CN202378058U - Butt joint mechanism between unit modules of modularized self-reconfiguring robot - Google Patents
Butt joint mechanism between unit modules of modularized self-reconfiguring robot Download PDFInfo
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- CN202378058U CN202378058U CN2011205150276U CN201120515027U CN202378058U CN 202378058 U CN202378058 U CN 202378058U CN 2011205150276 U CN2011205150276 U CN 2011205150276U CN 201120515027 U CN201120515027 U CN 201120515027U CN 202378058 U CN202378058 U CN 202378058U
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- forearm
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Abstract
The utility model relates to a butt joint mechanism between unit modules of a modularized self-reconfiguring robot. Butt joint surfaces are respectively arranged on front and rear arms of each unit module; the butt joint surface of the front arm of any unit module is in butt joint with the butt joint surface of the rear arm of the other unit module; a motor is arranged and fixed inside the butt joint surface of the front arm; a gear is fixedly mounted at the tail end of an output shaft of the motor; a through hole mounted with a bearing is formed at the center of the butt joint surface of the front arm; a gear with a central convex circle is arranged; the central convex circle is sleeved in the bearing; a conical head with a clamping jaw at external edge is arranged at the tail end of the central convex circle; the tail plane of the central conical head is fixedly connected with the front end face of the central convex circle of the gear; the gear and the conical head are arrayed inside and outside the butt joint surface of the front arm; a clamping hole matched with the conical head with the clamping jaw is arranged at the center of the butt joint surface of the rear arm; and when the gear is engaged and rotated, the clamping jaw of the conical head is aligned or staggered with a slot port of the clamping hole, so that the two butt joint surfaces are separated or tightly locked.
Description
Technical field
The utility model relates to modularized self-reorganization robot, relates in particular to the docking mechanism between a kind of modularized self-reorganization robot unit module.
Background technology
Modularized self-reorganization robot is made up of some unit modules with certain capacity of self-government and perception; Each module possesses unified machinery and electric interfaces; Can independently dock and be assembled into various conjuncted configurations and can changing each other, thereby realize different motions and operating function.The main feature of modularized self-reorganization robot is from reconstruct function and self-repair function, require the docking mechanism of the unit module mechanical connection between must the bonding element module reliable, separate easily, want that cube is little, energy-conservation, mechanism is simple simultaneously.Therefore docking mechanism is one of sixty-four dollar question in the modularized self-reorganization robot design.
At present, the docking mechanism between the modularized self-reorganization robot unit module mainly contain that mechanical connection, magnet connect (permanent magnet and electromagnet), machinery or magnet combines with marmem (SMA), mode such as mechanical and magnet.Mechanical connection mainly is divided into pawl formula mechanism and pin-and-hole formula mechanism, and its median claw formula mechanism is comparatively compact, but mechanism is complicated, and merging precision is had relatively high expectations; It is big that the bindiny mechanism of magneto has a bonding strength; The advantage that volume is little; But the anti-shear ability that its subject matter is interface a little less than, if speed planning is unreasonable, it is unreliable to cause connecting when having relative motion trend between two link blocks in robot mass motion process; The docking mechanism of electromagnetic type can reduce the complexity of mechanism design, but has that volume is big, weight is big, caloric value is big and problem such as load capacity is little; SMA and mechanical bond mode, because the action time consumption and energy consumption of SMA, thereby be not suitable for requiring locking separating action situation rapidly.
Summary of the invention
To the deficiency of prior art, the utility model provides the docking mechanism between a kind of unit module that adopts rotary chucking structure, takes following technical scheme to realize: the docking mechanism between a kind of modularized self-reorganization robot unit module; Each unit module is equipped with frame-type forearm and postbrachium, and forward and backward arm is symmetrical set and is connected as a single entity, and it is characterized in that; The forward and backward arm of each unit module respectively is provided with an interface, and the interface of any unit module forearm is implemented to dock with the interface of other unit module postbrachiums, and is inboard at the forearm interface; One motor is set, and motor is fixed on the interface inboard through support, and the output shaft of motor is vertical with interface; The terminal fixed installation of output shaft one gear, be provided with at forearm interface center one bearing is installed through hole, be provided with bearing in the through hole; One gear is set, and this gear is provided with the center dome, and dome is socketed in the bearing; At the dome end conehead that one outer rim has claw is set; Conehead tail end plane is fixedly connected with gear centre dome front end face, and gear and conehead branch are listed in the inside and outside both sides of forearm interface, the meshed transmission gear that this gear and motor output shaft are terminal; The center of postbrachium interface is provided with a hole clipping that is complementary with the conehead that has claw.
The said gear that is connected with conehead is greater than the terminal gear of motor output shaft.
On the interface of forward and backward arm, also be respectively equipped with a pair of infrared receiving tube that is symmetrical set and infrared transmitting tube loophole, the forearm interface is sought the maximum direction of infrared intensity in the docking operation; Accomplish the adjustment of interface initial phase angle; On this direction, measure the distance value of left and right sides infrared tube, set up a local coordinate system, according to two the interface relative angle deviations of distance value calculating and the relative displacement deviation of gained; The forearm interface is according to the relative position of the deviate adjustment that obtains with the postbrachium interface then; The above step that circulates, up to two interfaces fully over against, to accomplish the locking of docking mechanism.
