WO2016029879A1 - 旋转连接单元及模块化机器人单体 - Google Patents

旋转连接单元及模块化机器人单体 Download PDF

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Publication number
WO2016029879A1
WO2016029879A1 PCT/CN2015/088428 CN2015088428W WO2016029879A1 WO 2016029879 A1 WO2016029879 A1 WO 2016029879A1 CN 2015088428 W CN2015088428 W CN 2015088428W WO 2016029879 A1 WO2016029879 A1 WO 2016029879A1
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WO
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Prior art keywords
rotary joint
joint unit
base portion
magnets
inlet
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PCT/CN2015/088428
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English (en)
French (fr)
Inventor
杨健勃
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杨健勃
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Application filed by 杨健勃 filed Critical 杨健勃
Publication of WO2016029879A1 publication Critical patent/WO2016029879A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B1/00—Devices for securing together, or preventing relative movement between, constructional elements or machine parts
    • F16B1/02—Means for securing elements of mechanisms after operation
    • F16B1/04—Means for securing elements of mechanisms after operation disengaged by movement of the actuating member of the element
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
    • A45C13/00—Details; Accessories
    • A45C13/10—Arrangement of fasteners
    • A45C13/12—Arrangement of fasteners of press-button or turn-button fasteners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/02—Permanent magnets [PM]
    • H01F7/0231—Magnetic circuits with PM for power or force generation
    • H01F7/0252—PM holding devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B2200/00—Constructional details of connections not covered for in other groups of this subclass
    • F16B2200/83—Use of a magnetic material

Definitions

  • the invention relates to a rotary joint unit and a modular robot unit.
  • Rotary connection units such as swivel buckles are commonly used parts in a variety of industries.
  • the two components are detachably connected together by the docking of the two rotary joint units.
  • the connection of the known rotary connection unit is not reliable enough to achieve the functions of quick alignment and snap lock.
  • a rotary connecting unit including a latching portion and a base portion, the latching portion being fixed to an outer peripheral side of the base portion, the latching portion including a circumference
  • the pedestal portion correspondingly includes at least two inlet portions and at least two rotating card slots uniformly distributed in a circumferential direction, each of the at least two boring heads and the at least two
  • the base portion is provided with an even number of first magnets and an even number of second magnets, the first magnet and the second magnet are opposite in polarity, and the first magnet And the second magnets are evenly distributed along the circumferential direction of the base portion.
  • the base portion is provided with two first magnets and two second magnets, the first magnet has a polarity S, and the second magnet has a polarity N, the two The first magnets are opposite each other and the two second magnets are opposite each other.
  • each of the at least two boring heads is located outside each of the inlet portions of the at least two inlet portions, and each of the at least two rotating card slots is located at the at least two The inside of each inlet portion of the inlet portion.
  • the base portion further includes a suspension portion, and the rotary card slot is formed by the suspension portion.
  • the base portion further includes a suspension portion and a limiting portion, the suspension portion is disposed adjacent to the limiting portion, and the rotating card slot passes through the hanging portion and The limiting portion is formed, and the limiting portion and each of the hoe shapes are matched with each other.
  • the click portion includes a first boring head and a second boring head
  • the base portion correspondingly includes a first inlet portion and a second inlet portion, the first hoe and the second portion The hoe is opposed to each other, and the first inlet portion and the second inlet portion are opposed to each other.
  • the click portion and the base portion are both ring members.
  • the click portion includes four boring heads, and the base portion correspondingly includes four inlet portions.
  • the click portion and the base portion are integrally formed.
  • the present invention also provides a modular robotic unit that includes a plurality of the above-described rotary joint units.
  • the rotary joint unit of the invention comprises a cassette portion and a base portion, the base portion is provided with an even number of first magnets and an even number of second magnets, when one rotary joint unit is
  • the physical property of the opposite phase of the magnet is used to achieve rapid alignment of the click portion of one rotary joint unit with the base portion of the other rotary joint unit, when the respective heads are correspondingly
  • each of the hammers is locked and locked in each rotating card slot by the physical properties of the same polarity of the magnet.
