CN209224091U - Reconfigurable modular robot bindiny mechanism - Google Patents
Reconfigurable modular robot bindiny mechanism Download PDFInfo
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- CN209224091U CN209224091U CN201821958023.3U CN201821958023U CN209224091U CN 209224091 U CN209224091 U CN 209224091U CN 201821958023 U CN201821958023 U CN 201821958023U CN 209224091 U CN209224091 U CN 209224091U
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Abstract
The utility model relates to a kind of reconfigurable modular robot bindiny mechanisms, including active module, passive module, the passive module sleeve is in active module, turntable is provided in active module, the motor of driving turntable rotation is provided in active module, at least two radial through-hole A of active module side circumference uniform distribution, at least two radial through-hole B of passive module side circumference uniform distribution, radial through-hole B corresponding radial through-hole A is concentric, pin shaft is provided in radial through-hole A, protrusion is provided on turntable, pin shaft is arranged in a one-to-one correspondence with protrusion, pin shaft inner end is against protrusion, sheathed spring on pin shaft, spring one end determines one end against active module against pin shaft inner end, mechanism portability is good, reliable performance, it is easily installed and dismantles.
Description
Technical field
The utility model relates to a kind of reconfigurable modular robot bindiny mechanisms.
Background technique
With the development of science and technology traditional robot can not due to having a single function, fully meet modern social development's demand,
Under this background, increasingly researchers study reconfigurable modular robot, if due to modularization robot be by
Dry same unit composition, the bindiny mechanism between module and module directly determines the stability of its performance, therefore designs one
Kind is not influenced by other factors such as environment, rigidity with higher, reliable performance, and widely used mechanical bindiny mechanism is outstanding
For necessity.
Summary of the invention
The utility model proposes a kind of reconfigurable modular robot bindiny mechanisms.
It is a kind of reconfigurable modular robot bindiny mechanism that the utility model, which solves scheme used by technical problem,
Including active module, passive module, the passive module sleeve is provided with turntable, active mould in active module in active module
The motor of driving turntable rotation, at least two radial through-hole A of active module side circumference uniform distribution, passive module week are provided on block
At least two radial through-hole B of side circumference uniform distribution, radial through-hole B corresponding radial through-hole A is concentric, sets in radial through-hole A
It is equipped with pin shaft, protrusion is provided on turntable, pin shaft is arranged in a one-to-one correspondence with protrusion, and pin shaft inner end is arranged on protrusion, pin shaft
Spring, spring one end determine one end against active module against pin shaft inner end.
Further, placing groove is set in the middle part of the active module, and middle part is vertically arranged with motor in active module, places
Middle part is provided with turntable in slot, and turntable middle part and the output axis connection of motor are driven, placing groove periphery circumference uniform distribution at least two
It is equipped with pivot pin in radial through-hole A, radial through-hole A, outer end stage portion on the inside of radial through-hole A, sheathed spring on pivot pin, spring position
In in radial through-hole A, for one end against pivot pin inner end, the other end is provided with receiving actively in the middle part of stage portion, passive module
The accommodation groove of module lower part, at least two radial through-hole B of accommodation groove periphery circumference uniform distribution, after active module, the installation of passive module,
Radial through-hole A corresponding radial through-hole B is concentric, and turntable periphery is provided with the protrusion with pin shaft corresponding matching.
Further, outward flange is arranged in active module upper periphery, and the positioning of outward flange periphery circumference uniform distribution at least two is logical
Hole is provided with magnet A, at least two location notch hole of passive module upper side periphery circumference uniform distribution, location notch hole in positioning through hole
Inside it is provided with the magnet B with magnet A magnetic attracting.
Further, radial through-hole A and radial through-hole B is arranged in a one-to-one correspondence, and pivot pin is arranged in a one-to-one correspondence with protrusion, each
One positioning through hole is set above radial through-hole A, a location notch hole is set above each radial through-hole B.
Further, radial through-hole A is arranged four.
Further, the pivot pin inner end is provided with pin cap, and the contact surface that protrusion and pin emit is bowed out arcwall face, protrusion
It is arranged in a one-to-one correspondence with pivot pin, the pin cap contact of the arcwall face of protrusion pivot pin corresponding always.
Further, placing groove inner circumferential side, which is arranged, is symmetrical arranged two blocks limited to protrusion.
Further, block is semi-cylindrical block.
Further, magnet A and positioning through hole are interference fitted, and magnet B and location notch hole are interference fitted.
