CN112276991B - Docking mechanism of mobile robot - Google Patents
Docking mechanism of mobile robot Download PDFInfo
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- CN112276991B CN112276991B CN202011128768.9A CN202011128768A CN112276991B CN 112276991 B CN112276991 B CN 112276991B CN 202011128768 A CN202011128768 A CN 202011128768A CN 112276991 B CN112276991 B CN 112276991B
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- locking
- butt joint
- spring
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- docking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
Abstract
The invention relates to the technical field of self-reconfigurable robots, in particular to a docking mechanism for a mobile robot, which comprises a three-jaw docking module, a self-locking module, a self-adaptive docking head module and the like, so that the tolerance of the self-reconfigurable robot in the docking process is improved, the self-reconfigurable robot adopting the docking mechanism has stronger self-adaptive capacity, and meanwhile, the original rigid connection of the robot is changed into the flexible connection in the docking process, and the flexible capacity of the self-reconfigurable robot is further improved.
Description
Technical Field
The invention relates to the technical field of self-reconfigurable robots, in particular to the field of docking equipment for self-reconfigurable robots, and specifically relates to a docking mechanism for a mobile robot.
Background
Since the first CEBOT self-reconfigurable robot system was developed, various principle models were developed by domestic and foreign research institutes. The modular self-reconfiguration robot system realizes the reconfiguration function by changing the connection relation between the modules, so the butt joint mechanism between the modules is the key for realizing reconfiguration. In the design of the docking mechanism, there are currently a mechanical connection mechanism, a magnetic connection mechanism, and a hybrid connection mechanism. But the mobile robot docking mechanism with wider application range is still developed and stagnated, and experimental prototypes are fewer. The docking mechanism of the mobile inspection robot can be widely applied to various fields. The docking mechanism is used for transforming the traditional robot, so that the micro mobile robot can reach narrow and dangerous occasions where people cannot reach, the advantages of the robot are fully utilized, and the moving radius and the obstacle crossing capability of the robot are greatly improved. Therefore, research is carried out aiming at the key problems of the modularized mobile robot docking mechanism, and the method has important significance for building a mobile self-reconstruction robot system and also has important theoretical and practical basis for disaster relief and rescue of non-structural environments.
In the prior art, the docking technology about the self-reconfigurable robot is disclosed, after the robot is docked, the robot is rigidly connected, and the flexibility is lacked; meanwhile, in the butt joint process, the existing self-reconfigurable butt joint robot technology has the technical defect of low tolerance. Based on the defects, the invention provides a docking mechanism of a mobile robot, so as to solve the problems.
Disclosure of Invention
The invention aims to: the docking mechanism of the mobile robot is provided for solving the technical defects that the existing self-reconfigurable robot is low in tolerance in the docking process, rigid in connection after the docking is completed and lack of flexibility. According to the invention, by arranging the three-jaw docking module, the self-locking module, the self-adaptive docking head module and other structures, the tolerance of the self-reconfigurable robot in the docking process is improved, so that the self-reconfigurable robot adopting the docking mechanism has stronger self-adaptive capacity, and meanwhile, the original rigid connection of the robot is changed into the existing flexible connection in the docking process, thereby further improving the flexible capacity of the self-reconfigurable robot. By adopting the self-reconfigurable robot docking mechanism, the tolerance of the self-reconfigurable robot in the docking process can be effectively improved, so that the self-reconfigurable robot adopting the docking mechanism has stronger self-adaptive capacity, and meanwhile, the original rigid connection of the robot is changed into the existing flexible connection in the docking process, thereby further improving the flexible capacity of the self-reconfigurable robot.
In order to realize the technical scheme, the invention is realized by the following technical scheme:
a docking mechanism of a mobile robot comprises a three-jaw docking module and a self-adaptive docking joint module, wherein a self-locking module is arranged at one end of the three-jaw docking module, and the three-jaw docking module is rotatably connected with the side wall of a shell box;
the self-adaptive butt joint module comprises a conical butt joint, an annular clamping groove flexibly connected with the three-jaw butt joint module is formed in the outer wall of the conical butt joint, a flexible connecting part is fixed in the inner cavity of the conical butt joint, and the flexible butt joint provides a flexible effect for the self-adaptive butt joint;
the self-locking module comprises a limiting sleeve, the top of the limiting sleeve is fixedly connected with the outer case, the bottom of the limiting sleeve is connected with a compression reset component, a supporting component is arranged on the limiting sleeve, a locking component is arranged on the supporting component, a sliding component is sleeved on the compression reset component and connected with the locking component, and a three-jaw butt joint module is hinged to the sliding component.
