CN101670586B - Butt joint mechanism for self-reconstruction modular robot based on pin-shaft wedging - Google Patents
Butt joint mechanism for self-reconstruction modular robot based on pin-shaft wedging Download PDFInfo
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- CN101670586B CN101670586B CN200910308439A CN200910308439A CN101670586B CN 101670586 B CN101670586 B CN 101670586B CN 200910308439 A CN200910308439 A CN 200910308439A CN 200910308439 A CN200910308439 A CN 200910308439A CN 101670586 B CN101670586 B CN 101670586B
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Abstract
The invention relates to a butt joint mechanism for a self-reconstruction modular robot based on pin-shaft wedging, comprising a fixed sleeve communication module, a movable sleeve butt joint mechanism and a frame mechanism, wherein the fixed sleeve communication module is arranged at the excircle of the end surface of the butt joint mechanism; the movable sleeve butt joint mechanism is rotatablely embedded and sheathed inside the fixed sleeve communication module; and one end of the frame mechanism is arranged at the bottom of a fixed sleeve, and the other end thereof is connected with an arm of the robot. The butt joint mechanism has simple and reasonable design, convenient and fast implementation of butt joint process, fewer moving parts, high reliability, butt joint accuracy ensured by mechanical structure and high precision, and can well complete the butt joint among modules.
Description
Technical field
What the present invention relates to is the device in a kind of Robotics field, specifically is a kind of docking mechanism based on the pin-shaft wedging that is used for from the reconstruct modular robot.
Background technology
Be the maintenance of implementation space solar power station, proposed a kind of novel self-reorganization robot.Each modular robot has carried a solar panel, the butt joint combination of the modular robot through having same structure in a large number, thus obtain the array of a bulk of space solar cell plate.Wherein each modular robot is an independently logical AND moving cell; Perception that can be autonomous is also judged self and the working condition of environment; Can realize mutual communication between module and the module; Rely on each other collaborative work can accomplish reconstruct, the replacement of intermodule, to adapt to the requirement of work at present, wherein individual module robot three-dimensional structure is as shown in Figure 1.
Can see that from Fig. 1 modular robot is a centrosymmetric structure, form by an equilateral triangle center framework and three identical mechanical arms of frame for movement.Cover on the framework of equilateral triangle center and carry solar panel; Each bar mechanical arm has three freedoms of motion; Module realizes each other connection and motions through three mechanical arms, therefore is positioned at the key that can the docking mechanism of mechanical arm least significant end have just become whole self-reconstruction system effectively work.
From the mating interface of reconstruct modular robot, be divided into two types usually: mechanical type interface and electromagnetic type interface.The mechanical type interface is compared power consumption still less with the electromagnetic type interface, and efficient is higher, and reliability is also better.But also have complicated in mechanical structure, the problem of influence butt joint effects such as the machining accuracy, wear out failure of machinery so develop a kind of simple in structure, requirement on machining accuracy is not high, moving component is few mechanical type interface, is the problem that at first need solve.The mechanical type interface that current domestic and international existing self-reorganization robot adopted; More employing be the structural design of Alcula type; Promptly be on interface, to be arranged to four slide block chucks that diagonal is arranged, two modules can be clamped down on through four slide block chucks with mating each other and accomplished docking mission together.
The mechanical type interface that current domestic and international existing self-reorganization robot adopted; More employing be the structural design of Alcula type, this type of interface structure design principle is simple and clear, butt joint realize more convenient directly; But its shortcoming is exactly higher to the requirement on machining accuracy of structure; Merging precision is not high, and moving component is too many, mechanism's long-term work serious wear influence butt joint effect.
Retrieval through to prior art finds that what the Superbot self-reorganization robot module of people's designs such as the M-TRAN series self-reorganization robot module of people such as the Satoshi Murata of Tokyo technical research institute design and the Wei-Min Shen of American South University of California all adopted is this structure.This interface structure design principle is simple and clear, and butt joint realizes more convenient direct, but its shortcoming is exactly higher to the requirement on machining accuracy of structure, and merging precision is not high, and moving component is too many, mechanism's long-term work serious wear influence butt joint effect.
