CN115056210B - Docking mechanism and reconfigurable mobile robot - Google Patents
Docking mechanism and reconfigurable mobile robot Download PDFInfo
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- CN115056210B CN115056210B CN202210745158.6A CN202210745158A CN115056210B CN 115056210 B CN115056210 B CN 115056210B CN 202210745158 A CN202210745158 A CN 202210745158A CN 115056210 B CN115056210 B CN 115056210B
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 144
- 230000007246 mechanism Effects 0.000 title claims abstract description 54
- 210000001503 joint Anatomy 0.000 claims description 36
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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Abstract
The invention provides a docking mechanism and a reconfigurable mobile robot, wherein the docking mechanism comprises a docking male head and a docking female head, the docking male head comprises a first base, a first connecting component and a first docking seat which are sequentially connected and form a parallelogram mechanism, the docking male head further comprises a first linear driver, the first linear driver is rotatably arranged on the first base around a first axis, at least one of the first connecting component and the first docking seat is rotatably connected around a second axis, the first axis is parallel to the second axis so as to drive the first docking seat to move, the docking female head comprises a second base and a second docking seat, each of the second base around a third axis, a fourth axis and a fifth axis is rotatably arranged on the second docking seat, the third axis is orthogonal to the fourth axis, the fifth axis is orthogonal to the third axis and the fourth axis, and the first docking seat and the second docking seat are detachably connected.
Description
Technical Field
The invention relates to the technical field of mobile robot reconstruction, in particular to a docking mechanism and a reconfigurable mobile robot.
Background
Mobile robots have been widely used in the fields of warehouse logistics, home service, star detection, etc. However, in the face of complex terrains, the capability of a single mobile robot for crossing ravines, obstacle crossing capability, maneuverability and the like are insufficient, and a reconfigurable mobile robot formed by serially reconstructing a plurality of mobile robots through a docking mechanism is beneficial to solving the problems. In the related art, the docking mechanism of the reconfigurable mobile robot generally has two or three degrees of freedom, and has a problem of few degrees of freedom.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent.
For this reason, the embodiment of the present invention proposes a docking mechanism having an advantage of a large number of degrees of freedom.
The embodiment of the invention provides a reconfigurable mobile robot with the docking mechanism
The docking mechanism of the embodiment of the invention comprises:
the butt joint male head comprises a first base, a first connecting assembly and a first butt joint seat which are sequentially connected and form a parallelogram mechanism, and further comprises a first linear driver, wherein the first linear driver is rotatably arranged on the first base around a first axis, the first linear driver is rotatably connected with at least one of the first connecting assembly and the first butt joint seat around a second axis, and the first axis is parallel to the second axis so as to drive the first butt joint seat to move;
the butt joint female head comprises a second base and a second butt joint seat, wherein the second base is rotatably arranged on the second butt joint seat around each of a third axis, a fourth axis and a fifth axis, the third axis is orthogonal to the fourth axis, the fifth axis is orthogonal to the third axis and the fourth axis, and the first butt joint seat is detachably connected with the second butt joint seat.
The butt joint mechanism provided by the embodiment of the invention has the advantage of more degrees of freedom.
In some embodiments, the first docking station includes a first station body, a reset member, and an adapter frame, the first station body and the adapter frame are slidably connected along a first direction, the reset member is connected to each of the first station body and the adapter frame, the adapter frame is connected to the first connection component, and the first direction is consistent with an extension direction of the first axis.
In some embodiments, the docking head further comprises a second connection assembly comprising a first connection member and a second connection member, the first connection member being rotatably connected with the second base about the third axis, the second connection member being rotatably connected with the first connection member about the fourth axis, the second connection member being rotatably connected with the second docking station about the fifth axis.
In some embodiments, the docking head further comprises a rotary drive, a second linear drive and a third linear drive,
the rotary driver is arranged on the second base and is connected with the first connecting piece so as to drive the first connecting piece to rotate around the third axis,
the second linear driver is rotatably arranged on the first connecting piece around a sixth axis, the sixth axis is parallel to the fourth axis, the second linear driver is connected with the second connecting piece so as to drive the second connecting piece to rotate around the fourth axis,
the third linear driver is rotatably arranged on the second connecting piece around a seventh axis, the seventh axis is parallel to the fifth axis, and the third linear driver is connected with the second butt joint seat so as to drive the second butt joint seat to rotate around the fifth axis.