In order to better implement the present invention, as further described in the above technical solution, the flexible connection component includes a spring fixing seat fixedly connected with an inner cavity of the tapered docking head, a plurality of first spring fixing holes which are inclined towards the inner wall of the conical butt joint are annularly arranged on the spring fixing seat, the included angle of the first spring fixing hole on one side of the inner wall of the conical butt joint is 5-45 degrees, and a first spiral curved groove is arranged on the inner wall of the first spring fixing hole, a first spring is filled on the first spiral curved groove, the other end of the spring is connected with a base, the base is provided with second spring fixing holes which are coaxial with the first spring fixing holes and have the same number, the inner cavity of the second spring fixing hole is provided with a second spiral curved groove matched with the first spring, and the base is annularly provided with a plurality of connecting holes.
As a further description of the above technical solution, an axial first through groove is provided on the cylinder wall of the limiting sleeve, a through hole is provided on a side surface opposite to the first through groove, a hollow guide rod is provided in the limiting sleeve, and an unlocking hole and a locking hole are provided on a side surface of the guide rod.
As a further description of the above technical solution, the compression reset component includes a compression spring sleeved on the guide rod, a sliding component is fixedly connected to the compression spring, and one end of the compression spring is fixedly connected to the guide rod.
As a further description of the above technical solution, the locking component includes a locking seat fixedly connected with the supporting component, a locking outer housing is fixed on the locking seat, an inner cavity of the locking outer housing is provided with a stepped shaft, one end of the stepped shaft is inserted into the unlocking hole, the other end is connected with the rear cover through a locking spring, the rear cover is fixedly connected with the locking outer housing, and one side of the locking hole of the guide rod is provided with an electromagnet, the electromagnet is provided with an electromagnetic pin, and the electromagnetic pin pushes the stepped shaft into the locking hole under the power-on state to realize unlocking.
As the further description of above-mentioned technical scheme, the step shaft includes the unblock section that matches with the locking hole, the one end fixedly connected with locking section of unblock section, the other end fixedly connected with fixed disk of locking section, the other end of fixed disk is provided with the flexible section of direction quarter butt, the cover is equipped with the locking spring on the flexible section of direction quarter butt, the both ends of locking spring respectively with fixed disk and back lid fixed connection.
As a further description of the above technical solution, the supporting component includes a supporting plate, a plurality of copper columns are disposed on the lower side surface of the supporting plate, and the other ends of the copper columns are fixedly connected with the bottom surface of the inner cavity of the outer shell case through screws.
As a further description of the above technical solution, the sliding component includes a sliding disk, the sliding disk is fixedly connected with a return spring, a plurality of first connecting portions are arranged on an outer side surface of the sliding disk, a locking rod is connected to the sliding disk, a small diameter section having the same diameter as the unlocking section is arranged on a rod body of the locking rod and penetrates along a long side direction of the rod body, one end of the small diameter section close to the stepped shaft is communicated with a large diameter section having the same diameter as the locking section, and the unlocking section is arranged in the small diameter section.
As a further description of the above technical solution, the three-jaw docking module includes at least three jaw docking components, the jaw docking components include a connecting rod, one end of the connecting rod is hinged to the hinge portion on the sliding disk, the other end is hinged to an arm lever through a rotating shaft, the rotating shaft is rotatably connected to the outer casing, and the other end of the arm lever is provided with a contact jaw having an arc docking curved surface, and the contact jaw is clamped and matched with the annular clamping groove.
As a further description of the above technical solution, the outer case includes a case body with an open top, second through grooves with the same number as that of the sliding disc are circumferentially arranged on the side surfaces of the case body, two side surfaces of the second through grooves are provided with two lug supports, and the arm levers are rotatably connected to the two lug supports.
