mechanism which provides technical support for completely autonomous docking and separation between mechanical devices.

The invention relates to a hook-baffle-bolt butt joint mechanism which comprises a hook connecting piece with a guide rail, a baffle with a hole and a cross bolt meshed with the hook; wherein,

a claw connecting piece: a male joint docking mechanism as one of the external mechanical devices; the connecting device comprises a first connecting plate, and comprises guide rails which are symmetrical on two sides of the first connecting plate, and three identical hooks which are distributed in an isosceles triangle shape.

A baffle plate: a female docking mechanism as another external mechanical device; the connecting device comprises a second connecting plate and three identical rectangular holes which are distributed in an isosceles triangle shape and are arranged on the second connecting plate.

Cross bolt: the fixing device is used for fixing the male head and the female head; comprises a slot fixed with an external driving device and three conjoined bolts engaged with the hook claw.

The invention has the advantages that:

the arc-shaped guide rail of the claw connecting piece enhances the fault-tolerant capability of the butt joint process; the mechanical device is fixed through the hook claw and the bolt, so that the self-locking device has self-locking capacity and high strength; the cross bolt is controlled by an external driver and can automatically control the connection and the separation of the two modules; when the robot module has the movement capability, the complete autonomous docking of any initial position of the mechanical device can be realized through the mechanism and an external control algorithm; these advantages facilitate practical application in the field of self-reconfigurable robots.

Drawings

FIG. 1 is a schematic view of a finger-flap-latch integral connection;

FIG. 2 is a schematic view of a finger link;

FIG. 3 is a schematic view of a baffle;

FIG. 4 is a schematic view of a cross bolt;

FIG. 5 is a front view of the guide rail on the finger link;

FIG. 6 is a three view of a single finger on the finger attachment;

FIG. 7 is a three view of three fingers on the finger attachment member;

FIG. 8 is a three-view of the baffle;

FIG. 9 is a three-view illustration of a cross bolt;

fig. 10 is a schematic view of the guide rail guiding action.

In the figure: 1. a hook connector; 2. a baffle plate; 3. a cross bolt; 4. a guide rail; 5. a hook claw; 6. a first receiving plate; 7. a rectangular hole; 8. a second connecting plate; 9. a slot; 10. a conjoined bolt.

Detailed Description

The invention is described in more detail below with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of the overall connection of a hook-baffle-latch butting mechanism, wherein a hook connecting piece 1 is used as a male butting mechanism of one external mechanical device, a baffle 2 is used as a female butting mechanism of another external mechanical device, and a cross latch 3 can deadlock the two mechanical devices when the male and female heads are tightly matched. Conversely, when the cross bolt 3 is unlocked, the two mechanical devices will automatically disengage. Fig. 2-4 illustrate a schematic view of the claw coupling 1, the apron 2 and the cross pin 3, respectively, with a first connecting plate 6 for connecting to an external mechanical device and a second connecting plate 8 for connecting to another mechanical device; two symmetrical guide rails 4 for guiding the mechanical devices to cooperate with each other; the three same hook claws 5 are used for being meshed with three conjoined bolts 10 of the cross bolt 3 through three rectangular holes 7 so as to fixedly connect two mechanical devices; the slot 9 of the cross bolt 3 is used for connecting with an external driving device, and the bolt state can be freely changed, so that the two mechanical devices can be connected and separated; the hook-bolt connecting mechanism has stronger tensile capacity.

Fig. 5 is a front view of the guide rails 4, a single guide rail mainly consists of two concentric arcs of 20 °, the radii are 65mm and 70mm respectively, the outermost distance between the guide rails is about 90mm, the width of the baffle 2 is 80mm, fig. 6 is a three-view of the baffle 2, therefore, before the mechanical device is tightly matched, the guide rails 4 play a certain guiding role, fig. 10 is a schematic view of the guiding role of the guide rails 4, the baffle 2 initially enters the guide rails 4 at a certain deflection angle, but slides to the tightly matched position through the contact point of the baffle 2 and the guide rails, thereby increasing the fault tolerance of the butt joint process.

