CN207044197U - The attachment means of self-reorganization robot - Google Patents
The attachment means of self-reorganization robot Download PDFInfo
- Publication number
- CN207044197U CN207044197U CN201621311963.4U CN201621311963U CN207044197U CN 207044197 U CN207044197 U CN 207044197U CN 201621311963 U CN201621311963 U CN 201621311963U CN 207044197 U CN207044197 U CN 207044197U
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- CN
- China
- Prior art keywords
- sliding block
- joint face
- self
- attachment means
- neck
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Abstract
It the utility model is related to a kind of attachment means of self-reorganization robot, it is characterized in that, inner support and support arm including interconnection, one end face of support arm is anode joint face, two sides that support arm is located at anode joint face both sides are respectively negative electrode joint face, buttcover plate is provided with inner support, after inner support is connected with support arm, anode joint face is oppositely arranged with buttcover plate.The utility model has advantages below：1st, the design of sliding block and neck make it that connection is more firm；2nd, the docking system small volume based on crank block, it is simple in construction；3rd, self-locking is realized after the completion of docking, without the driver continued power to docking system, so as to reduce the consumption of energy to a certain extent.
Description
Technical field
A kind of attachment means of self-reorganization robot are the utility model is related to, belong to self-reorganization robot field.
Background technology
This concept of via Self-reconfiguration is come from the 1980s, belonging to the emerging research direction of robot field.Via Self-reconfiguration machine
Device people is made up of all multimodes, and its each module is the simple machine people of one " the five internal organs are various ", includes machine
The due part of device people's system：Executing agency, sensor, main frame and power supply.In addition, each module can also be the same as other modules
And the communication of active bindiny mechanism, so as to be docked and departed from adjacent block, this allows robot system to change
Become itself mechanism and whole mechanism or the function of tissue.In complicated rugged environment, self-reorganization robot can change it
Structure, so as to better adapt to working environment, preferably complete some special duties.Self-reorganization robot have compared with
Strong adaptability and robustness.
The joint performance of self-reorganization robot largely influences the performance of whole robot.For example joint is strong
Degree is by the maximum quantity of decision module, and joint is connected and disconnected from speed and will influence the speed of robot via Self-reconfiguration, so joint
Design be self-reorganization robot hardware design important component.Current self-reorganization robot joint mainly has electromagnetism to connect
The forms such as head, mechanical splice and electrostatic force joint.
Using electromagnetic force as attachment force, its connection speed is fast for magnetic coupling, and centering is good, but strength of joint is limited.It is most simple
Magnetic coupling be exactly that the different permanent magnet of polarity is installed in two modules, but this is not easy to realize and departed from, and typically to install one additional
Releasing mechanism.But, installing releasing mechanism additional can make structure more complicated again, take connection, disengaging process.
Mechanical splice biggest advantage is that connection is reliable, but its complex structural designs, and space-consuming is big, and centering is not
It is good.The mechanical splice of the self-reorganization robot of early stage is pin-lock construction.
Electrostatic force joint refers to the attraction by the use of positive and negative charge as the joint of attachment force, and this just puts forward recently
Connected mode.The composition surface of two modules filled with the charges of different polarity, they close to when, the suction of electric charge is attachment force, its joint as
One Large Copacity capacity plate antenna is the same.
The content of the invention
The purpose of this utility model is to provide a kind of connection simple in construction, small volume for self-reorganization robot and filled
Put.
In order to achieve the above object, the technical solution of the utility model there is provided a kind of connection dress of self-reorganization robot
Put, it is characterised in that inner support and support arm including interconnection, an end face of support arm are anode joint face, outer branch
Two sides that frame is located at anode joint face both sides are respectively negative electrode joint face, are provided with buttcover plate on inner support, inner support with
After support arm connection, anode joint face is oppositely arranged with buttcover plate；
Anode joint face includes anode interface, formed with least three chutes on anode interface, in every chute
In be provided with a sliding block, by drive mechanism drive all sliding blocks along chute collapse or open；
Negative electrode joint face is provided with to be blocked correspondingly with sliding block quantity identical neck, the sliding block in current attachment means
Enter in the neck in adjacent attachment means, the end per clamp bar slot is big end, and phase is caught in or leaves by holding greatly after sliding block gathering
In the neck answered, it is caught in after the sliding block opening of neck while is moved along corresponding neck, the big end for leaving neck is caught in neck
Necking segment in.