Compared with the prior art, the invention has the following advantages and beneficial effects:
in the invention, the three-jaw docking module is arranged, and the contact jaws in the three-jaw docking module and the clamping grooves on the conical docking joint in the self-adaptive docking module are used for grabbing and docking, so that the three-jaw docking module and the self-adaptive docking module form a flexible connection structure, the technical defect that the flexibility of the self-reconfigurable robot is poor due to rigid connection in the docking process of the existing self-reconfigurable robot is further overcome, and the flexibility of the self-reconfigurable robot is effectively improved by adopting the docking mode.
In the invention, the self-adaptive butt joint module is arranged, the bottom plate in the self-adaptive butt joint module is flexibly connected with the conical butt joint, and the bottom plate is independently designed, so that the self-adaptive capacity of the self-adaptive butt joint module is obviously improved, and the butt joint tolerance is further improved.
In the invention, when the self-reconfigurable robot with the structure of the invention walks in mountainous areas, the self-adaptive connecting module of the self-reconfigurable robot can be quickly butted, and the self-adaptive module is provided with the plurality of first springs, so that a flexible connecting structure is formed between the base and the conical butt joint, further the whole device can be successfully butted under the complex geographical conditions such as rugged terrains, and finally, the adaptability and the practicability of the invention are enhanced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is a schematic three-dimensional structure of an adaptive docking head module according to the present invention;
FIG. 3 is a schematic diagram of the internal three-dimensional structure of the adaptive docking module according to the present invention;
FIG. 4 is a schematic diagram of the internal three-dimensional structure of the self-locking mold according to the present invention;
FIG. 5 is a schematic three-dimensional structure of the enclosure box of the present invention;
FIG. 6 is a schematic diagram of a three-dimensional structure of a self-locking module according to the present invention;
FIG. 7 is a schematic three-dimensional structure of a spacing sleeve according to the present invention;
FIG. 8 is a schematic three-dimensional structure of a guide bar according to the present invention;
FIG. 9 is a schematic three-dimensional structure of a locking element of the present invention;
FIG. 10 is a schematic three-dimensional structure of a support member of the present invention;
FIG. 11 is a schematic three-dimensional structure of the stepped shaft of the present invention;
fig. 12 is a schematic three-dimensional structure of the locking rod of the present invention.
In the figure, 1-three-jaw docking module, 2-outer shell box, 3-self-locking module, 4-self-adaptive docking joint module, 11-connecting rod, 12-arm rod, 13-rotating shaft, 14-contact jaw, 21-box body, 22-second through groove, 23-double-lug support, 31-limiting sleeve, 32-compression reset component, 33-locking component, 34-supporting component, 35-sliding component, 41-conical docking joint, 42-annular clamping groove, 43-spring fixing seat, 44-first spring fixing hole, 45-first spring, 46-base, 47-second spring fixing hole, 48-connecting hole, 312-first through groove, 313-through hole, 321-guide rod and 322-compression spring are marked, 331-a locking seat, 332-a locking outer shell, 333-a stepped shaft, 334-an electromagnet, 335-a rear cover, 336-an electromagnetic pin shaft, 341-a supporting plate, 342-a copper column, 351-a sliding disc, 352-a first connecting part, 353-a locking rod, 3211-an unlocking hole, 3212-a locking hole, 3331-an unlocking section, 3332-a locking section, 3333-a fixed disc guiding section, 3334-a guiding short rod telescopic section, 3335-a locking spring, 3531-a small diameter section and 3532-a large diameter section.
Detailed Description
The present invention will be described in detail and with reference to preferred embodiments thereof, but the present invention is not limited thereto.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "first", "second", "third", etc. are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
The terms "upper", "lower", "left", "right", "inner", "outer", and the like, refer to orientations or positional relationships based on orientations or positional relationships illustrated in the drawings or orientations and positional relationships that are conventionally used in the practice of the products of the present invention, and are used for convenience in describing and simplifying the invention, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the invention.
Furthermore, the terms "vertical" and the like do not require absolute perpendicularity between the components, but may be slightly inclined. Such as "vertical" merely means that the direction is relatively more vertical and does not mean that the structure must be perfectly vertical, but may be slightly inclined.