  • FIG. 1 is a perspective view of a rotary joint unit according to a first embodiment of the present invention
  • Figure 2 is a plan view showing a rotary joint unit according to a first embodiment of the present invention
  • Figure 3 is a side elevational view of a rotary joint unit in accordance with a first embodiment of the present invention
  • FIG. 4 is a plan view showing a base member of a rotary joint unit according to a first embodiment of the present invention
  • Figure 5 is a perspective rear perspective view of a rotary joint unit according to a first embodiment of the present invention.
  • Figure 6 is a plan view showing a rotary joint unit according to a second embodiment of the present invention.
  • Figure 7 is another schematic plan view of a rotary joint unit according to a second embodiment of the present invention.
  • Figure 8 is a further plan view showing a rotary joint unit according to a second embodiment of the present invention.
  • Figure 9 is a further plan view showing a rotary joint unit according to a second embodiment of the present invention.
  • Figure 10 is a further plan view showing a rotary joint unit according to a second embodiment of the present invention.
  • Figure 11 is a perspective view of a rotary joint unit according to a second embodiment of the present invention.
  • Figure 12 is another perspective view of a rotary joint unit according to a second embodiment of the present invention.
  • Figure 13 is a further perspective view of a rotary joint unit according to a second embodiment of the present invention.
  • Figure 14 is still another perspective view of a rotary joint unit in accordance with a second embodiment of the present invention.
  • the rotary joint unit 100 includes a click portion 10 and a base portion 20.
  • the click portion 10 and the base portion 20 are two different discrete members, and the click portion 10 and the base portion 20 are both plastic molded parts.
  • the latch portion 10 and the base portion 20 are both ring members.
  • the click portion and the base portion may also have other shapes.
  • the click portion 10 is fixed to the outer peripheral side of the base portion 20.
  • the click portion 10 preferably includes at least two boring heads uniformly distributed in the circumferential direction.
  • the base portion 20 accordingly preferably includes at least two inlet portions and at least two rotating card slots that are evenly distributed in the circumferential direction.
  • Each of the at least two boring heads has a shape corresponding to each of the inlet portions of the at least two inlet portions, and each of the at least two boring heads is located outside each of the inlet portions of the at least two inlet portions,
  • Each of the rotating card slots of the at least two rotating card slots is located inside each of the inlet portions of the at least two inlet portions.
  • orientation words “outside” and “inside” refer to the thickness direction of the rotary joint unit (the left and right direction of the plane in FIG. 3), “outside” refers to the right side of the drawing in FIG. 3, and “inside” refers to The left side of the figure in Figure 3.
  • the click portion 10 includes a first boring head 12 and a second boring head 14.
  • the first boring head 12 and the second boring head 14 are eagle hook-shaped projecting members.
  • the base portion 20 correspondingly includes a first inlet portion 22 and a second inlet portion 24.
  • the first boring head 12 and the second boring head 14 are evenly distributed along the circumferential direction of the latching portion 10, that is, the first boring head 12 and the second boring head 14 are opposed to each other.
  • the first inlet portion 22 and the second inlet portion 24 are evenly distributed along the circumferential direction of the base portion 20, that is, the first inlet portion 22 and the second inlet portion 24 are opposed.
  • the first boring head 12 is immediately adjacent to the first inlet portion 22 in the circumferential direction A, and the second ram portion 14 and the second inlet portion 24 are immediately adjacent in the circumferential direction A.
  • the first boring head 12 and the first inlet portion 22 may be spaced apart by a predetermined distance in the circumferential direction A.
  • the second ram 14 and the second inlet portion 24 may be spaced apart by a predetermined distance in the circumferential direction A.
  • the base portion 20 further includes a suspension portion and a limiting portion.
  • the base portion 20 includes two suspension portions (the suspension portion 26 and the suspension portion 28) and two limiting portions.
  • the structure of the two suspension sections is the same.
  • the structure of the two limiting portions is the same. Only the suspension portion 26 and the stopper portion 27 will be described.
  • the suspension portion 26 has a large thickness to define the position of the hoe that enters the rotating card slot 30 to guide the movement of the hoe.
  • the thickness of the limiting portion 27 is thin, so that the shank that enters the limiting portion 27 can be locked at the limiting portion 27.
  • the suspension portion 26 is disposed adjacent to the stopper portion 27, and the rotary card slot 30 is formed by the suspension portion 26 and the stopper portion 27.
  • the limiting portion 27 and the first boring head 12 and the second boring head 14 are mutually matched in shape.