Compared with prior art, the utility model has the following beneficial effects: simple structure and reasonable design, portability
Well, it reliable performance, is easily installed and dismantles, can be widely applied to a variety of reconfigurable modular robots.
Detailed description of the invention
The utility model patent is further illustrated with reference to the accompanying drawing.
Fig. 1 is the structural schematic diagram of this bindiny mechanism；
Fig. 2 is active and passive module connection status diagram；
Fig. 3 is active and passive module off-state schematic diagram.
In figure: 1- active module；The passive module of 2-；3- motor；4- turntable；The protrusion 5-；6 placing grooves-；7- block；8- is fixed
Position through-hole；9- radial through-hole A；10- pivot pin；11- sells cap；12- spring；13- accommodation groove；14- outward flange；15- location notch hole；
16- radial through-hole B；17- stage portion.
Specific embodiment
The present invention will be further described below with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1-3, a kind of reconfigurable modular robot bindiny mechanism, including active module, passive module, it is described
Passive module sleeve is provided with turntable in active module in active module, the electricity of driving turntable rotation is provided in active module
Machine, at least two radial through-hole A of active module side circumference uniform distribution, at least two radial through-hole of passive module side circumference uniform distribution
B, radial through-hole B corresponding radial through-hole A is concentric, and pin shaft is provided in radial through-hole A, is provided with protrusion on turntable,
Pin shaft is arranged in a one-to-one correspondence with protrusion, pin shaft inner end sheathed spring on protrusion, pin shaft, and spring one end is fixed against pin shaft inner end
One end is against active module.
In the present embodiment, placing groove is set in the middle part of the active module, middle part is vertically arranged with motor in active module,
Middle part is provided with turntable in placing groove, and turntable middle part and the output axis connection of motor are driven, and placing groove periphery circumference uniform distribution is at least
It is equipped with pivot pin in two radial through-hole A, radial through-hole A, outer end stage portion on the inside of radial through-hole A, sheathed spring on pivot pin, bullet
Spring is located in radial through-hole A, and one end is provided with receiving in the middle part of stage portion, passive module against pivot pin inner end, the other end
The accommodation groove of active module lower part, at least two radial through-hole B of accommodation groove periphery circumference uniform distribution, active module, passive module peace
After dress, radial through-hole A corresponding radial through-hole B is concentric, and turntable periphery is provided with the protrusion with pin shaft corresponding matching.
In the present embodiment, outward flange is arranged in active module upper periphery, and outward flange periphery circumference uniform distribution at least two is fixed
Position through-hole is provided with magnet A, at least two location notch hole of passive module upper side periphery circumference uniform distribution, positioning in positioning through hole
The magnet B with magnet A magnetic attracting is provided in slot.
In the present embodiment, radial through-hole A and radial through-hole B is arranged in a one-to-one correspondence, and pivot pin is arranged in a one-to-one correspondence with protrusion,
One positioning through hole is set above each radial through-hole A, a location notch hole is set above each radial through-hole B.
In the present embodiment, radial through-hole A is arranged four.
In the present embodiment, the pivot pin inner end is provided with pin cap, and the contact surface that protrusion and pin emit is bowed out arcwall face,
Protrusion is arranged in a one-to-one correspondence with pivot pin, the pin cap contact of the arcwall face of protrusion pivot pin corresponding always.
In the present embodiment, placing groove inner circumferential side, which is arranged, is symmetrical arranged two blocks limited to protrusion.
In the present embodiment, block is semi-cylindrical block.
In the present embodiment, magnet A and positioning through hole are interference fitted, and magnet B and location notch hole are interference fitted.
Connection: motor is driven forward turntable rotation, the protrusion rotary squeezing pivot pin on turntable, and pivot pin radially moves
Dynamic, pivot pin outer end passes through the connection that radial through-hole A insertion radial through-hole B realizes active and passive module, and protrusion connects with block after connection
Touching, so that turntable stops operating；
Disconnect: motor reversal drives turntable rotation, and under the elastic force effect of spring, pivot pin moves radially inwardly pivot pin,
Outer end is retracted in radial through-hole A by radial through-hole B, realizes the separation of active and passive module, protrusion is contacted with block after connection, is made
Turntable is obtained to stop operating.
Above-listed preferred embodiment has been further described the purpose of this utility model, technical solution and advantage,
It should be understood that the above is only the preferred embodiment of the utility model only, it is not intended to limit the utility model, it is all
Within the spirit and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in practical
Within novel protection scope.