In the description of the present invention, it is also to be noted that the terms "disposed," "mounted," "connected," and the like are to be construed broadly unless otherwise specifically stated or limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
as a preferred embodiment, it is shown in FIG. 1 to FIG. 12;
a docking mechanism of a mobile robot comprises a three-jaw docking module 1 and a self-adaptive docking joint module 4, wherein a self-locking module 3 is arranged at one end of the three-jaw docking module 1, and the three-jaw docking module 1 is rotatably connected with the side wall of a shell box 2;
the adaptive butt joint module 4 comprises a conical butt joint 41, an annular clamping groove 42 flexibly connected with the three-jaw butt joint module 1 is formed in the outer wall of the conical butt joint 41, a flexible connecting part is fixed in the inner cavity of the conical butt joint 41, and the flexible butt joint part provides a flexible effect for the adaptive butt joint;
the self-locking module 3 comprises a limiting sleeve 31, the top of the limiting sleeve 31 is fixedly connected with the outer case 2, the bottom of the limiting sleeve 31 is connected with a compression reset component 32, a supporting component 34 is arranged on the limiting sleeve 31, a locking component 33 is arranged on the supporting component 34, a sliding component 35 is sleeved on the compression reset component 32, and a three-claw butt joint module 1 is hinged to the sliding component 35.
In order to more clearly and clearly illustrate the present invention, as a preferred embodiment, in this embodiment, the docking mechanism is provided with a three-jaw docking module, and the three-jaw docking module is connected with the tapered docking head 41 of the adaptive docking module, so that the entire docking mechanism forms a flexible docking structure, and the three-jaw docking module is connected with the tapered docking head 41 of the adaptive docking module, so that a technical defect that the existing self-reconfigurable robot is poor in flexibility because rigid connection is adopted in a docking process is overcome, and the flexibility of the self-reconfigurable robot is effectively improved by adopting the docking method.
Meanwhile, in this embodiment, in order to explain the present invention more clearly, the conical docking head 41 and the base 46 are connected by the first spring 45, so that a flexible connection structure is formed between the base 46 and the conical docking head 41, a bottom plate is independently designed, so that the adaptive capacity of the adaptive docking module is obviously improved, and the adaptive docking module is formed among the conical docking head 41, the first spring 45 and the base 46, so that the tolerance of the three-jaw docking module 1 and the adaptive docking module during docking is obviously improved.
It should be noted that, as a preferred embodiment, the annular locking groove 42 provided on the tapered docking head 41 in the present embodiment is an inward-recessed structure, which is advantageous in that the entire tapered docking head 41 module can have a compact and small structure, thereby ensuring the structure and size of the present invention to be controllable.
In order to better implement the present invention, as a further description of the above technical solution, the flexible connecting component includes a spring fixing seat 43 fixedly connected with the inner cavity of the tapered butt joint 41, a plurality of first spring 45 fixing holes 44 inclined towards the inner wall of the tapered butt joint 41 are circumferentially arranged on the spring fixing seat 43, an included angle of the first spring 45 fixing holes 44 at one side of the inner wall of the tapered butt joint 41 is 5-45 °, a first spiral curved groove is arranged on the inner wall of the first spring 45 fixing hole 44, the first spiral curved groove is filled with a first spring 45, the other end of the spring is connected with a base 46, a second spring fixing hole 47 coaxial and equal in number to the first spring 45 fixing hole 44 is arranged on the base 46, a second spiral curved groove matched with the first spring 45 is arranged in the inner cavity of the second spring fixing hole 47, a plurality of connection holes 48 are circumferentially formed in the base 46.
In order to further clarify and clarify the present invention, in the present embodiment, as a preferred embodiment, the included angle between the first spring fixing hole 44 and the inner wall side of the tapered abutment 41 is 10 °, and by setting the included angle of 10 °, when the first spring 45 is installed in the first spring fixing hole 44, the first spring 45 and the first spring fixing hole 44 have good fitting property. And the contained angle that lies in on the unable adjustment base 46 sets up to 10 and forms coaxial structure with the hole of second spring fixed orifices 47 and first spring fixed orifices 44 for can form stable flexible connection structure after being connected through first spring 45 between spring fixing base 43 and the base 46, and, install flexible connection part at the inner chamber of toper butt joint 41, make toper butt joint 41 when three-jaw butt joint module docks, can carry out the flexible regulation to the butt joint module, the whole docking mechanism's that also just also further promotes flexibility simultaneously ability.
