CN110394788A - A kind of spatial cell robot double locking is to connection module - Google Patents
A kind of spatial cell robot double locking is to connection module Download PDFInfo
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- CN110394788A CN110394788A CN201910692797.9A CN201910692797A CN110394788A CN 110394788 A CN110394788 A CN 110394788A CN 201910692797 A CN201910692797 A CN 201910692797A CN 110394788 A CN110394788 A CN 110394788A
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- China
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- guide rail
- bevel gear
- strut
- rail strut
- groove
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of spatial cell robot double lockings to expand sliding block, passive interface, outer housing, servo motor by active mating face to connection module, motor support plate, transmission shaft, cam, incomplete bevel gear, cross guide rail, fixture block, guide rail strut, spring, groove bevel gear, the composition such as bolt；Servo motor band moving cam and incomplete bevel gear are rotated, and the guide rail strut on the cross guide rail being in contact with cam face is driven to move in a straight line；When incomplete bevel gear part with teeth drives the rotation of groove bevel gear, sinusoidal groove of the guide rail strut along groove on bevel gear can be driven to do radial dilatation movement；When guide rail strut does radial dilatation movement, guide rail strut drives four expansion sliding blocks being connected on active mating face with guide rail strut and fixture block radial dilatation, completion and the double locking to the passive interface of connection module simultaneously, has the function of double locking docking.
Description
Technical field
The present invention relates to a kind of spatial cell robot double lockings to connection module, belongs to robotic technology field.
Background technique
Spatial cell robot is the new branch of science that robot research field is risen in recent years, is that current robot is ground
The hot spot studied carefully.At present both at home and abroad existing spatial cell robot mainly have to connection module electromagnetic type, memorial alloy formula and
Mechanically, different cells has the connecting end surface of Unified Form to connection module, by by several can any combination unit
Module is connected with each other, and can realize different motion mode and function with the different variations for carrying out configuration of environment, particularly suitable
Space tasks under complex environment.
Summary of the invention
The present invention devises a kind of spatial cell robot double locking to connection module, is mainly used for aerospace field.
Basic technical scheme is: spatial cell robot double locking, by active mating face, expands sliding block, quilt to connection module
Dynamic interface, outer housing, servo motor, motor support plate, transmission shaft, cam, incomplete bevel gear, cross guide rail, fixture block are led
Rail strut, spring, groove bevel gear, the composition such as bolt.
Outer housing is connected with each other by screw, collectively forms the square shape of module；Servo motor and motor support plate
It is connected, the power device as inside modules transmission mechanism.
Cam and incomplete bevel gear are commonly mounted on transmission shaft, and transmission shaft is connected with servo motor, Ke Yigai
Become the energization phase sequence of servo motor, band moving cam and incomplete bevel gear are rotated.
Cam is in contact with cross guide rail surface, is rotated by cam, and driving cross guide rail moves forward.
Fixture block is connected with guide rail strut, and guide rail strut is mounted in the sliding slot of cross guide rail, and cross guide rail can drive guide rail
Strut moves in a straight line.
Spring is installed between groove bevel gear and cross guide rail, there is limit damping in the linear motion of guide rail strut
Effect.
Groove bevel gear is mounted on outer housing, on groove bevel gear with sinusoidal groove, guide rail strut always with
Sinusoidal groove is tangent, when the rotation of groove bevel gear, guide rail strut can be driven to do radial dilatation movement.
There are four the active mating faces of sliding slot to be bolted on outer housing for band；Four expansion sliding blocks are mounted on actively
In four sliding slots of interface, and it is connected with guide rail strut, when guide rail strut does radial dilatation movement, four expansion sliding blocks
Simultaneously to radial dilatation, when docking with the passive interface of other modules, the relocking for completing module docking is tight；Passive interface
It slots with cross, in module docking, when guide rail strut does radial dilatation movement, can drive simultaneously on guide rail strut
Fixture block is radially expanded in cross fluting, completes double locking；Two kinds of locking modes are the guide rails in module docking
It is completed at the same time under the drive of strut, therefore, has the function of double locking.
The present invention has the advantages that
It, can be with other modules to being connected in various forms of working group's texture 1. the present invention uses the configuration scheme of regular hexahedron
Type, shape 1 uniformly increase the flexibility of movement.
2. the present invention uses dual locking form, when module with other modules when dock, with preferable stability,
Guarantee that the spatial cell machine man-hour of reconstruct docking is not easy to deconstruct.
A kind of expansion sliding block locking mechanism of 3 innovative designs of the present invention is driven using the mechanical structure that inside has and is completed,
It is affected by environment smaller, suitable for working under complicated space environment.
Detailed description of the invention:
Mechanism is further illustrated with reference to the accompanying drawing.