In some embodiments, the first housing includes a first abutment plate and a lock release shaft connected to the first abutment plate and located on a side of the first abutment plate adjacent the second abutment,
the second butt joint seat includes the second pedestal, the second pedestal includes second butt joint board and chuck, the chuck with the second butt joint board links to each other, and is located the second butt joint board deviates from one side of first pedestal, the second butt joint board is equipped with first through-hole, the chuck have with the coaxial second through-hole of first through-hole, the lock is released the axle and is passed in proper order first through-hole with the second through-hole just with the chuck can dismantle and be connected.
In some embodiments, the first abutment plate is provided with a bearing projection towards the second abutment plate, the second abutment plate is provided with a bearing groove, and the bearing projection is fitted in the bearing groove.
In some embodiments, the second connector includes a first portion rotatably coupled to the first connector about the fourth axis and a second portion rotatably coupled to the first portion about an eighth axis, the second housing rotatably coupled to the second portion about the fifth axis, the eighth axis being parallel to the fourth axis, the second linear actuator coupled to the second portion, the third linear actuator being disposed on one of the first portion and the second portion.
In some embodiments, the second base further comprises a connecting plate connected to the second abutment plate and located on a side of the second abutment plate facing away from the first base, the connecting plate protruding in a direction facing away from the second abutment plate, the chuck being located between the connecting portion and the second abutment plate, the connecting plate being in rotational connection with the second portion about the fifth axis.
In some embodiments, the first connection assembly includes a third connection member and a fourth connection member disposed in parallel, the first base is connected to each of the third connection member and the fourth connection member, the adapter bracket is connected to each of the third connection member and the fourth connection member, the first base, the third connection member, the fourth connection member, and the adapter bracket form a parallelogram mechanism,
one side of the third connecting piece adjacent to the fourth connecting piece is provided with a first limiting rod extending towards the fourth connecting piece, the first limiting rod is adjacent to the first base, one side of the fourth connecting piece adjacent to the third connecting piece is provided with a second limiting rod extending towards the third connecting piece, and the second limiting rod is adjacent to the first base.
The reconfigurable mobile robot of the embodiment of the invention comprises a plurality of mobile robots and a plurality of docking mechanisms according to any of the embodiments, wherein each docking mechanism is connected between two adjacent mobile robots, a docking male head of the docking mechanism is arranged on one of the two adjacent mobile robots, and a docking female head of the docking mechanism is arranged on the other of the two adjacent mobile robots.
Drawings
Fig. 1 is a schematic structural view of a reconfigurable mobile robot according to an embodiment of the present invention.
Fig. 2 is a schematic view showing a walking state of the reconfigurable mobile robot on a road surface according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of a docking mechanism according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of a docking mechanism according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of a docking mechanism according to an embodiment of the present invention.
Fig. 6 is a schematic structural view of a butt male according to an embodiment of the present invention.
Fig. 7 is a schematic structural view of a butt male according to an embodiment of the present invention.
Fig. 8 is a schematic structural view of a butt male according to an embodiment of the present invention.
Fig. 9 is a schematic structural view of a docking head according to an embodiment of the present invention.
Fig. 10 is a schematic structural view of a docking head according to an embodiment of the present invention.
Fig. 11 is a schematic structural view of a docking head according to an embodiment of the present invention.
Fig. 12 is a schematic view of the chuck in accordance with an embodiment of the present invention in combination with a lock release shaft.