Summary of the invention
The present invention is directed to the above-mentioned deficiency that prior art exists; A kind of docking mechanism based on the bearing pin wedging that is used for from the reconstruct modular robot is provided, decoration structure features simple design, reasonable, the process that achieves a butt joint is convenient; The mechanical movement parts are few; Reliability is high, and merging precision is high, can accomplish the butt joint between the module well.
The present invention realizes through following technical scheme; The present invention includes: fixed cover communication module, movable sleeve docking mechanism and frame mechanism; Wherein: the fixed cover communication module places the end face cylindrical of said docking mechanism; The movable sleeve docking mechanism rotates and is nested in the fixed cover communication module, and frame mechanism one end is arranged at the fixed cover bottom, and the other end links to each other from the reconstruct modular robot with institute.
Described fixed cover communication module comprises: fixed cover, electric connector assembly and sensor, and wherein: fixed cover is positioned at the end of whole docking mechanism, and electric connector assembly is fixedly set on the fixed cover, and sensor is fixedly set in four jiaos of places of end face of fixed cover.
Described fixed cover is provided with circular trough, and said electric connector assembly is fixedly set in the circular trough of fixed cover.
Described movable sleeve docking mechanism comprises: movable sleeve, active pin shaft and transmission system, and wherein: movable sleeve is movably set in the fixed cover, and active pin shaft and transmission system are fixedly set on the movable sleeve respectively.
Described movable sleeve end face is provided with cannelure, and this cannelure is the variable cross-section shape along the cross section of annular direction, and the degree of depth of cannelure changes from left to right, and a left side is dark right shallow, also is variable cross-section in the cross section along radial direction, and the wide right side, a width left side is narrow.
Described active pin shaft is arranged in the bearing pin circular hole that is provided with on the movable sleeve, and the position of this bearing pin circular hole and variable cross-section cannelure center are positioned on the same annulus of movable sleeve end face, and 180 ° of phase differences.
Described transmission system comprises: a pair of spur gear wheel and drive motors, wherein: first spur gear wheel be arranged on the movable sleeve sun gear shaft and with dock the drive motors output shaft on the second spur gear wheel engaged transmission.
Described frame mechanism comprises: two framing components, wherein: a side of first framing component links to each other with fixed cover, opposite side links to each other with second framing component, the opposite side of the second framing component framework with link to each other from the reconstruct modular robot.
Docking mechanism of the present invention is simple for structure, reasonable, and control is convenient, reliable, and merging precision and reliability are high.As long as the shape and the size of appropriate design bearing pin spindle nose and cannelure can be guaranteed the smooth realization of docking.
Docking mechanism of the present invention is to the present deficiency that exists from the mechanical Alcula type docking mechanism of reconstruct modular robot; Proposed a kind of docking mechanism scheme of closing based on pin-slot wedge of novelty, reached the butt joint between the module via the tight wedging between the pin-groove of particular design through shape on the hermaphroditic docking mechanism.Because the structure that adopts pin-groove to cooperate achieves a butt joint, succinct frame for movement effectively reduces the complexity of butt joint motion, and moving component reduces; Improved the precision and the reliability of butt joint, so this docking mechanism decoration structure features simple design is reasonable, the process that achieves a butt joint is convenient; The mechanical movement parts are few; Reliability is high, and merging precision is high, can accomplish the docking mission between the module well.In addition; The present invention has adopted knockdown project organization; All parts in the docking mechanism can be realized being provided with easily and safeguarding, and the parts of the wearing and tearing of need moving in the whole docking mechanism seldom, after long-term the use; As long as change movable sleeve and two parts of bearing pin, promptly can drop into normal use again.More can be processed into embedded structure to cannelure, then only need change this annular geosynclinal block and bearing pin, further reduce cost.
Description of drawings
Fig. 1 is the prior art sketch map;
Wherein: Fig. 1 a is an individual module robot three-dimensional structure, and Fig. 1 b is the local enlarged diagram of the present invention.
Fig. 2 is a structural representation of the present invention.
