CN109227598A - Reconfigurable modular robot bindiny mechanism and connection method - Google Patents
Reconfigurable modular robot bindiny mechanism and connection method Download PDFInfo
- Publication number
- CN109227598A CN109227598A CN201811421150.4A CN201811421150A CN109227598A CN 109227598 A CN109227598 A CN 109227598A CN 201811421150 A CN201811421150 A CN 201811421150A CN 109227598 A CN109227598 A CN 109227598A
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- hole
- radial
- protrusion
- module
- bindiny mechanism
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000009827 uniform distribution Methods 0.000 claims abstract description 18
- 230000004308 accommodation Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of reconfigurable modular robot bindiny mechanism and connection methods, 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 present invention relates to a kind of reconfigurable modular robot bindiny mechanism and connection methods.
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 present invention proposes a kind of reconfigurable modular robot bindiny mechanism and connection method.
The solution adopted by the present invention to solve the technical problem is that a kind of reconfigurable modular robot bindiny mechanism, including
Active module, passive module, the passive module sleeve are provided with turntable in active module in active module, in active module
It is provided with the motor of driving turntable rotation, at least two radial through-hole A of active module side circumference uniform distribution, passive module side circle
At least two radial through-hole B of Zhou Junbu, radial through-hole B corresponding radial through-hole A is concentric, is provided in radial through-hole A
Pin shaft is provided with protrusion on turntable, and pin shaft is arranged in a one-to-one correspondence with protrusion, pin shaft inner end sheathed spring on protrusion, pin shaft,
Spring one end determines 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.
A kind of connection method of reconfigurable modular robot bindiny mechanism:
Connection: motor is driven forward turntable rotation, the protrusion rotary squeezing pivot pin on turntable, and pivot pin is moved radially outwards, axis
Pin outer end passes through the connection that radial through-hole A insertion radial through-hole B realizes active and passive module, and protrusion is contacted with block after connection, is made
Turntable is obtained to stop operating；
Disconnect: motor reversal drives turntable rotation, and pivot pin is under the elastic force effect of spring, and pivot pin moves radially inwardly, outer end
It 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, so that turning
Disk stops operating.
Compared with prior art, the invention has the following advantages: simple structure and reasonable design, portable good, property
Energy is reliable, is easily installed and dismantles, and can be widely applied to a variety of reconfigurable modular robots.
Detailed description of the invention
The invention 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 is further described with reference to the accompanying drawings and detailed description.
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.
A kind of connection method of reconfigurable modular robot bindiny mechanism:
Connection: motor is driven forward turntable rotation, the protrusion rotary squeezing pivot pin on turntable, and pivot pin is moved radially outwards, axis
Pin outer end passes through the connection that radial through-hole A insertion radial through-hole B realizes active and passive module, and protrusion is contacted with block after connection, is made
Turntable is obtained to stop operating；
Disconnect: motor reversal drives turntable rotation, and pivot pin is under the elastic force effect of spring, and pivot pin moves radially inwardly, outer end
It 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, so that turning
Disk stops operating.
Above-listed preferred embodiment, has been further described the object, technical solutions and advantages of the present invention, is answered
Understand, the foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
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.