Reference numerals:
a mobile robot 100;
a docking mechanism 200; docking male 210; docking female 220;
a road surface 300;
a first base 1;
a first connection assembly 2; a third connecting member 21; a first limit lever 211; a fourth connector 22; a second stopper bar 221;
a first docking station 3; a first housing 31; the first butt plate 311; a force bearing protrusion 3111; a lock release shaft 312; lock release slots 3121; lugs 313; a transfer rack 32; a guide bar 33; a limit shoulder 331; a reset member 34;
a first linear driver 4;
a second base 5; a limit part 51;
a second connection assembly 6; a first connector 61; a stopper 611; a second connector 62; a first portion 621; a second portion 622;
a second docking station 7; a second seat 71; a second abutment plate 711; a first through hole 7111; a force bearing groove 7112; a connection plate 712; a chuck 72; a tray 721; a catch 722;
a rotary driver 8; a decelerator 81; a second linear actuator 9; a third linear actuator 10;
a first connecting shaft 11; a second connecting shaft 12; a third connecting shaft 13; a fourth connecting shaft 14; a fifth connecting shaft 15; a sixth connecting shaft 16; a seventh connecting shaft 17; an eighth connecting shaft 18; a ninth connecting shaft 19; a tenth connecting shaft 20; eleventh connecting shaft 23.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The docking mechanism 200 according to the embodiment of the present invention is described below with reference to the drawings.
As shown in fig. 3 to 12, the docking mechanism 200 of the embodiment of the present invention includes: a docking male 210 and a docking female 220.
The docking male 210 includes a first base 1, a first connection assembly 2, and a first docking base 3, which are sequentially connected and form a parallelogram mechanism, and the docking male 210 further includes a first linear driver 4, where the first linear driver 4 is rotatably disposed on the first base 1 about a first axis, and the first linear driver 4 is rotatably connected with at least one of the first connection assembly 2 and the first docking base 3 about a second axis, and the first axis is parallel to the second axis so as to drive the first docking base 3 to move.
That is, the first linear actuator 4 is rotatably connected to the first link assembly 2 about the second axis; alternatively, the first linear actuator 4 is rotatably connected to the first docking station 3 about a second axis; alternatively, the first linear actuator 4 is rotatably connected to the first coupling assembly 2 about a second axis, and the first linear actuator 4 is rotatably connected to the first docking station 3 about the second axis.
It should be noted that, the first base 1 and the first connecting component 2 are hinged by two parallel shafts, and the first connecting component 2 and the first docking station 3 are hinged by two parallel shafts. The first linear actuator 4 is rotatably connected with the first coupling assembly 2 about a second axis, and the central axis of one of the two shafts hinged with the first coupling assembly 2 and the first docking station 3 forms the second axis when the first linear actuator 4 is rotatably connected with the first docking station 3 about the second axis.
The docking head 220 includes a second base 5 and a second docking station 7, the second base 5 being rotatably provided on the second docking station 7 about each of a third axis, a fourth axis, and a fifth axis, the third axis being orthogonal to the fourth axis, the fifth axis being orthogonal to the third axis and the fourth axis, the first docking station 3 being detachably connected to the second docking station 7.
The docking male head 210 of the docking mechanism 200 of the embodiment of the present invention forms a parallelogram mechanism by using the first base 1, the first connecting component 2 and the first docking seat 3, the first linear driver 4 is rotationally connected with the first base 1, and the first linear driver 4 is rotationally connected with one of the first connecting component 2 and the first docking seat 3, so that the first docking seat 3 can be driven to move relative to the first base 1 in the telescoping process of the first linear driver 4.
Further, the second base 5 of the docking head 220 is rotatably provided on the second docking station 7 about each of the third axis, the fourth axis, and the fifth axis, and the second docking station 7 is rotatable about each of the third axis, the fourth axis, and the fifth axis with respect to the first self.
In addition, the first docking seat 3 is detachably connected with the second docking seat 7, so that the male docking head 210 is detachably connected with the female docking head 220, and after the male docking head 210 is connected with the female docking head 220, four degrees of freedom can be provided between the first base 1 and the second base 5, and compared with the docking mechanism 200 in the related art, the docking mechanism 200 in the embodiment of the invention has the advantage of more degrees of freedom.
Thus, the docking mechanism 200 of the embodiment of the present invention has the advantage of a large number of degrees of freedom.
In some embodiments, as shown in fig. 7 and 8, the first docking station 3 includes a first station body 31, a reset member 34, and an adapter bracket 32. The first base 31 is slidably connected to the adaptor frame 32 along a first direction (e.g., a left-right direction in fig. 3), the reset member 34 is connected to each of the first base 31 and the adaptor frame 32, the adaptor frame 32 is connected to the first connecting component 2, and the first direction is consistent with an extending direction of the first axis. Namely, the adapter bracket 32, the first connecting assembly 2 and the first base 1 constitute a parallelogram mechanism.