  • the first boring head 12 and the second boring head 14 each have a curved head portion, and the limiting portion 27 correspondingly has the bottom of the curved surface.
  • the base portion may include only a suspension portion, and the rotating card slot is formed only by the suspension portion.
  • the first rotary joint unit first one of the two rotary joint units (hereinafter referred to as the first rotary joint unit) and the two The first inlet portion of the other rotary connection unit (hereinafter referred to as the second rotary connection unit) is aligned, and the first end of the first rotary connection unit is inserted into the first inlet portion of the second rotary connection unit And rotating around the circumference, the first boring of the first rotary joint unit enters the rotary card slot of the second rotary joint unit, and finally rotates to be positioned at the limit portion of the second rotary joint unit.
  • the second head of the first rotary joint unit also enters the rotary card slot of the second rotary joint unit via the second inlet portion of the second rotary joint unit, and is finally positioned at the limit portion of the second rotary joint unit.
  • the first boring of the second rotary joint unit enters the rotary card slot of the first rotary joint unit via the first inlet portion of the first rotary joint unit, and is finally positioned at the limit portion of the first rotary joint unit;
  • the second head of the rotary joint unit enters the rotary card slot of the first rotary joint unit via the second inlet portion of the first rotary joint unit, and is finally positioned at the limit portion of the first rotary joint unit.
  • the two rotary connection units are connected to each other, and the two modular robot units are connected to each other.
  • the rotary joint unit of the present invention can be applied to various fields such as electronics, home appliances, mechanical equipment, building structures, and the like.
  • the base portion 20 is provided with two first magnets 42 and two second magnets 46.
  • the polarity of the first magnet 42 is S
  • the polarity of the second magnet 46 is N
  • the two first magnets 42 are opposite each other
  • the two second magnets 46 are opposite each other.
  • the base portion 20 On the radial center side of the first inlet portion 22 and the second inlet portion 24, the base portion 20 is provided with a blind hole 44 for accommodating the first magnet 42 and a blind hole 48 for accommodating the second magnet 46.
  • the two first magnets 42 are adjacent to the first inlet portion 22 and the second inlet portion 24, respectively, and the two second magnets 46 are adjacent to the first boring head 12 and the second boring head 14, respectively.
  • the physical properties of the opposite sex can be assisted by the homogeneity of the magnets, and the rapid alignment of the shapes of the respective heads and the inlet portions can be assisted, and the hammers can be finally locked at the limit portions.
  • the thickness of the suspension portion 26 is large, and the thickness of the limiting portion 27 is thin, so that the first boring head 12 and the second boring head 14 can be pushed upward in the limiting portion 27 by the repulsive force, and The hammer entering the stopper portion 27 is locked at the stopper portion 27.
  • the first rotary joint unit when it is necessary to rotate one of the two rotary joint units (hereinafter referred to as the first rotary joint unit) and the other of the two rotary joint units (hereinafter referred to as the second rotation)
  • the first inlet portion of the connecting unit When the first inlet portion of the connecting unit is aligned, the first boring of the first rotating connecting unit is under the action of the attractive force between the first magnet of the first rotating connecting unit and the second magnet of the second rotating connecting unit The first inlet portion of the second rotary joint unit is quickly aligned.
  • the first magnet of the first rotary connection unit Acting a repulsive force between the first magnet of the second rotary joint unit, pushing the first head of the first rotary joint unit upward at the limit portion, and locking at the limit portion of the second rotary joint unit .
  • first magnets and two or more even-numbered second magnets may be disposed on the base portion.
  • first magnet and the second magnet are opposite in polarity, and the first magnet and the second magnet are evenly distributed along the circumferential direction of the base portion.
  • FIGS. 6 to 14 A second embodiment of the present invention will be described with reference to Figs. 6 to 14 .
  • elements that are similar to those shown in FIGS. 1 to 5 are denoted by like reference numerals, and the common parts that have been described are omitted or simplified.
  • the rotary joint unit 200 includes a click portion 210 and a base portion 220.
  • the latching portion 210 and the base portion 220 are integrally formed.
  • the latch portion 210 includes four cymbals, that is, a third cymbal 212, a fourth cymbal 214, and a The fifth head 216 and the sixth head 218;
  • the base portion 220 correspondingly includes four inlet portions, that is, a third inlet portion 222, a fourth inlet portion 224, a fifth inlet portion 226, and a sixth inlet portion 228.