As a further description of the above technical solution, an axial first through groove 312 is arranged on the wall of the limiting sleeve 31, a through hole 313 is arranged on the opposite side surface of the first through groove 312, a hollow guide rod 321 is slidably arranged in the limiting sleeve 31, and an unlocking hole 3211 and a locking hole 3212 are arranged on the side surface of the guide rod 321.
As a further description of the above technical solution, the compression reset component 32 includes a compression spring 322 sleeved on the guide rod 321, the compression spring 322 is fixedly connected with the sliding component 35, and one end of the compression spring 322 is fixedly connected with the guide rod 321.
As a further description of the above technical solution, the locking member 33 includes a locking seat 331 fixedly connected to the supporting member 34, a locking outer housing 332 is fixed to the locking seat 331, a stepped shaft 333 is disposed in an inner cavity of the locking outer housing 332, one end of the stepped shaft 333 is inserted into the unlocking hole 3211, the other end is connected to a rear cover 335, the rear cover 335 is fixedly connected to the locking outer housing 332, an electromagnet 334 is disposed on one side of the locking hole 3212 of the guide rod 321, an electromagnetic pin is disposed on the electromagnet 334, and the electromagnetic pin pushes the stepped shaft 333 into the locking hole 3212 in an energized state to unlock the lock.
In order to more clearly and clearly illustrate the present invention, in the present embodiment, the locking member 33 is provided with the locking outer housing 332, and the locking outer housing 332 is fixed on the supporting member 34 through the locking seat 331, and then the stepped shaft 333 is provided in the inner cavity of the locking outer housing 332, and the stepped shaft 333 is connected with the rear cover 335 fixed on the locking outer housing 332 by the locking spring 3335 to form a compression return mechanism, so that the locking spring 3335 of the locking member 33 is effectively in a compressed state in an unlocked state, which enables the trapezoidal rod to be automatically locked into the guide rod 321 under the spring action of the locking spring 3335 when locking is required, thereby enabling the structure to be compact without additional energy.
As a further description of the above technical solution, the stepped shaft 333 includes an unlocking section 3331 matched with the locking hole 3212, an one end fixedly connected with locking section 3332 of the unlocking section 3331, another end fixedly connected with fixing disc of the locking section 3332, another end of the fixing disc is provided with a guiding short rod telescopic section 3334, a locking spring 3335 is sleeved on the guiding short rod telescopic section 3334, and two ends of the locking spring 3335 are respectively fixedly connected with the fixing disc and the rear cover 335.
As a further description of the above technical solution, the supporting component 34 includes a supporting plate 341, a plurality of copper columns 342 are disposed on a lower side surface of the supporting plate 341, and the other ends of the copper columns 342 are fixedly connected with the bottom surface of the inner cavity of the outer casing 2 through screws.
As a further description of the above technical solution, the sliding member 35 includes a sliding disk 351, the sliding disk 351 is fixedly connected to the return spring, a plurality of first connecting portions 352 are provided on an outer side surface of the sliding disk 351, a locking rod 353 is connected to the sliding disk 351, a small diameter section 3531 having the same diameter as the unlocking section 3331 is provided on a shaft of the locking rod 353 and penetrates in a longitudinal direction thereof, a large diameter section 3532 having the same diameter as the locking section 3332 is communicated with one end of the small diameter section 3531 close to the stepped shaft 333, and the unlocking section 3331 is disposed in the small diameter section 3531.
In order to more clearly and clearly illustrate the present invention, as a preferred embodiment, in this embodiment, the specific working process of the self-locking module 3 is as follows: taking the whole process that the whole mechanism using the mechanism needs to be connected and separated by unlocking as an example; assuming that the mechanism is in a locked state and needs to be unlocked, firstly, the electromagnet 334 is turned on, then the electromagnet 334 pushes the electromagnetic pin 336 out and pushes the unlocking section 3331 back into the unlocking hole 3212 through the electromagnetic pin 336, further, as the tapered docking head continuously moves backwards, the size of the tapered docking head undergoes a process of first increasing and then decreasing, the diameter of the contact shaft driving the contact claws first increases and then decreases, the sliding disc also moves downwards under the driving of the arm rod and moves upwards, and finally the three-claw docking module is completely disengaged.