Attached drawing 1: spatial cell robot double locking is to connection module overall schematic
Attached drawing 2: spatial cell robot double locking docks inside modules structural schematic diagram
Attached drawing 3: spatial cell robot double locking docks schematic diagram to connection module
In figure: 1 active mating face, 2 expansion sliding blocks, 3 fixture blocks, 4 bolts, 5 passive interfaces, 6 outer housings, 7 motor support plates, 8
Servo motor, 9 groove bevel gears, 10 springs, 11 guide rail struts, 12 cross guide rails, 13 incomplete bevel gears, 14 transmission shafts, 15
Cam.
Specific embodiment
With reference to the accompanying drawing, components of the present invention and its correlation are illustrated.
Structure of the invention is as depicted in figs. 1 and 2, and a kind of spatial cell robot double locking is to connection module by active mating
Face (1) is expanded sliding block (2), fixture block (3), bolt (4), passive interface (5), outer housing (6), motor support plate (7), servo
Motor (8), groove bevel gear (9), spring (10), guide rail strut (11), cross guide rail (12), incomplete bevel gear (13) pass
Moving axis (14), the composition such as cam (15).
Outer housing (6) is connected with each other by screw, collectively forms the square shape of module；Servo motor (8) and motor
Support plate (7) is connected, and is fixed on outer housing (6), and transmission shaft (14) is connected with servo motor (8), and transmission shaft (14) is pacified
Equipped with cam (15) and incomplete bevel gear (13), servo motor (8) passes through the energization phase sequence changed, with moving cam (15) and not
Complete bevel gear (13) is rotated, and cam (15) is in contact with cross guide rail (12) surface, is rotated by cam (15), driving
Cross guide rail (12) moves forward.
Fixture block (3) is connected with guide rail strut (11), and guide rail strut (11) is mounted in the sliding slot of cross guide rail (12), cross
Guide rail (12) can drive guide rail strut (11) to move in a straight line.Bullet is installed between groove bevel gear (9) and cross guide rail (12)
Spring (10), has the function of limit damping in the linear motion of guide rail strut (11).
Groove bevel gear (9) is mounted on outer housing (6), with the groove of sinusoidal, guide rail branch on groove bevel gear (9)
Bar (11) is tangent with sinusoidal groove always, and groove bevel gear (9) and incomplete bevel gear (13) are meshed, when incomplete cone tooth
When taking turns the rotation of (13) part drive groove bevel gear (9) with teeth, guide rail strut (11) can be driven to do radial dilatation movement.
Active mating face (1) is fixed on outer housing by bolt (4)；Four expansion sliding blocks (2) are mounted on active mating
In four sliding slots in face (1), and it is connected with guide rail strut (11), when guide rail strut (11) does radial dilatation movement, four expansions
Opening sliding block (2) can also complete tight with the relocking to connection module when module is docked to radial dilatation simultaneously；Passive interface
(5) there is cross fluting when guide rail strut (11) does radial dilatation movement, can drive guide rail branch simultaneously when module is docked
Fixture block (3) on bar (11) is radially expanded in cross fluting, completes double locking；Two kinds of locking modes are in mould
It when block docks, is completed at the same time under the drive of guide rail strut (11), has the function of that double locking, Fig. 3 are spatial cell machine
People's double locking docks schematic diagram to connection module.
Working method of the present invention and work step are illustrated below.
For spatial cell robot double locking to connection module when docking, servo motor (8) drive is mounted on transmission
A pair of cams (15) and incomplete bevel gear (13) on axis (14) rotate synchronously, and cam (15) pushes the cross guide rail of front end
(12) it is moved forward with the guide rail strut (11) that is mounted in cross guide rail (12) sliding slot, spring (10) is constantly pressed in moving process
Shrink the effect of limit damping.
When guide rail strut (11) is moved to certain distance, cam (15) switchs to stop area by working region, complete at this time
At the linear motion of guide rail strut (11), the fixture block (3) on guide rail strut (11) is stretched out into active mating face (1), when incomplete
When the toothed portion of bevel gear (13) and groove bevel gear (9) are intermeshed, under the drive of groove bevel gear (9), guide rail branch
Bar (11) starts to do radial dilatation movement, when guide rail strut (11) reach the end position of groove bevel gear (9) sinusoidal groove
When setting, sliding block (3) is had been embedded in the cross fluting to the passive interface of connection module (5) at this time, completes the tight work of a relocking
Make, in guide rail strut (11) while starting to do radial dilatation movement, four expansion sliding blocks being connected with guide rail strut (11)
(2) the double locking work with passive interface (5) also is completed simultaneously to radial dilatation.