  • the third head 212, the fourth head 214, the fifth head 216, and the sixth head 218 are evenly distributed along the outer circumference of the base portion 220, wherein the third head 212 is opposite to the fifth head 216, and the fourth head 214 is The sixth hoe 218 is opposite.
  • the third inlet portion 222, the fourth inlet portion 224, the fifth inlet portion 226, and the sixth inlet portion 228 are evenly distributed along the outer circumference of the base portion 220.
  • Two first magnets 242 and two second magnets 246 are disposed on the base portion 220.
  • the polarity of the first magnet 242 is S
  • the polarity of the second magnet 246 is N
  • the two first magnets 242 are opposite to each other
  • the two second magnets 246 are opposite to each other.
  • the base portion 220 is provided with a blind hole 244 for accommodating the first magnet 242 and a blind hole 248 for accommodating the second magnet 246.
  • the base portion 220 includes a suspension portion 236, and the rotating card slot 230 is formed by the suspension portion 236.
  • the suspension portion 236 has a shorter circumferential length than the first embodiment.
  • a modular robotic unit comprising a plurality of the above-described rotary joint units 100,200.
  • a plurality of modular robot units are connected to each other by a rotary joint unit to form a modular robot.

Abstract

一种旋转连接单元及模块化机器人单体，该旋转连接单元（100）包括卡榫部分（10）及基座部分（20）。所述基座部分（20）上设置有偶数个极性相反的沿所述基座部分的周向交错均匀分布的第一磁体（42）和第二磁体（46）。通过磁体的异性相吸实现卡榫部分（10）与基座部分（20）的快速对准，当各榫头相应地进入各旋转卡槽后，通过磁体的同性相斥将各榫头卡紧锁定在各旋转卡槽内。该旋转连接单元可以应用于电子、家用电器、机械设备、建筑结构等领域。

Description

旋转连接单元及模块化机器人单体 技术领域
本发明涉及旋转连接单元及模块化机器人单体。
背景技术
旋转连接单元例如旋转扣是各行各业常常使用的零件。通过两个旋转连接单元的对接，将两个零部件可拆卸地连接在一起。已知的旋转连接单元的连接不够可靠，无法实现快速对准和卡紧锁定的功能。
发明内容
本发明的目的在于，提供一种旋转连接单元，其可以实现快速对准和卡紧锁定。