Assuming that the adaptive docking module needs to be grasped and docked by using the structure, firstly, the electromagnet 334 is energized to push out the electromagnetic pin 336 to push the unlocking section 3331 into the unlocking hole 3212, further, the sliding disc 351 is driven by the compression spring 322 to move along the sleeve rod guide axis direction to approach one end of the supporting plate 341, further, the contact shaft diameter of the three-jaw docking module connected with the rotating disc becomes smaller, so far, the preparation work before grasping is completed, the further grasping process is started, along with the increasing of the shaft diameter size of the tapered docking head 41, the contact shaft diameter of the contact claw 14 becomes larger, meanwhile, the other end of the contact claw 14 drives the connecting rod 11 to move, the other end of the connecting rod 11 drives the sliding disc 351 to move downwards, and meanwhile, the sliding disc 351 compresses the spring 322 to provide energy for pre-locking. When the highest point of the arc surface of the contact claw 14 passes through the maximum axial radius of the tapered docking head 41, the compression spring 322 extends to drive the sliding disc 351 to move upwards, the sliding disc 351 simultaneously drives the connecting rod 11 to move, and the contact shaft diameter of the contact claw 14 is continuously reduced, further, after the three-claw docking module is docked with the tapered docking head 41, the return spring moves upwards, at this time, the locking rod 353 connected with the sliding disc 351 moves upwards and stops, further, the power supply of the electromagnet 334 is cut off, the electromagnetic pin 336 retracts, further, the stepped shaft 333 is ejected out under the pushing of the locking spring 3335 and is inserted into the locking hole 3212, and further, the locking is completed.
It should be particularly and clearly noted that, as a preferred embodiment, in this embodiment, immediately after the docking, the locking section 3332 of the stepped shaft 333 contacts the small diameter portion of the locking lever 353 by the electromagnetic pin 336 of the electromagnet 334 ejecting out, and the unlocking section 3331 slides in the small diameter portion 3531 of the locking lever 353, and as the locking lever 353 reaches the locking position by the above-mentioned series of movements, the trapezoidal rod locking section 3332 is inserted into the large diameter portion of the locking lever 353, and the unlocking section 3331 is inserted into the locking hole 3211 of the guide rod 321 to achieve the locking operation.
As a further description of the above technical solution, the three-jaw docking module 1 includes at least three jaw docking components, the jaw docking components include a connecting rod 11, one end of the connecting rod 11 is hinged to a hinged portion on the sliding disk 351, the other end is hinged to an arm 12 through a rotating shaft 13, the rotating shaft 13 is rotatably connected to the casing 2, and the other end of the arm 12 is provided with a contact jaw 14 having an arc-shaped docking curved surface, and the contact jaw 14 is snapped to match with the annular clamping groove 42.
In order to more clearly and clearly illustrate the present invention, in this embodiment, when the three-jaw docking module is in grabbing docking with the tapered docking head 41, the contact jaw 14 in the three-jaw docking module slowly slides into the annular slot 42 on the tapered docking head 41 along the tapered surface of the tapered docking head 41, during which the contact jaw 14 gradually expands and then snaps into the annular slot 42 after expanding to the maximum position, during the movement, the contact jaw 14 and the arc-shaped surface of the tapered docking head 41 are squeezed to generate a movement, which is transmitted to the sliding disk 351 through the connecting rod 11 component, further, the sliding disk 351 slides along the guiding rod, and the sliding disk 351 will squeeze the return spring during the sliding, thereby enabling the contact jaw 14 to be quickly flexibly connected with the tapered docking head 41.
As a further description of the above technical solution, the outer case 2 includes a case 21 with an open top, the side surface of the case 21 is provided with second through grooves 22 in an annular shape, the number of the second through grooves 22 is the same as that of the sliding disk 351, two side surfaces of the second through grooves 22 are provided with binaural supports 23, and the arm 12 is rotatably connected to the binaural supports 23.