Fig. 3 is fixed cover and movable sleeve end face structure sketch map.
The specific embodiment
Elaborate in the face of embodiments of the invention down, present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
As shown in Figures 2 and 3; Present embodiment comprises: fixed cover communication module 1; Movable sleeve docking mechanism 2 and frame mechanism 3, wherein: fixed cover communication module 1 places the end face cylindrical of said docking mechanism, and movable sleeve docking mechanism 2 rotates and is nested in the fixed cover communication module 1; Frame mechanism 3 one ends are arranged at the fixed cover bottom, and the other end links to each other with robot arm.
Described fixed cover communication module 1 comprises: fixed cover 4, electric connector assembly 5 and sensor 6; Wherein: fixed cover 4 is arranged on the end of whole docking mechanism; Electric connector assembly 5 is welded into an annular connector by the several jointing sheet through the copper ring bar, and several rings are through the insulating trip composition connector assembly that is connected together then.This electric connector assembly 5 is fixed on through screw in the circular trough 10 of fixed cover 4, and sensor 6 is arranged on four angles of fixed cover 4, is paired version.
The basis instrument platform that described fixed cover 4 is whole docking mechanisms, main parts all depend on it, and said fixed cover 4 is provided with circular trough 10.
Described electric connector assembly 5 is arranged in the circular trough 10 of fixed cover 4 of insulation, and three articulating connector assemblies link together with insulating trip, is convenient to be provided with.Electric connector assembly 5 is welded on the copper ring by the bronze flake of several special shapes to be formed; When being provided with, connector keeps certain clearance, to prevent in two interface docking operations causing the sheet that patches on the different rings to be in contact with one another and to influence communication because of patching the sheet compressive deformation.It patches sheet and direction is set certain requirement is also arranged, and should make that to patch sheet rigidity along the circumferential direction bigger.
Described sensor 6 is arranged on four angles of fixed cover 4 end faces, and two kinds of different sensor 6 are set respectively on two diagonal, through the induction location of sensor 6, can guarantee two accurate contrapositions of interface during butt joint.
Described movable sleeve docking mechanism 2 comprises: movable sleeve 7, active pin shaft 8 and transmission system 9, wherein: movable sleeve 7 is movably set in the fixed cover 4 and can rotates by relative fixed cover 4, and active pin shaft 8 is fixedly set in respectively on the movable sleeve 7 with transmission system 9.
Described movable sleeve 7 is the carriers that are provided with of active pin shaft 8 and gear shaft 25, and its end face is provided with cannelure 18.
Described cannelure 18 is the variable cross-section shape in the cross section along annular direction, and the degree of depth of cannelure 18 changes from left to right, and a left side is dark right shallow, also is variable cross-section in the cross section along radial direction, and the wide right side, a width left side is narrow; The size and dimension of groove low order end and the tight wedging of active pin shaft 8 shaft heads have been eliminated the position deviation in the docking operation like this, have guaranteed the accurate centering of butt joint back two interfaces.
Described active pin shaft 8 is arranged in the bearing pin circular hole 11 that is provided with on the movable sleeve 7; The position of this bearing pin circular hole 11 and variable cross-section cannelure 18 centers are positioned on the same annulus of movable sleeve 7 end faces; And 180 ° of phase differences; Guaranteed in docking operation the just in time corresponding each other and coupling of the cannelure 18 on two docking mechanism movable sleeves, 7 end faces, active pin shaft 8 like this.