本发明通过如下技术方案实现：旋转连接单元，所述旋转连接单元包括卡榫部分及基座部分，所述卡榫部分固定在所述基座部分的外周侧，所述卡榫部分包括沿周向均匀分布的至少两个榫头，所述基座部分相应地包括沿周向均匀分布的至少两个入口部和至少两个旋转卡槽，所述至少两个榫头的各榫头与所述至少两个旋转卡槽的各旋转卡槽相适配，所述基座部分上设置有偶数个第一磁体和偶数个第二磁体，第一磁体和第二磁体极性相反，且所述第一磁体和所述第二磁体沿所述基座部分的周向交错均匀分布。
作为上述技术方案的进一步改进，所述基座部分上设置有两个第一磁体和两个第二磁体，第一磁体的极性为S，第二磁体的极性为N，所述两个第一磁体相互对置，所述两个第二磁体相互对置。
作为上述技术方案的进一步改进，所述至少两个榫头的各榫头位于所述至少两个入口部的各入口部的外侧，所述至少两个旋转卡槽的各旋转卡槽位于所述至少两个入口部的各入口部的内侧。
作为上述技术方案的进一步改进，所述基座部分还包括悬台部，所述旋转卡槽通过所述悬台部形成。
作为上述技术方案的进一步改进，所述基座部分还包括悬台部及限位部，所述悬台部与所述限位部相邻设置，所述旋转卡槽通过所述悬台部和所述限位部形成，所述限位部与各榫头形状相互匹配。
作为上述技术方案的进一步改进，所述卡榫部分包括第一榫头和第二榫头，所述基座部分相应地包括第一入口部和第二入口部，所述第一榫头和所述第二榫头对置，所述第一入口部和所述第二入口部对置。
作为上述技术方案的进一步改进，所述卡榫部分及所述基座部分均为环形件。
为上述技术方案的进一步改进，所述卡榫部分包括四个榫头，所述基座部分相应地包括四个入口部。
作为上述技术方案的进一步改进，所述卡榫部分与所述基座部分为一体成型件。本发明的还提供一种模块化机器人单体，其包括多个上述的旋转连接单元。
本发明的有益效果是：本发明的旋转连接单元包括卡榫部分及基座部分，所述基座部分上设置有偶数个第一磁体和偶数个第二磁体，当将一个旋转连接单元与另一旋转连接单元放置在一起准备连接时，通过磁体的异性相吸的物理属性，实现一个旋转连接单元的卡榫部分与另一旋转连接单元的基座部分的快速对准，当各榫头相应地进入各旋转卡槽后，通过磁体的同性相斥的物理属性，将各榫头卡紧锁定在各旋转卡槽内。
附图说明
图1是根据本发明的第一实施方式的旋转连接单元的立体示意图；
图2是根据本发明的第一实施方式的旋转连接单元的平面示意图；
图3是根据本发明的第一实施方式的旋转连接单元的侧面示意图；
图4是根据本发明的第一实施方式的旋转连接单元的基座构件的平面示意图；
图5是根据本发明的第一实施方式的旋转连接单元的背面立体示意图；
图6是根据本发明的第二实施方式的旋转连接单元的平面示意图；
图7是根据本发明的第二实施方式的旋转连接单元的另一平面示意图；
图8是根据本发明的第二实施方式的旋转连接单元的再一平面示意图；
图9是根据本发明的第二实施方式的旋转连接单元的又一平面示意图；
图10是根据本发明的第二实施方式的旋转连接单元的又一平面示意图；
图11是根据本发明的第二实施方式的旋转连接单元的立体示意图；
图12是根据本发明的第二实施方式的旋转连接单元的另一立体示意图；
图13是根据本发明的第二实施方式的旋转连接单元的再一立体示意图；
图14是根据本发明的第二实施方式的旋转连接单元的又一立体示意图。
具体实施方式
以下结合附图对本发明的具体实施方式进行进一步的说明。
首先，结合图1至图5，对本发明的第一实施方式进行描述。第一实施方式中，旋转连接单元100包括卡榫部分10及基座部分20。在本实施例中，所述卡榫部分10与所述基座部分20为两个不同的分立构件，且所述卡榫部分10与所述基座部分20均为塑料成型件。其中，本实施例中，所述卡榫部分10及所述基座部分20均为环形件。当然，所述卡榫部分及所述基座部分也可以为其他形状。
具体而言，所述卡榫部分10固定在所述基座部分20的外周侧。其中，所述卡榫部分10优选地包括沿周向均匀分布的至少两个榫头。所述基座部分20相应地优选包括沿周向均匀分布的至少两个入口部和至少两个旋转卡槽。所述至少两个榫头的各榫头与所述至少两个入口部的各入口部形状相对应，且所述至少两个榫头的各榫头位于所述至少两个入口部的各入口部的外侧，所述至少两个旋转卡槽的各旋转卡槽位于所述至少两个入口部的各入口部的内侧。其中，方位用语“外侧”和“内侧”是参照旋转连接单元的厚度方向(图3中图面左右方向)而言的，“外侧”是指图3中图面右方，“内侧”是指图3中图面左方。