Specifically, as shown in fig. 3 to 8, the first docking station 3 further includes a plurality of guide rods 33 disposed in parallel, and the plurality of guide rods 33 are disposed at intervals up and down. The guide rod 33 is fixedly connected with the adapter frame 32, the first seat body 31 is provided with lugs 313 which are in sliding connection with the guide rod 33, the guide rod 33 is provided with a plurality of spacing shoulders 331 which are arranged at intervals, the lugs 313 are positioned between two adjacent spacing shoulders 331, the number of the resetting pieces 34 is multiple, and the resetting pieces 34 are connected between the adjacent lugs 313 and the spacing shoulders 331. That is, the lugs 313 may slide along the guide rods 33 between two adjacent limit shoulders 331 and the return 34 may return the lugs 313. Therefore, the first seat 31 and the adapter frame 32 can slide relatively under the action of external force.
It can be appreciated that, in the process of docking the mobile robot with the docking mechanism 200 according to the embodiment of the present invention, when the male docking head 210 and the female docking head 220 generate a small amount of misalignment, the first seat 31 and the adapter 32 can slide relatively, so that the male docking head 210 and the female docking head 220 can be successfully docked. Therefore, the docking mechanism 200 of the embodiment of the invention can provide fault tolerance for the mobile robot during docking, and reduce the docking difficulty.
Further, the first housing 31 and the adapter frame 32 can be relatively slid in the left-right direction, and the reset member 34 is connected to each of the first housing 31 and the adapter frame 32, so that the first housing 31 and the adapter frame 32 can be reset after being relatively slid.
In addition, the adaptor rack 32 can also move relatively to the first base 1 through the first connecting component 2, so that the docking male 210 has two degrees of freedom, and the docking mechanism 200 of the embodiment of the invention has five degrees of freedom.
Thus, the docking mechanism 200 of the embodiment of the present invention has the advantage of a large number of degrees of freedom.
In some embodiments, as shown in fig. 3-8, the first connection assembly 2 includes a third connection member 21 and a fourth connection member 22 disposed in parallel, the first base 1 is connected to each of the third connection member and the fourth connection member 22, the adapter frame 32 is connected to each of the third connection member and the fourth connection member 22, and the first base 1, the third connection member 21, the fourth connection member 22, and the adapter frame 32 constitute a parallelogram mechanism.
Specifically, the third connecting member 21 is located below the fourth connecting member 22, one end of the third connecting member 21 is rotatably connected to the first base 1 about a ninth axis, the other end of the third connecting member 21 is rotatably connected to the adapter frame 32 about a tenth axis, one end of the fourth connecting member 22 is rotatably connected to the first base 1 about an eleventh axis, the other end of the fourth connecting member 22 is rotatably connected to the adapter frame 32 about a twelfth axis, the ninth axis is parallel to the tenth axis, the eleventh axis is parallel to the twelfth axis, and the first axis is parallel to the ninth axis and the eleventh axis.
Further, a first limiting rod 211 extending towards the fourth connecting piece 22 is arranged on one side of the third connecting piece 21 adjacent to the fourth connecting piece 22, the first limiting rod 211 is arranged adjacent to the first base 1, a second limiting rod 221 extending towards the third connecting piece 21 is arranged on one side of the fourth connecting piece 22 adjacent to the third connecting piece 21, and the second limiting rod 221 is arranged adjacent to the first base 1.
It will be appreciated that the third connecting members 21 are two and are arranged at left and right intervals, and the fourth connecting members 22 are two and are arranged at left and right intervals. When the first linear driver 4 drives the first seat 31 to deflect upwards, the first limiting rod 211 of the third connecting piece 21 can play a limiting role, and when the first linear driver 4 drives the first seat 31 to deflect downwards, the second limiting rod 221 of the fourth connecting piece 22 can play a limiting role.
Specifically, one end of the first linear actuator 4 is rotatably connected to the first base 1 through the first connecting shaft 11, and the other end of the first linear actuator 4 is rotatably connected to the adapter frame 32 through the third connecting shaft 13. That is, the central axis of the first connecting shaft 11 forms a first axis, and the central axis of the third connecting shaft 13 forms a second axis.