Claims (1)
1. a kind of spatial cell robot double locking is to connection module, it is characterised in that: outer housing (6) is mutually interconnected by screw
It connects, collectively forms the square shape of module；Servo motor (8) drives by the energization phase sequence changed and is mounted on transmission shaft
(14) cam (15) and incomplete bevel gear (13) on are rotated, and cam (15) is in contact with cross guide rail (12) surface,
It is rotated by cam (15), drives cross guide rail (12) and the guide rail strut (11) being mounted in cross guide rail (12) sliding slot and card
Block (3) does forward linear motion；Being mounted on spring (10) between groove bevel gear (9) and cross guide rail (12) has limit resistance
The effect of Buddhist nun；Groove bevel gear (9) is mounted on outer housing (6), guide rail strut (11) always on groove bevel gear (9) just
String shape groove is tangent, and groove bevel gear (9) and incomplete bevel gear (13) are meshed, when incomplete bevel gear (13) portion with teeth
When dividing the rotation for driving groove bevel gear (9), guide rail strut (11) can be driven to do radial dilatation movement；Active mating face (1) is logical
Bolt (4) is crossed to be fixed on outer housing；Four expansion sliding blocks (2) being mounted in four sliding slots in active mating face (1) with lead
Rail strut (11) is connected, and when guide rail strut (11) does radial dilatation movement, four expansion sliding blocks (2) are also simultaneously to radial expansion
, when module is docked, it can complete tight with the relocking to connection module；Passive interface (5) is slotted with cross, module pair
When connecing, when guide rail strut (11) does radial dilatation movement, the fixture block (3) on guide rail strut (11) can be driven to carry out simultaneously radial
It is expanded in cross fluting, completes double locking；, and two kinds of locking modes are the guide rail struts in module docking
(11) it is completed at the same time under drive, has the function of double locking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910692797.9A CN110394788B (en) | 2019-07-30 | 2019-07-30 | Dual-locking butt-joint module of space cell robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910692797.9A CN110394788B (en) | 2019-07-30 | 2019-07-30 | Dual-locking butt-joint module of space cell robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110394788A true CN110394788A (en) | 2019-11-01 |
| CN110394788B CN110394788B (en) | 2020-11-27 |
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ID=68326371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910692797.9A Active CN110394788B (en) | 2019-07-30 | 2019-07-30 | Dual-locking butt-joint module of space cell robot |
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| Country | Link |
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| CN (1) | CN110394788B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140222198A1 (en) * | 2013-01-24 | 2014-08-07 | Mohammad Reza Emami | System, method and computer program for autonomously emulating robot manipulators of continuously-varying configurations |
| CN108789377A (en) * | 2018-08-09 | 2018-11-13 | 哈尔滨工业大学（威海） | A kind of connection unit of chute-type space via Self-reconfiguration cellular machineries people |
| CN108890635A (en) * | 2018-09-20 | 2018-11-27 | 哈尔滨理工大学 | A kind of interstitial cell being bi-directionally connected for spatial cell robot |
| CN108908304A (en) * | 2018-09-20 | 2018-11-30 | 哈尔滨理工大学 | A kind of improved sinusoidal acceleration cam lock holding mechanism |
| CN109015618A (en) * | 2018-09-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of interstitial cell for spatial cell robot |
| CN109015738A (en) * | 2018-09-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of clamping jaw functioning cell for boom crawl |
| CN109015743A (en) * | 2018-09-28 | 2018-12-18 | 哈尔滨理工大学 | A kind of cross chute extension fixture |
-
2019
- 2019-07-30 CN CN201910692797.9A patent/CN110394788B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140222198A1 (en) * | 2013-01-24 | 2014-08-07 | Mohammad Reza Emami | System, method and computer program for autonomously emulating robot manipulators of continuously-varying configurations |
| CN108789377A (en) * | 2018-08-09 | 2018-11-13 | 哈尔滨工业大学（威海） | A kind of connection unit of chute-type space via Self-reconfiguration cellular machineries people |
| CN109571451A (en) * | 2018-08-09 | 2019-04-05 | 哈尔滨工业大学（威海） | A kind of connection unit of chute-type space via Self-reconfiguration cellular machineries people |
| CN108890635A (en) * | 2018-09-20 | 2018-11-27 | 哈尔滨理工大学 | A kind of interstitial cell being bi-directionally connected for spatial cell robot |
| CN108908304A (en) * | 2018-09-20 | 2018-11-30 | 哈尔滨理工大学 | A kind of improved sinusoidal acceleration cam lock holding mechanism |
| CN109015618A (en) * | 2018-09-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of interstitial cell for spatial cell robot |
| CN109015738A (en) * | 2018-09-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of clamping jaw functioning cell for boom crawl |
| CN109015743A (en) * | 2018-09-28 | 2018-12-18 | 哈尔滨理工大学 | A kind of cross chute extension fixture |
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| Publication number | Publication date |
|---|---|
| CN110394788B (en) | 2020-11-27 |
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