详细地说，如图1至5所示，所述卡榫部分10包括第一榫头12和第二榫头14。第一榫头12和第二榫头14为鹰钩状凸出构件。所述基座部分20相应地包括第一入口部22和第二入口部24。第一榫头12和第二榫头14沿卡榫部分10的周向均匀分布，即所述第一榫头12和所述第二榫头14对置。第一入口部22和第二入口部24沿基座部分20的周向均匀分布，即第一入口部22和第二入口部24对置。
第一榫头12与第一入口部22在周向A上紧邻，第二榫头14与第二入口部24在周向A上紧邻。当然，第一榫头12与第一入口部22在周向A上可以间隔规定距离。第二榫头14与第二入口部24在周向A上可以间隔规定距离。
在本实施例中，如图1至5所示，所述基座部分20还包括悬台部及限位部。 在本实施方式中，所述基座部分20包括两个悬台部(悬台部26和悬台部28)和两个限位部。两个悬台部的结构相同。而且，两个限位部的结构相同。仅对悬台部26和限位部27进行说明。悬台部26厚度较大，以限定进入旋转卡槽30的榫头的位置，引导榫头的运动。而限位部27的厚度较薄，这样可以将进入限位部27的榫头锁紧在限位部27处。具体而言，所述悬台部26与所述限位部27相邻设置，所述旋转卡槽30通过所述悬台部26和所述限位部27形成。所述限位部27与第一榫头12和所述第二榫头14形状相互匹配，本实施例中，第一榫头12和所述第二榫头14均具有曲面的头部，所述限位部27相应地具有曲面的底部。
在另一些实施例中，所述基座部分可以仅包括悬台部，且所述旋转卡槽仅通过所述悬台部形成。
下面描述旋转连接单元100的使用方式的示范举例。在需要利用旋转连接单元100进行例如两个模块化机器人单体的连接时，首先，将两个旋转连接单元中的一个旋转连接单元(下称第一旋转连接单元)的第一榫头与两个旋转连接单元中的另一个旋转连接单元(下称第二旋转连接单元)的第一入口部对准，将第一旋转连接单元的该第一榫头插入第二旋转连接单元的该第一入口部，并绕周向旋转，使第一旋转连接单元的该第一榫头进入第二旋转连接单元的旋转卡槽，并最终旋转而定位在第二旋转连接单元的限位部处。与此同时，第一旋转连接单元的第二榫头也经第二旋转连接单元的第二入口部进入第二旋转连接单元的旋转卡槽，最终定位在第二旋转连接单元的限位部处。相应地，第二旋转连接单元的第一榫头经第一旋转连接单元的第一入口部进入第一旋转连接单元的旋转卡槽，最终定位在第一旋转连接单元的限位部处；第二旋转连接单元的第二榫头经第一旋转连接单元的第二入口部进入第一旋转连接单元的旋转卡槽，最终定位在第一旋转连接单元的限位部处。这样，两个旋转连接单元相互连接，两个模块化机器人单体相互连接。
虽然以上描述了将旋转连接单元应用于两个模块化机器人单体的连接的例子，但本发明的旋转连接单元可以应用于各行各业，例如电子、家用电器、机械设备、建筑结构等领域。
如图4和图5所示，在本实施例中，所述基座部分20上设置有两个第一磁体42和两个第二磁体46。其中，第一磁体42的极性为S，第二磁体46的极性为N， 所述两个第一磁体42相互对置，所述两个第二磁体46相互对置。
在第一入口部22和第二入口部24的径向中心侧，基座部分20上设置有容纳第一磁体42的盲孔44、和容纳第二磁体46的盲孔48。
如图4所示，两个第一磁体42分别靠近第一入口部22和第二入口部24，而两个第二磁体46分别靠近第一榫头12和第二榫头14。由此，可以通过磁体的同性相斥，异性相吸的物理属性，帮助各榫头与各入口部形状的快速对准，以及将各榫头最终锁定在限位部处。具体而言，悬台部26厚度较大，而限位部27的厚度较薄，这样，可以通过排斥力将第一榫头12和第二榫头14向上推压在限位部27内，可以将进入限位部27的榫头锁紧在限位部27处。
根据该结构，当需要将两个旋转连接单元中的一个旋转连接单元(下称第一旋转连接单元)的第一榫头与两个旋转连接单元中的另一个旋转连接单元(下称第二旋转连接单元)的第一入口部对准时，在第一旋转连接单元的第一磁体与第二旋转连接单元的第二磁体之间的吸引力的作用下，第一旋转连接单元的第一榫头与第二旋转连接单元的第一入口部快速对准。而当第一旋转连接单元的第一榫头进入第二旋转连接单元的旋转卡槽，并最终旋转而定位在第二旋转连接单元的限位部处时，在第一旋转连接单元的第一磁体与第二旋转连接单元的第一磁体之间的排斥力的作用下，将第一旋转连接单元的第一榫头向上推压在限位部处，锁定在第二旋转连接单元的限位部处。