One end of the third connecting piece 21 is rotatably connected with the first base 1 through the second connecting shaft 12, and the other end of the third connecting piece 21 is rotatably connected with the adapter frame 32 through the third connecting shaft 13. That is, the center axis of the second connecting shaft 12 forms a ninth axis, the axis of the third connecting shaft 13 also forms a tenth axis, and the second axis coincides with the tenth axis.
One end of the fourth connecting piece 22 is rotatably connected with the first base 1 through the fourth connecting shaft 14, and the other end of the fourth connecting piece 22 is rotatably connected with the adapter frame 32 through the fifth connecting shaft 15. That is, the center axis of the fourth connecting shaft 14 forms an eleventh axis, and the center axis of the fifth connecting shaft 15 forms a twelfth axis.
In some embodiments, as shown in fig. 3-5 and 9-11, the docking head 220 further includes a second connection assembly 6, the second connection assembly 6 including a first connection member 61 and a second connection member 62, the first connection member 61 being rotatably connected to the second base 5 about a third axis, the second connection member 62 being rotatably connected to the first connection member 61 about a fourth axis, the second connection member 62 being rotatably connected to the second docking station 7 about a fifth axis.
Specifically, the first connection member 61 is rotatably connected to the second base 5 about a third axis by a rotation shaft (not shown) provided at a center position of the second base 5, the center axis of rotation forming the third axis. The second coupling member 62 is rotatably coupled to the first coupling member 61 via the sixth coupling shaft 16, and the center axis of the sixth coupling shaft 16 forms a fourth axis. The second connecting piece 62 is rotatably connected with the second docking station 7 via a ninth connecting shaft 19, the central axis of the ninth connecting shaft 19 forming a fifth axis.
Further, the second base 5 is adjacent to the limit portion 51 on one side of the first connecting member 61, the stop portion 611 is provided on one side of the first connecting member 61 adjacent to the second base, and the limit portion 51 and the stop portion 611 are arranged at intervals in the circumferential direction of the rotation shaft, so that the first connecting member 61 and the second base 5 can be mutually restrained, thereby avoiding a large rotation angle of the first connecting member 61.
As shown in fig. 9-11, the docking head 220 further includes a rotary actuator 8, a second linear actuator 9, and a third linear actuator 10.
A rotary actuator 8 is provided on the second base 5, the rotary actuator 8 being connected to the first link 61 so as to drive the first link 61 to rotate about the third axis. Specifically, the rotary actuator 8 is fixed to the second base 5 and is connected to the swivel by a decelerator 81, thereby driving the first link 61 to rotate about the third axis with respect to the second base 5.
The second linear actuator 9 is rotatably provided on the first link 61 about a sixth axis, which is parallel to the fourth axis, and the second linear actuator 9 is connected to the second link 62 so as to drive the second link 62 to rotate about the fourth axis. Specifically, the second linear actuator 9 is rotatably connected to the first link 61 via an eighth connecting shaft 18, the center axis of the eighth connecting shaft 18 forming a sixth axis, the eighth connecting shaft 18 being parallel to the sixth connecting shaft 16.
It will be appreciated that one end of the second connecting member 62 is rotatably connected to the first connecting member 61 via the sixth connecting shaft 16, and the other end of the second connecting member 62 is inclined toward the second docking station 7 and is rotatably connected to the second docking station 7 via the ninth connecting shaft 19. The second driver is coupled to the other end of the second link 62 so as to be spaced apart from the sixth link shaft 16, thereby increasing a moment arm of the second driver for driving the second link 62 to rotate about the fourth axis.
The third linear actuator 10 is rotatably provided on the second link 62 about a seventh axis, which is parallel to the fifth axis, and the third linear actuator 10 is connected to the second docking station 7 so as to drive the second docking station 7 to rotate about the fifth axis. Specifically, one end of the third linear actuator 10 is rotatably connected to the second link 62 through the tenth link shaft 20, and the other end of the third linear actuator 10 is rotatably connected to the second docking base 7 through the eleventh link shaft 23.