The utlity model has following advantage and beneficial effect: bindiny mechanism is compact, and switching performance is reliable and stable; The execution energy consumption is little, possesses auto-lock function, and locking, separating action is rapid.
Description of drawings
Fig. 1 is the unit module structural representation;
Fig. 2 is two unit module docking schemes;
Fig. 3 is the vertical view of Fig. 2;
Fig. 4 is the vertical view of forearm among Fig. 2;
Fig. 5 is the stereogram of postbrachium;
Conehead when Fig. 6 is two interface released states and the location diagram of hole clipping;
Conehead when Fig. 7 is two interface locking states and the location diagram of hole clipping;
Fig. 8 is the sketch map of conehead and gear in the forearm among Fig. 2;
Fig. 9 is an interface initial angle adjustment process sketch map;
Figure 10 is the docking calculation flow chart;
Figure 11 is a docking operation deviation calculation sketch map.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the utility model is done further explain.
Referring to Fig. 1, unit module is provided with frame-type forearm and postbrachium, and forward and backward arm is symmetrical set and is connected as a single entity, and forward and backward arm respectively is provided with an interface, forearm interface 1, postbrachium interface 2.
Referring to Fig. 2-4, the right is the forearm of a unit module, and the left side is the postbrachium of another unit module.Inboard at the forearm interface, a motor 103 is set, motor is fixed on the interface 107 through support 102; The output shaft of motor is vertical with interface; The terminal fixed installation of output shaft one gear 105, be provided with at forearm interface center one bearing is installed through hole, a gear is set; This gear is provided with the center dome, and dome thickness >=forearm interface adds postbrachium interface thickness.Dome is socketed in the bearing; At the dome end conehead 108 that one outer rim has 3 claws is set; Conehead 108 tail end planes are fixedly connected through three screws with gear 104 center dome front end faces; Gear 104 and conehead were listed in the inside and outside both sides (Fig. 8) of forearm interface 107 in 108 minutes, this gear 104 and terminal gear 105 engaged transmission of motor output shaft; The center of postbrachium interface 201 is provided with one and is complementary, has hole clipping 206 (see figure 5)s of 3 fan grooves with the conehead that has claw.When direct current generator 103 driven wheels 105 rotation and engaged transmission gears 104, conehead 108 rotation in the hole clipping 206 of postbrachium thereupon is when the notch of claw and hole clipping misplaces; Docking mechanism locking (Fig. 7), otherwise, direct current generator 103 counter-rotatings; Claw and the contraposition of hole clipping notch; The separation of docking mechanism (Fig. 6) is retreated through controlling forward and backward arm, can make conehead 108 from fan groove hole clipping 206, withdraw from.
In order to guarantee the reliable butt joint of implementing; On the interface of forearm, be provided with the infrared receiving tube 101,106 of a pair of symmetric arrangement; Loophole 109,110 on the corresponding interface of difference; On the interface of postbrachium, be provided with a pair of and infrared receiving tube 101,106, and loophole 109,110 corresponding infrared transmitting tube 202,204 and loopholes 203,205.
Docking calculation such as Fig. 9; On the interface of forearm (being defined as initiatively module); Be provided with a pair of infrared receiving tube that is symmetrical set 101,106; Loophole 109,110 on the corresponding interface is provided with a pair of on the interface of postbrachium (being defined as passive module) and infrared receiving tube 101,106 respectively, and loophole 109,110 corresponding infrared transmitting tube 202,204 and loopholes 203,205.The forearm interface carries out angle searching by 5 ° of increment mode in 15 ° of scopes respectively to the left and right in the docking operation; Seek the maximum direction of infrared intensity; Accomplish the adjustment of interface initial phase angle; On this direction, measure the distance value of left and right sides infrared tube, set up a local coordinate system, according to two the interface relative angle deviations of distance value calculating and the relative displacement deviation of gained.Deviation is adjusted according to following steps: 1, at first adjust the relative angle deviation delta alpha; Can obtain the angle empirical value α that unit module is done an original place angle adjustment through repeatedly testing; The relative angle deviation needing can obtain the frequency n=Δ α/α of angle adjustment divided by single adjustment angle empirical value; Secondly 2 be lateral displacement deviation delta X, is length travel deviation delta Y at last, and method of adjustment is identical with the adjustment of relative angle deviation, all is the ratio of the empirical value δ when obtaining the single adjustment through relative deviation value Δ δ with experiment number of times as adjustment.The forearm interface is according to the relative position of the deviate that obtains adjustment with the postbrachium interface then, the above step that circulates, up to two interfaces fully over against, to accomplish the locking of docking mechanism.