当然，所述基座部分上可以设置2个以上的偶数个第一磁体和2个以上的偶数个第二磁体。其中，第一磁体和第二磁体极性相反，且所述第一磁体和所述第二磁体沿所述基座部分的周向交错均匀分布。
结合图6至图14，对本发明的第二实施方式进行描述。此外，与图1至图5所示的要素相似的要素分别标记相似的符号，对已经进行说明的共有的部分，省略或简略说明。
如图6至图14所示，第二实施方式中，旋转连接单元200包括卡榫部分210及基座部分220。其中，在本实施例中，所述卡榫部分210与所述基座部分220为一体成型件。所述卡榫部分210包括四个榫头即第三榫头212、第四榫头214、第 五榫头216、第六榫头218；所述基座部分220相应地包括四个入口部即第三入口部222、第四入口部224、第五入口部226、第六入口部228。其中，第三榫头212、第四榫头214、第五榫头216、第六榫头218沿基座部分220的外周均匀分布，其中，第三榫头212与第五榫头216对置，第四榫头214与第六榫头218对置。同样，第三入口部222、第四入口部224、第五入口部226、第六入口部228沿基座部分220的外周均匀分布。
所述基座部分220上设置有两个第一磁体242和两个第二磁体246。其中，第一磁体242的极性为S，第二磁体246的极性为N，所述两个第一磁体242相互对置，所述两个第二磁体246相互对置。在第三入口部222和第五入口部226的径向中心侧，基座部分220上设置有容纳第一磁体242的盲孔244、和容纳第二磁体246的盲孔248。通过磁体的同性相斥，异性相吸的物理属性，帮助各榫头与各入口部形状的快速对准，以及将各榫头锁定在限位部处。
如图11所示，所述基座部分220包括悬台部236，且旋转卡槽230通过所述悬台部236形成。在本实施方式中，与第一实施方式相比较，悬台部236的周向长度较短。
根据本发明的另一方面，还提供一种模块化机器人单体，其包括多个上述的旋转连接单元100、200。多个模块化机器人单体通过旋转连接单元相互连接，形成模块化机器人。
尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (10)

  1. 旋转连接单元，其特征在于，所述旋转连接单元包括卡榫部分及基座部分，所述卡榫部分固定在所述基座部分的外周侧，所述卡榫部分包括沿周向均匀分布的至少两个榫头，所述基座部分相应地包括沿周向均匀分布的至少两个入口部和至少两个旋转卡槽，所述至少两个榫头的各榫头与所述至少两个旋转卡槽的各旋转卡槽相适配，所述基座部分上设置有偶数个第一磁体和偶数个第二磁体，第一磁体和第二磁体极性相反，且所述第一磁体和所述第二磁体沿所述基座部分的周向交错均匀分布。
  2. 根据权利要求1所述的旋转连接单元，其特征在于，所述基座部分上设置有两个第一磁体和两个第二磁体，第一磁体的极性为S，第二磁体的极性为N，所述两个第一磁体相互对置，所述两个第二磁体相互对置。
  3. 根据权利要求1所述的旋转连接单元，其特征在于，所述至少两个榫头的各榫头位于所述至少两个入口部的各入口部的外侧，所述至少两个旋转卡槽的各旋转卡槽位于所述至少两个入口部的各入口部的内侧。
  4. 根据权利要求1所述的旋转连接单元，其特征在于，所述基座部分还包括悬台部，所述旋转卡槽通过所述悬台部形成。
  5. 根据权利要求1所述的旋转连接单元，其特征在于，所述基座部分还包括悬台部及限位部，所述悬台部与所述限位部相邻设置，所述旋转卡槽通过所述悬台部和所述限位部形成，所述限位部与各榫头形状相互匹配。
  6. 根据权利要求1至5任一项所述的旋转连接单元，其特征在于，所述卡榫部分包括第一榫头和第二榫头，所述基座部分相应地包括第一入口部和第二入口部，所述第一榫头和所述第二榫头对置，所述第一入口部和所述第二入口部对置。
  7. 根据权利要求6所述的旋转连接单元，其特征在于，所述卡榫部分及所述基座部分均为环形件。
  8. 根据权利要求1至5任一项所述的旋转连接单元，其特征在于，所述卡榫部分包括四个榫头，所述基座部分相应地包括四个入口部。
  9. 根据权利要求8所述的旋转连接单元，其特征在于，所述卡榫部分与所述 基座部分为一体成型件。
  10. 模块化机器人单体，其特征在于包括多个如权利要求1至9任一项所述的旋转连接单元。
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