Fig. 6 is a three-dimensional view of a single finger, the finger 5 being of a beveled configuration and acting like the guide 4 to facilitate sliding into the rectangular aperture 7, with the three fingers 5 and the three rectangular apertures 7 in one-to-one correspondence, as shown in fig. 7-8, with the maximum width (6mm) and maximum length (12mm) of the finger 5 both being less than (6.8mm, 12.8mm) of the rectangular aperture 7, thus allowing a small amount of mechanical tolerances, and fig. 9 is a three-dimensional view of the cross pin 3, with the height (5.4mm) of the cross pin 3 being slightly less than the height (6.6mm) of the slot of the finger 5, allowing a small amount of engagement tolerances.

Reference to the literature

1.Mori M,Hirose S.Three-dimensional serpentine motion and lateral rolling by active cord mechanism ACM-R3[C]//IEEE/RSJ International Conference on Intelligent Robots&Systems.IEEE,2002.

2.Wright C,Buchan A,Brown B,et al.Design and architecture of the unified modular snake robot[C]//IEEE International Conference on Robotics&Automation. IEEE,2012.

3.Rollinson D,Bilgen Y,Brown B,et al.Design and architecture of a series elastic snake robot[C]//IEEE/RSJ International Conference on Intelligent Robots&Systems. IEEE,2014.

4.Liljeback P,Stavdahl O,Pettersen K Y,et al.Mamba-A waterproof snake robot with tactile sensing.[C]//IEEE/RSJ International Conference on Intelligent Robots& Systems.IEEE,2014.

5.Davey J,Kwok N,Yim M.Emulating self-reconfigurable robots-design of the SMORES system[C]//IEEE/RSJ International Conference on Intelligent Robots& Systems.IEEE,2012.

6.Sprowitz,Alexander,Moeckel R,Vespignani M,et al.Roombots:A hardware perspective on 3D self-reconfiguration and locomotion with a homogeneous modular robot.[J].Robotics&Autonomous Systems,2014,62(7):1016-1033.

7.Suzuki Y,Tsutsui Y,Yaegashi M,et al.Modular robot using helical magnet for bonding and transformation[C]//IEEE International Conference on Robotics& Automation.IEEE,2017。

Claims

1. A hook-baffle-bolt butt joint mechanism comprises a hook connecting piece (1) with a guide rail, a baffle (2) with a hole and a cross bolt (3) meshed with the hook; wherein,

claw connection (1): a male joint docking mechanism as one of the external mechanical devices; comprises a first connecting plate (6), guide rails (4) symmetrically arranged at two sides of the first connecting plate (6), and three identical claws (5) distributed in an isosceles triangle shape;

baffle (2): a female docking mechanism as another external mechanical device; comprises a second connecting plate (8) and three identical rectangular holes (7) which are distributed in an isosceles triangle shape and are arranged on the second connecting plate (8);

cross bolt (3): the fixing device is used for fixing the male head and the female head; comprises a slot (9) fixed with an external driving device and three conjoined bolts (10) engaged with the hook claw (5);

the three hooks (5) and the two guide rails (4) are arranged on the same plane of the external mechanical device connecting plate I, wherein the vertexes and the bottom sides of isosceles triangles formed by the three hooks (5) are respectively opposite to the two guide rails (4);

the positions of the three rectangular holes (7) on the baffle (2) correspond to the positions of the three hooks (5) on the hook connecting piece (1) one by one;

the claw (5) adopts a slope configuration to facilitate sliding into the rectangular hole (7).

2. The finger-flapper-latch docking mechanism according to claim 1, wherein: the single guide rail (4) consists of two concentric arcs of 20 degrees with radii of 65mm and 70mm, respectively.