Preferably, the drive mechanism includes the quantity connecting rod equal with the sliding block, one end of connecting rod respectively with one
The sliding block is hinged, and the other end is hinged with crank, is rotated by motor-driven mechanism driving crank, so as to drive all sliding blocks edges sliding
Groove is collapsed or opened.
Preferably, in addition to angle measuring mechanism, the angle measuring mechanism include the gear with the crank synchronous axial system
One, gear two is meshed with gear one, and angular transducer and gear two are coaxially arranged.
Preferably, the motor-driven mechanism includes reducing motor and the worm screw turbine mechanism being linked with reducing motor,
It is provided with the axle center of the crank and is provided with externally threaded axle, the turbine of worm screw turbine mechanism is meshed with axle.
The utility model has advantages below：1st, the design of sliding block and neck make it that connection is more firm；2nd, with slide crank
Docking system small volume based on block, it is simple in construction；3rd, self-locking is realized after the completion of docking, without the driver to docking system
Continued power, so as to reduce the consumption of energy to a certain extent.
Brief description of the drawings
Fig. 1 is a kind of internal structure schematic diagram of the attachment means of self-reorganization robot provided by the utility model；
Fig. 2 is a kind of outside schematic diagram of the attachment means of self-reorganization robot provided by the utility model；
Fig. 3 is negative electrode joint face schematic diagram of the present utility model.
Embodiment
To become apparent the utility model, hereby with preferred embodiment, and accompanying drawing is coordinated to be described in detail below.
For the deficiency of the attachment means of existing self-reorganization robot, the purpose of this utility model is to via Self-reconfiguration machine
The attachment means of people are improved, and to improve the stability of self-reorganization robot attachment means, reduce the volume of attachment means, high
Effect, the connection and disengaging for economically realizing self-reorganization robot.
Therefore, the utility model proposes a kind of attachment means of self-reorganization robot.With reference to Fig. 1 to Fig. 3, utility model
The framework of the attachment means of offer is made up of two U-shaped supports (support arm 8 and inner support 10), a square buttcover plates 9.
The front of support arm 8 is anode joint face, and two sides are negative electrode joint face.Inner support 10 plays connection function, even
Support arm 8 and square buttcover plate 9 are connect, square buttcover plate 9 is negative electrode joint face.
Anode joint face includes anode interface, the chute formed with four intersections on anode interface, in every cunning
There is a sliding block 3 in groove, slided by drive mechanism driving sliding block 3 in chute so that all sliding blocks 3 are collapsed or opened along chute
Open.
Drive mechanism includes reducing motor 1, and reducing motor 1 is linked with worm screw turbine mechanism 2, set in the axle center of crank 5
Externally threaded axle is provided with, the turbine of worm screw turbine mechanism 2 is meshed with axle, so that reducing motor 1 passes through worm screw turbine
Mechanism 2 drives crank 5 to rotate.Drive mechanism also includes the quantity connecting rod 4 equal with sliding block 3, one end of connecting rod 4 respectively with one
Sliding block 3 is be hinged, and the other end is be hinged with crank 5.In the rotation process of crank 5, collapsed or opened along chute with movable slider 3 by connecting rod 4
Open.
In order to obtain the rotational angle of crank 5, so as to which the amplitude that sliding block 3 is collapsed or opened is controlled, this practicality is new
Type also includes angle measuring mechanism.The angle measuring mechanism includes the gear 1 with the synchronous axial system of crank 5, gear 27 and gear
One 6 are meshed, and angular transducer and gear 27 are coaxially arranged.
And negative electrode joint face of the present utility model be provided with the quantity identical neck of sliding block 3, in current attachment means
Sliding block 3 is caught in the neck in adjacent attachment means correspondingly, and the end per clamp bar slot is big end, and sliding block 3 leads to after collapsing
Excessive end is caught in or left in corresponding neck, is caught in after the opening of sliding block 3 of neck while is moved along corresponding neck, is left
The big end of neck is caught in the necking segment of neck.