Like Figure 10, shown in 11, main frame sends the butt joint order, receives the butt joint order at postbrachium; Open left side infrared transmitting tube 202, forearm MCU gathers IR intensity through left side infrared receiving tube 101, and IR intensity is stored; Then about in 15 ° the scope, with 5 ° of incremental rotation forearms, measure one group of IR intensity at every turn; Relatively these 7 IR intensity levels turn to infrared receiving tube voltage acquisition value maximum with forearm.Think that two interfaces are over against state this moment.Close all infrared transmitting tubes; Measure the infrared intensity value of current environment light; Two infrared transmitting tubes 202,204 about opening on the postbrachium then respectively, two infrared receiving tubes 101,106 on the corresponding forearm are gathered voltage, remove the influence of surround lighting; And according to infrared voltage---distance model calculates the intermodule left and right sides infrared distance B 1 and D2, D1, D2.Whether the value of judging D1, D2 satisfies the successfully condition of butt joint, satisfied then dock successfully.Otherwise according to the angular deviation β and the offset deviation (distance Y and horizontal departure X) of two interfaces of the value computing module of D1 and D2, computing formula is following:
（2）
In the formula, L is the centre-to-centre spacing of infrared receiving tube 101,106 and infrared transmitting tube 202,204
According to the deviate that obtains, forearm is adjusted according to the position that calculated value carries out self, and adjustment repeats above process after finishing, up to docking successfully.
Claims (3)
1. the docking mechanism between the modularized self-reorganization robot unit module, each unit module is equipped with frame-type forearm and postbrachium, and forward and backward arm is symmetrical set and is connected as a single entity; It is characterized in that the forward and backward arm of each unit module respectively is provided with an interface, the interface of any unit module forearm is implemented to dock with the interface of other unit module postbrachiums; Inboard at the forearm interface, a motor is set, motor is fixed on the interface inboard through support; The output shaft of motor is vertical with interface, the terminal fixed installation of output shaft one gear, be provided with at forearm interface center one bearing is installed through hole; Be provided with bearing in the through hole, a gear is set, this gear is provided with the center dome; Dome is socketed in the bearing, at the dome end conehead that one outer rim has claw is set, and conehead tail end plane is fixedly connected with gear centre dome front end face; Gear and conehead branch are listed in the inside and outside both sides of forearm interface, the meshed transmission gear that this gear and motor output shaft are terminal; The center of postbrachium interface is provided with a hole clipping that is complementary with the conehead that has claw.
2. the docking mechanism between the modularized self-reorganization robot unit module according to claim 1 is characterized in that, the gear that is connected with conehead is greater than the terminal gear of motor output shaft.
3. the docking mechanism between the modularized self-reorganization robot unit module according to claim 1 and 2 is characterized in that, on the interface of forward and backward arm, is respectively equipped with a pair of infrared receiving tube that is symmetrical set and infrared transmitting tube and loophole thereof.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205150276U CN202378058U (en) | 2011-12-12 | 2011-12-12 | Butt joint mechanism between unit modules of modularized self-reconfiguring robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205150276U CN202378058U (en) | 2011-12-12 | 2011-12-12 | Butt joint mechanism between unit modules of modularized self-reconfiguring robot |
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| CN202378058U true CN202378058U (en) | 2012-08-15 |
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| CN2011205150276U Withdrawn - After Issue CN202378058U (en) | 2011-12-12 | 2011-12-12 | Butt joint mechanism between unit modules of modularized self-reconfiguring robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102407530A (en) * | 2011-12-12 | 2012-04-11 | 东南大学 | Butting mechanism between every two unit modules of modular self-reconfigurable robot and butting method |
| CN106514709A (en) * | 2015-09-09 | 2017-03-22 | 青岛通产智能机器人有限公司 | Connection device for robot and operation terminal |
| CN108438076A (en) * | 2018-03-30 | 2018-08-24 | 华龄和平南京智能科技有限公司 | A kind of modularized wall-climbing robot docking facilities |
| CN111015648A (en) * | 2019-12-13 | 2020-04-17 | 深圳先进技术研究院 | Interlock device and robot system |
-
2011
- 2011-12-12 CN CN2011205150276U patent/CN202378058U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102407530A (en) * | 2011-12-12 | 2012-04-11 | 东南大学 | Butting mechanism between every two unit modules of modular self-reconfigurable robot and butting method |
| CN102407530B (en) * | 2011-12-12 | 2014-10-08 | 东南大学 | Butting mechanism between every two unit modules of modular self-reconfigurable robot and butting method |
| CN106514709A (en) * | 2015-09-09 | 2017-03-22 | 青岛通产智能机器人有限公司 | Connection device for robot and operation terminal |
| CN108438076A (en) * | 2018-03-30 | 2018-08-24 | 华龄和平南京智能科技有限公司 | A kind of modularized wall-climbing robot docking facilities |
| CN111015648A (en) * | 2019-12-13 | 2020-04-17 | 深圳先进技术研究院 | Interlock device and robot system |
| CN111015648B (en) * | 2019-12-13 | 2021-11-23 | 深圳先进技术研究院 | Interlock device and robot system |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120815 Effective date of abandoning: 20141008 |
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| RGAV | Abandon patent right to avoid regrant |