10. a kind of connection method of reconfigurable modular robot bindiny mechanism, using restructural mould as claimed in claim 5
Bindiny mechanism of Kuai Hua robot, it is characterised in that:
Connection: motor is driven forward turntable rotation, the protrusion rotary squeezing pivot pin on turntable, and pivot pin is moved radially outwards, axis
Pin outer end passes through the connection that radial through-hole A insertion radial through-hole B realizes active and passive module, and protrusion is contacted with block after connection, is made
Turntable is obtained to stop operating；
Disconnect: motor reversal drives turntable rotation, and pivot pin is under the elastic force effect of spring, and pivot pin moves radially inwardly, outer end
It 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, so that turning
Disk stops operating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811421150.4A CN109227598B (en) | 2018-11-27 | 2018-11-27 | Reconfigurable modularized robot connecting mechanism and connecting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811421150.4A CN109227598B (en) | 2018-11-27 | 2018-11-27 | Reconfigurable modularized robot connecting mechanism and connecting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109227598A true CN109227598A (en) | 2019-01-18 |
| CN109227598B CN109227598B (en) | 2024-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811421150.4A Active CN109227598B (en) | 2018-11-27 | 2018-11-27 | Reconfigurable modularized robot connecting mechanism and connecting method |
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| Country | Link |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434892A (en) * | 2019-07-12 | 2019-11-12 | 上海交通大学 | A kind of docking mechanism of reconstruction robot |
| CN111085988A (en) * | 2019-12-19 | 2020-05-01 | 中科新松有限公司 | Light-weight cooperative robot with quick-release connection mode |
| CN112720442A (en) * | 2020-12-21 | 2021-04-30 | 广州大学 | Unit module of reconfigurable mechanical arm |
| CN113124025A (en) * | 2021-04-30 | 2021-07-16 | 洛阳尚奇机器人科技有限公司 | Robot tail end flange interface with flexibility |
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| US20030184164A1 (en) * | 2000-09-06 | 2003-10-02 | Takao Fukui | Enabler of teaching pendant |
| AT6728U1 (en) * | 2002-01-16 | 2004-03-25 | Keba Ag | MANUAL CONTROL DEVICE WITH AN EMERGENCY STOP SWITCHING DEVICE AND METHOD FOR PRODUCING AND DISCONNECTING A FUNCTIONAL ACTIVE CONNECTION |
| CN1898131A (en) * | 2003-12-23 | 2007-01-17 | 巴克斯特国际公司 | Apparatus and method for fabricating a reconstitution assembly |
| CN107932476A (en) * | 2017-11-07 | 2018-04-20 | 广西大学 | A kind of six degree of freedom via Self-reconfiguration parallel connection spray robot |
| CN108372499A (en) * | 2018-05-15 | 2018-08-07 | 哈尔滨理工大学 | Spatial cell robot via Self-reconfiguration cradle head module |
| CN209224091U (en) * | 2018-11-27 | 2019-08-09 | 福州大学 | Reconfigurable modular robot bindiny mechanism |
-
2018
- 2018-11-27 CN CN201811421150.4A patent/CN109227598B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030184164A1 (en) * | 2000-09-06 | 2003-10-02 | Takao Fukui | Enabler of teaching pendant |
| AT6728U1 (en) * | 2002-01-16 | 2004-03-25 | Keba Ag | MANUAL CONTROL DEVICE WITH AN EMERGENCY STOP SWITCHING DEVICE AND METHOD FOR PRODUCING AND DISCONNECTING A FUNCTIONAL ACTIVE CONNECTION |
| CN1898131A (en) * | 2003-12-23 | 2007-01-17 | 巴克斯特国际公司 | Apparatus and method for fabricating a reconstitution assembly |
| CN107932476A (en) * | 2017-11-07 | 2018-04-20 | 广西大学 | A kind of six degree of freedom via Self-reconfiguration parallel connection spray robot |
| CN108372499A (en) * | 2018-05-15 | 2018-08-07 | 哈尔滨理工大学 | Spatial cell robot via Self-reconfiguration cradle head module |
| CN209224091U (en) * | 2018-11-27 | 2019-08-09 | 福州大学 | Reconfigurable modular robot bindiny mechanism |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434892A (en) * | 2019-07-12 | 2019-11-12 | 上海交通大学 | A kind of docking mechanism of reconstruction robot |
| CN111085988A (en) * | 2019-12-19 | 2020-05-01 | 中科新松有限公司 | Light-weight cooperative robot with quick-release connection mode |
| CN111085988B (en) * | 2019-12-19 | 2022-07-15 | 中科新松有限公司 | Light-weight cooperative robot with quick-release connection mode |
| CN112720442A (en) * | 2020-12-21 | 2021-04-30 | 广州大学 | Unit module of reconfigurable mechanical arm |
| CN112720442B (en) * | 2020-12-21 | 2022-05-24 | 广州大学 | Unit module of reconfigurable mechanical arm |
| CN113124025A (en) * | 2021-04-30 | 2021-07-16 | 洛阳尚奇机器人科技有限公司 | Robot tail end flange interface with flexibility |
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| Publication number | Publication date |
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| CN109227598B (en) | 2024-01-30 |
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