Claims (9)
1. a kind of reconfigurable modular robot bindiny mechanism, it is characterised in that: including active module, passive module, the quilt
Dynamic module sleeve is provided with turntable in active module in active module, the motor of driving turntable rotation is provided in active module,
Active module side circumference uniform distribution at least two radial through-hole A, at least two radial through-hole B of passive module side circumference uniform distribution,
Radial through-hole B corresponding radial through-hole A is concentric, and pin shaft is provided in radial through-hole A, and protrusion is provided on turntable, pin
Axis is arranged in a one-to-one correspondence with protrusion, pin shaft inner end sheathed spring on protrusion, pin shaft, and spring one end is against pin shaft inner end fixed one
End is against active module.
2. reconfigurable modular robot bindiny mechanism according to claim 1, it is characterised in that: in the active module
Placing groove is arranged in portion, and middle part is vertically arranged with motor in active module, and middle part is provided with turntable, turntable middle part and electricity in placing groove
The output axis connection of machine is driven, and is equipped with pivot pin in placing groove periphery circumference uniform distribution at least two radial through-hole A, radial through-hole A,
Outer end stage portion on the inside of radial through-hole A, sheathed spring on pivot pin, spring are located in radial through-hole A, and one end is in pivot pin
End, the other end are provided with the accommodation groove for accommodating active module lower part, accommodation groove periphery circumference in the middle part of stage portion, passive module
Uniformly distributed at least two radial through-hole B, after active module, the installation of passive module, radial through-hole A corresponding radial through-hole B is same
Axle center, turntable periphery are provided with the protrusion with pin shaft corresponding matching.
3. reconfigurable modular robot bindiny mechanism according to claim 1, it is characterised in that: outside active module top
Week setting outward flange, at least two positioning through hole of outward flange periphery circumference uniform distribution are provided with magnet A in positioning through hole, by dynamic model
Circumference uniform distribution at least two location notch hole in block upper side periphery is provided with the magnet B with magnet A magnetic attracting in location notch hole.
4. reconfigurable modular robot bindiny mechanism according to claim 3, it is characterised in that: radial through-hole A and diameter
It being arranged in a one-to-one correspondence to through-hole B, pivot pin is arranged in a one-to-one correspondence with protrusion, a positioning through hole is set above each radial through-hole A,
One location notch hole is set above each radial through-hole B.
5. reconfigurable modular robot bindiny mechanism according to claim 3, it is characterised in that: radial through-hole A setting
Four.
6. reconfigurable modular robot bindiny mechanism according to claim 5, it is characterised in that: the pivot pin inner end is set
It is equipped with pin cap, the contact surface that protrusion and pin emit is bowed out arcwall face, and protrusion is arranged in a one-to-one correspondence with pivot pin, the arcwall face of protrusion
Always the pin cap of corresponding pivot pin contacts.
7. reconfigurable modular robot bindiny mechanism according to claim 1, it is characterised in that: placing groove inner circumferential side is set
Set two blocks limited to protrusion arranged symmetrically.
8. reconfigurable modular robot bindiny mechanism according to claim 7, it is characterised in that: block is semi-cylindrical
Block.
9. reconfigurable modular robot bindiny mechanism according to claim 2, it is characterised in that: magnet A and positioning are logical
Hole interference fit, magnet B and location notch hole are interference fitted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821958023.3U CN209224091U (en) | 2018-11-27 | 2018-11-27 | Reconfigurable modular robot bindiny mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821958023.3U CN209224091U (en) | 2018-11-27 | 2018-11-27 | Reconfigurable modular robot bindiny mechanism |
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| Publication Number | Publication Date |
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| CN209224091U true CN209224091U (en) | 2019-08-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821958023.3U Active CN209224091U (en) | 2018-11-27 | 2018-11-27 | Reconfigurable modular robot bindiny mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227598A (en) * | 2018-11-27 | 2019-01-18 | 福州大学 | Reconfigurable modular robot bindiny mechanism and connection method |
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2018
- 2018-11-27 CN CN201821958023.3U patent/CN209224091U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227598A (en) * | 2018-11-27 | 2019-01-18 | 福州大学 | Reconfigurable modular robot bindiny mechanism and connection method |
| CN109227598B (en) * | 2018-11-27 | 2024-01-30 | 福州大学 | Reconfigurable modularized robot connecting mechanism and connecting method |
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