Centre bore 19 places cover and are provided with a circular cover 12 on described movable sleeve 7 end faces; This circular cover 12 with movable sleeve 7 on also driven the cannelure of an equal length on the cannelure 18 corresponding positions; This well width is less than the width of cannelure 18 on the movable sleeve 7, and its width dimensions depends on the size at active pin shaft 8 spindle nose neck places.Guaranteed that like this active pin shaft 8 spindle noses clamp under the constraint of variable cross-section cannelure 18 and circular cover 12.Sleeve 20 is housed in the bearing pin circular hole 11, is with circlip 21 and packing ring 22 on the active pin shaft 8, be used to retrain the stroke of active pin shaft 8 motions.Spring socket sleeve 24 is equipped with in bearing pin circular hole 11 bottoms, on 24 ends of spring socket sleeve circle, has convex ridge, is active pin shaft 8 location and the spacing effects that move up and down to cooperate the limit sliding chutes that has on the active pin shaft 8 to play.Automatically stretch into for ease of 8 spindle noses of active pin shaft in the docking operation in the cannelure 18 of another docking mechanism; Be with spring 23 at spring socket sleeve 24 and 8 of active pin shafts; The selection of spring 23 rigidity should guarantee that initial setting up state lower spring power is enough to jack-up active pin shaft 8; The stroke of active pin shaft 8 in bearing pin circular hole 11 will be confirmed by the thickness of groove depth, spindle nose axial dimension and circular cover 12, otherwise two interfaces produce certain interval after can making butt joint, or the consequence that can't closely be adjacent to.The axle section of active pin shaft 8 spindle noses is processed has certain slope, and angle that it is cut sth. askew and orientation should accurately be mated with the 18 low order end cross sectional shapes of variable cross-section cannelure on the movable sleeve 7.In the docking operation, reach the purpose of butt joint through the tight wedging on both inclined-planes.For the position that guarantees the relative variable cross-section cannelure 18 of active pin shaft 8 spindle nose shapes does not change, on active pin shaft 8, have limit sliding chutes.
Described transmission system 9 comprises: a pair of spur gear wheel 13,14 and drive motors 15, wherein: first spur gear wheel 13 be arranged on the sun gear shaft 25 of movable sleeve 7 and with dock drive motors 15 output shafts on second spur gear wheel, 14 engaged transmission.When butt joint drive motors 15 rotates, drive movable sleeve 7 relative fixed cover 4 through a pair of spur gear wheel 13,14 transmissions and rotate, its rotation amplitude is the angle at variable cross-section cannelure 18 corresponding centers.When butt joint drive motors 15 counter-rotating equal angular, inter-agency separation promptly achieves a butt joint.
Described frame mechanism 3 comprises: two framing components 16,17, and wherein: a side of first framing component 16 links to each other with fixed cover 4, and opposite side links to each other with second framing component 17, and the opposite side of second framing component, 17 frameworks links to each other with robot arm.
Butt joint between the reconstruct modular robot is to realize through the terminal docking mechanism of its mechanical arm.Because three mechanical arm structures of same module are identical; Realize the butt joint between the disparate modules robot arm; As long as two mechanical arms make down in attitude control the cannelure 18 on the movable sleeve docking mechanism 2 of two docking mechanisms corresponding with active pin shaft 8 spindle noses and each other near, respond to and send signal through being contained in sensor 6 on the docking mechanism end face then, so that manipulator motion stops; Active pin shaft 8 on the interface has got in the corresponding annular groove 18 at this moment; Then start the angle that butt joint drive motors 15, two docking mechanisms turn over cannelure 18 corresponding centers relatively and cause active pin shaft 8 spindle nose wedgings in cannelure 18, through butt joint drive motors 15 corners or motor rotation blockage status detection; Break off butt joint drive motors 15 immediately, thereby accomplish docking mission.