In order to more clearly and clearly illustrate the present invention, in this embodiment, the adaptive docking module and the three-jaw docking module have the following docking scenarios:
scene one: the self-reconfigurable robot using the mechanism runs in mountainous areas and needs self-reconfiguration, and supposing that the contact claws 14 are completely clamped into the annular clamping groove 42 and the central position of the arc-shaped surface of the conical butt joint 41 is overlapped with the central position of the outer shell 2 provided with the three-claw butt joint module, in the use process, the three contact claws 14 simultaneously move along the conical butt joint 41 and are clamped into the annular clamping groove 42, and through the connection mode, the flexible butt joint mechanism formed between the three-claw butt joint module and the self-adaptive butt joint module has a stable structure, so that the compactness of the whole structure of the self-reconfigurable robot is ensured.
Scenario two: the self-reconfigurable robot using the mechanism runs in mountainous areas and needs self-reconfiguration, and supposing that part of three contact claws 14 are clamped in the annular clamping groove 42, the rest part of the three contact claws is in contact with the arc-shaped surface of the conical butt joint 41, and the conical butt joint 41 is in an eccentric state, in the using process, the conical butt joint 41 is clamped into the three contact claws 14 in the eccentric state, in order to improve the stability of the self-reconfigurable robot, the number of the contact claws 14 clamped into the annular clamping groove 42 is at least two, so that the design can ensure that the three-claw butt joint module has good connection capability after being connected with the self-adaptive butt joint module.
Through the scheme, the self-adaptive connecting module of the self-reconfiguration robot can be quickly butted, the first springs are arranged on the self-adaptive module, so that a flexible connecting structure is formed between the base and the conical butt joint, the whole device can be successfully butted under the complicated geographical conditions such as rugged terrain, and finally, the adaptability and the practicability of the self-reconfiguration robot are enhanced.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a docking mechanism of mobile robot which characterized in that: the self-locking butt joint device comprises a three-jaw butt joint module (1) and a self-adaptive butt joint module (4), wherein a self-locking module (3) is arranged at one end of the three-jaw butt joint module (1), and the three-jaw butt joint module (1) is rotationally connected with the side wall of a shell box (2);
the self-adaptive butt joint module (4) comprises a conical butt joint head (41), an annular clamping groove (42) flexibly connected with the three-jaw butt joint module (1) is formed in the outer wall of the conical butt joint head (41), a flexible connecting part is fixed in an inner cavity of the conical butt joint head (41), and the flexible butt joint part provides a flexible effect for the self-adaptive butt joint head;
the self-locking module (3) comprises a limiting sleeve (31), the top of the limiting sleeve (31) is fixedly connected with the outer case (2), the bottom of the limiting sleeve (31) is connected with a compression resetting part (32), a supporting part (33) is arranged on the limiting sleeve (31), a locking part (34) is arranged on the supporting part (33), a sliding part (35) is sleeved on the compression resetting part (32), the sliding part (35) is connected with the locking part (34), and the sliding part (35) is hinged with a three-claw butt joint module (1);
the flexible connecting part comprises a spring fixing seat (43) fixedly connected with an inner cavity of the conical butt joint (41), a plurality of first spring fixing holes (44) which are inclined towards the inner wall of the conical butt joint (41) are arranged on the spring fixing seat (43) in the circumferential direction, the included angle of the first spring fixing holes (44) at one side of the inner wall of the conical butt joint (41) ranges from 5 degrees to 45 degrees, a first spiral curved groove is arranged on the inner wall of each first spring fixing hole (44), a first spring (45) is filled in each first spiral curved groove, the other end of each spring is connected with a base (46), second spring fixing holes (47) which are coaxial with the first spring fixing holes (44) and have the same number are arranged on each base (46), a second spiral curved groove matched with the first spring (45) is arranged in the inner cavity of each second spring fixing hole (47), a plurality of connecting holes (48) are arranged on the base (46) in the circumferential direction.
2. The docking mechanism for a mobile robot according to claim 1, wherein: the wall of the limiting sleeve (31) is provided with an axial first through groove (312), a through hole (313) is formed in the opposite side face of the first through groove (312), a hollow guide rod (321) is arranged in the limiting sleeve (31), and an unlocking hole (3211) and a locking hole (3212) are formed in the side face of the guide rod (321).