When two modules need connection, four sliding blocks 3 are contracted to centre, then anode joint face are connected with negative electrode
Junction is docked, and sliding block 3 can be then stuck in the neck of negative electrode joint face.Then drive reducing motor 1, by worm screw turbine 2,
Crank 5, connecting rod 4 cause sliding block 3 to slide to outside, and such as the state in Fig. 2, sliding block 3 slides to the fastness that can increase connection behind outside.
When two connection module need depart from when, then be connected when action on the contrary, drive reducing motor 1, by worm screw turbine 2,
Crank 5, connecting rod 4 cause sliding block 3 to slide to centre, and latter two right joint face departs from.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
Corresponding change and deformation, and all these changes and deformation should all belong to the protection of the utility model claims
Within the scope of.
Claims (4)
- A kind of 1. attachment means of self-reorganization robot, it is characterised in that the inner support including interconnection（10）With support arm （8）, support arm（8）An end face be anode joint face, support arm（8）Distinguish positioned at two sides of anode joint face both sides For negative electrode joint face, in inner support（10）It is provided with buttcover plate, inner support（10）With support arm（8）After connection, anode joint face It is oppositely arranged with buttcover plate；Anode joint face includes anode interface, formed with least three chutes on anode interface, is set in every chute There is a sliding block（3）, all sliding blocks are driven by drive mechanism（3）Collapse or open along chute；Negative electrode joint face is provided with and sliding block（3）Quantity identical neck, the sliding block in current attachment means（3）Correspondingly It is caught in the neck in adjacent attachment means, the end per clamp bar slot is held to be big, sliding block（3）After gathering by hold greatly be caught in or from Open in corresponding neck, be caught in the sliding block of neck（3）Moved simultaneously along corresponding neck after opening, leave the big end card of neck Enter in the necking segment of neck.
- 2. a kind of attachment means of self-reorganization robot as claimed in claim 1, it is characterised in that the drive mechanism includes Quantity and the sliding block（3）Equal connecting rod（4）, connecting rod（4）One end respectively with a sliding block（3）It is be hinged, the other end With crank（5）It is be hinged, crank is driven by motor-driven mechanism（5）Rotate, so as to drive all sliding blocks（3）Collapse or open along chute Open.
- 3. a kind of attachment means of self-reorganization robot as claimed in claim 2, it is characterised in that also including angular surveying machine Structure, the angle measuring mechanism include and the crank（5）The gear one of synchronous axial system（6）, gear two（7）With gear one（6）Phase Engagement, angular transducer and gear two（7）It is coaxially arranged.
- A kind of 4. attachment means of self-reorganization robot as claimed in claim 2, it is characterised in that the motor-driven mechanism Including reducing motor（1）And and reducing motor（1）The worm screw turbine mechanism being linked（2）, in the crank（5）Axle center be provided with It is provided with externally threaded axle, worm screw turbine mechanism（2）Turbine be meshed with axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621311963.4U CN207044197U (en) | 2016-12-01 | 2016-12-01 | The attachment means of self-reorganization robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621311963.4U CN207044197U (en) | 2016-12-01 | 2016-12-01 | The attachment means of self-reorganization robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207044197U true CN207044197U (en) | 2018-02-27 |
Family
ID=61488631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621311963.4U Withdrawn - After Issue CN207044197U (en) | 2016-12-01 | 2016-12-01 | The attachment means of self-reorganization robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207044197U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393167A (en) * | 2016-12-01 | 2017-02-15 | 东华大学 | Self-reconfiguration robot connecting device |
-
2016
- 2016-12-01 CN CN201621311963.4U patent/CN207044197U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393167A (en) * | 2016-12-01 | 2017-02-15 | 东华大学 | Self-reconfiguration robot connecting device |
| CN106393167B (en) * | 2016-12-01 | 2018-10-23 | 东华大学 | A kind of attachment device of self-reorganization robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180227 Effective date of abandoning: 20181023 |