Claims (1)
1. docking mechanism that closes based on pin-slot wedge that is used for from the reconstruct modular robot; It is characterized in that; Comprise: fixed cover communication module, movable sleeve docking mechanism and frame mechanism, wherein: the fixed cover communication module places the end face cylindrical of the said docking mechanism that closes based on pin-slot wedge, and the movable sleeve docking mechanism rotates and is nested in the fixed cover communication module; Frame mechanism one end is arranged at the fixed cover bottom, and the other end links to each other from the reconstruct modular robot with said;
Described fixed cover communication module comprises: said fixed cover, electric connector assembly and sensor; Wherein: fixed cover is positioned at the end of the whole docking mechanism that closes based on pin-slot wedge; Electric connector assembly is fixedly set on the fixed cover, and sensor is fixedly set in four jiaos of places of end face of fixed cover;
Fixed cover in the described fixed cover communication module is provided with circular trough, and described electric connector assembly is fixedly set in the circular trough of fixed cover, and described sensor is arranged on four angles of fixed cover end face;
Described movable sleeve docking mechanism comprises: movable sleeve, active pin shaft and transmission system, and wherein: movable sleeve is movably set in the fixed cover, and active pin shaft and transmission system are fixedly set on the movable sleeve respectively;
The end face of described movable sleeve is provided with cannelure, and active pin shaft and transmission system are fixedly set on the movable sleeve;
Described cannelure all is the variable cross-section shape in the cross section along annular direction and radial direction, and the degree of depth of cannelure changes from left to right, and a left side is dark right shallow, also is variable cross-section in the cross section along radial direction, and the wide right side, a width left side is narrow; The size and dimension of groove low order end and the tight wedging of active pin shaft shaft head;
Described active pin shaft is arranged in the bearing pin circular hole on the movable sleeve; The position of this bearing pin circular hole and variable cross-section cannelure center are positioned on the same annulus of movable sleeve end face; And 180 ° of phase differences; Spring socket sleeve is equipped with in bearing pin circular hole bottom, is having convex ridge on the circle at the bottom of the spring socket sleeve, is the active pin shaft location and the spacing effect that moves up and down to cooperate the limit sliding chutes that has on the active pin shaft to play;
Described transmission system comprises: a pair of spur gear wheel and the butt joint drive motors, wherein: first spur gear wheel is arranged on the movable sleeve sun gear shaft, first spur gear wheel with dock the drive motors output shaft on the second spur gear wheel engaged transmission;
Described frame mechanism comprises: two framing components, wherein: a side of first framing component links to each other with fixed cover, opposite side links to each other with a side of the second framing component framework, the opposite side of the second framing component framework with link to each other from the reconstruct modular robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910308439A CN101670586B (en) | 2009-10-19 | 2009-10-19 | Butt joint mechanism for self-reconstruction modular robot based on pin-shaft wedging |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910308439A CN101670586B (en) | 2009-10-19 | 2009-10-19 | Butt joint mechanism for self-reconstruction modular robot based on pin-shaft wedging |
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| Publication Number | Publication Date |
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| CN101670586A CN101670586A (en) | 2010-03-17 |
| CN101670586B true CN101670586B (en) | 2012-09-05 |
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| CN200910308439A Expired - Fee Related CN101670586B (en) | 2009-10-19 | 2009-10-19 | Butt joint mechanism for self-reconstruction modular robot based on pin-shaft wedging |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102632510B (en) * | 2012-04-01 | 2014-11-05 | 北京航空航天大学 | Automatic connecting element |
| CN102862159B (en) * | 2012-10-19 | 2014-08-27 | 上海交通大学 | Docking mechanism based on pin-hole clamping for self-reconfiguration robots |
| CN105034017B (en) * | 2015-08-11 | 2017-03-15 | 上海交通大学 | A kind of reconfigurable modularization robot cellular construction |
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| CN1562580A (en) * | 2004-03-18 | 2005-01-12 | 上海交通大学 | Standard interface for fast connecting and releasing up in interactive module |
| CN2714869Y (en) * | 2003-11-17 | 2005-08-03 | 江门市婴宝婴儿用品有限公司 | Pipe fitting connector |
| CN101254594A (en) * | 2008-04-17 | 2008-09-03 | 上海交通大学 | Standard butt-joint device self-repair module |
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2009
- 2009-10-19 CN CN200910308439A patent/CN101670586B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2714869Y (en) * | 2003-11-17 | 2005-08-03 | 江门市婴宝婴儿用品有限公司 | Pipe fitting connector |
| CN1562580A (en) * | 2004-03-18 | 2005-01-12 | 上海交通大学 | Standard interface for fast connecting and releasing up in interactive module |
| CN101254594A (en) * | 2008-04-17 | 2008-09-03 | 上海交通大学 | Standard butt-joint device self-repair module |
| CN101462267A (en) * | 2009-01-08 | 2009-06-24 | 上海交通大学 | Three-arm buttjunction module flat lattice type self-reorganization robot |
Non-Patent Citations (1)
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