3. The docking mechanism for a mobile robot according to claim 2, wherein: the compression reset component (32) comprises a compression spring (322) sleeved on the guide rod (321), a sliding component (35) is fixedly connected to the compression spring (322), and one end of the compression spring (322) is fixedly connected with the guide rod (321).
4. The docking mechanism for a mobile robot according to claim 3, wherein: the locking part (34) comprises a locking seat (331) fixedly connected with the supporting part (33), a locking outer shell (332) is fixed on the locking seat (331), a stepped shaft (333) is arranged in the inner cavity of the locking outer shell (332), one end of the stepped shaft (333) is inserted into an unlocking hole (3211), the other end of the stepped shaft is connected with a rear cover (335) through a locking spring, the rear cover (335) is fixedly connected with the locking outer shell (332), an electromagnet (334) is arranged on one side of the unlocking hole (3211) of the guide rod (321), an electromagnetic pin (336) is arranged on the electromagnet (334), and the stepped shaft (333) is jacked into the locking hole (3212) to be unlocked in the power-on state of the electromagnetic pin (336).
5. The docking mechanism for a mobile robot according to claim 4, wherein: stepped shaft (333) include the unblock section (3331) that matches with locking hole (3212), the one end fixedly connected with of unblock section (3331) locks section (3332), the other end fixedly connected with fixed disk (3333) of locking section (3332), the other end of fixed disk (3333) is provided with direction quarter butt flexible section (3334), the cover is equipped with locking spring (3335) on direction quarter butt flexible section (3334), the both ends of locking spring (3335) respectively with fixed disk (3333) and back lid (335) fixed connection.
6. The docking mechanism for a mobile robot according to claim 1, wherein: the supporting component (33) comprises a supporting plate (341), a plurality of copper columns (342) are arranged on the lower side surface of the supporting plate (341), and the other ends of the copper columns (342) are fixedly connected with the bottom surface of the inner cavity of the outer shell box (2) through screws.
7. The docking mechanism for a mobile robot according to claim 1, wherein: the sliding part (35) comprises a sliding disc (351), the sliding disc (351) is fixedly connected with a return spring, a plurality of first connecting parts (352) are arranged on the outer side face of the sliding disc (351), a locking rod (353) is connected to the sliding disc (351), a small-diameter section (3531) with the same diameter as that of the unlocking section (3331) penetrates through the rod body of the locking rod (353) along the long side direction of the rod body, one end, close to the stepped shaft (333), of the small-diameter section (3531) is communicated with a large-diameter section (3532) with the same diameter as that of the locking section (3332), and the unlocking section (3331) is arranged in the small-diameter section (3531).
8. The docking mechanism for a mobile robot according to claim 1, wherein: three-jaw butt joint module (1) includes at least three claw formula butt joint part, claw formula butt joint part includes connecting rod (11), articulated portion on one end and the sliding tray (351) of connecting rod (11), the other end articulates through pivot (13) has armed lever (12), pivot (13) rotate with outer case (2) and are connected to, the other end of armed lever (12) is provided with contact claw (14) that have the arc butt joint curved surface, contact claw (14) joint matches with ring groove (42).
9. The docking mechanism for a mobile robot according to claim 8, wherein: outer case (2) include box (21) that the top is open structure, the hoop is provided with the second that is the same with number on sliding disc (351) and leads to groove (22) on the side of box (21), be provided with ears support (23) on the both sides face that the groove (22) were led to the second, rotation connection on armed lever (12) and ears support (23).
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| CN113146679B (en) * | 2021-04-20 | 2022-06-03 | 哈尔滨工业大学 | Incomplete-constraint quick butt joint mechanism |
| CN113370179B (en) * | 2021-05-21 | 2023-05-09 | 内蒙古工业大学 | Linear electromagnetic control claw type robot tail end quick-change device |
| CN113830196B (en) * | 2021-09-26 | 2022-08-05 | 山东大学 | Biped robot capable of being spliced autonomously, multi-configuration robot and control method of multi-configuration robot |
| CN114212255B (en) * | 2021-12-15 | 2023-03-31 | 南京航空航天大学 | Combined separating mechanism suitable for combined aircraft |
| CN114939882B (en) * | 2022-07-25 | 2022-11-04 | 杭州申昊科技股份有限公司 | End instrument docking mechanism of arm |
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