Further, the ninth connecting shaft 19 is located at the middle position of the second docking seat 7, two third linear drives 10 are provided, and the two third linear drives 10 are distributed on two sides of the ninth connecting shaft 19.
In some embodiments, as shown in fig. 3-12, the first housing 31 includes a first abutment plate 311 and a lock release shaft 312, and the lock release shaft 312 is connected to the first abutment plate 311 and is located on a side of the first abutment plate 311 adjacent to the second abutment 7.
The second docking station 7 includes a second station body 71, the second station body 71 includes a second docking plate 711 and a chuck 72, the chuck 72 is connected to the second docking plate 711 and located at a side of the second docking plate 711 facing away from the first station body 31, the second docking plate 711 is provided with a first through hole 7111, the chuck 72 has a second through hole coaxial with the first through hole 7111, and the locking shaft 312 sequentially passes through the first through hole 7111 and the second through hole and is detachably connected to the chuck 72.
Specifically, the lock release shaft 312 is provided with an annular lock release groove 3121, the chuck 72 includes a plate body 721 fixed to the second abutment plate 711 and three tabs 722 mounted on the plate body 721, and the three tabs 722 are moved in the radial direction of the plate body 721, and the tabs 722 are fitted in the lock release groove 3121. Thus, the docking male 210 and the docking female 220 are detachably connected. The specific structure and principles of the chuck 72 are well known to those skilled in the art, and will not be described in detail herein.
It will be appreciated that the second connector 62 may be of a split construction or may be of a unitary construction. When the second connecting piece 62 is in an integral structure, the second driver is rotationally connected with the second connecting piece 62, and the rotation axis of the second driver and the second connecting piece 62 is parallel to the fourth axis.
When the second connecting piece 62 is in a split structure, two parts of the second connecting piece 62 can rotate relatively, the axis of the relative rotation of the two parts of the second connecting piece 62 is parallel to the fourth axis, and the second driver is fixedly connected with the second connecting piece 62 in a rotating way.
Specifically, as shown in fig. 9 to 11, the second link 62 includes a first portion 621 and a second portion 622, the first portion 621 is rotatably connected to the first link 61 about a fourth axis, the second portion 622 is rotatably connected to the first portion 621 about an eighth axis, the second housing 71 is rotatably connected to the second portion 622 about a fifth axis, the eighth axis is parallel to the fourth axis, the second linear actuator 9 is connected to the second portion 622, and the third linear actuator 10 is provided on one of the first portion 621 and the second portion 622.
That is, the first portion 621 is rotatably coupled to the first link 61 through the sixth link shaft 16, the second portion 622 is rotatably coupled to the first portion 621 through the seventh link shaft 17, and the second portion 622 is rotatably coupled to the second housing 71 through the ninth link shaft 19, wherein the sixth link shaft 16 is parallel to the seventh link shaft 17.
It will be appreciated that, since the central axis of the ninth connecting shaft 19 is perpendicular to the fourth axis, when the second driver is rotationally connected to the second connecting member 62, that is, when the second connecting member 62 is integrally formed, the second driver cannot be connected to the second connecting member 62 via the ninth connecting shaft 19, and a rotational connection portion needs to be provided on the second connecting member 62, which increases the complexity of the structure.
Because the central axis of the ninth connecting shaft 19 is perpendicular to the fourth axis, when the second driver is fixedly connected with the second connecting piece 62, that is, when the second connecting piece 62 is in a split structure, the second driver can be connected with the second connecting piece 62 through the ninth connecting shaft 19, and a rotating connecting part is not required to be additionally arranged on the second connecting piece 62, so that the structure is simplified.
In some embodiments, as shown in fig. 3-5, the first abutment plate 311 is provided with a force bearing protrusion 3111 facing the second abutment plate 711, the second abutment plate 711 is provided with a force bearing groove 7112, and the force bearing protrusion 3111 fits within the force bearing groove 7112. Accordingly, the connection stability of the first and second docking plates 311 and 711 may be increased, and thus the connection stability of the docking male and female heads 210 and 220 may be increased. Therefore, the docking mechanism 200 of the embodiment of the invention has the advantage of good stability.
Alternatively, as shown in fig. 3, the bearing protrusion 3111 may be an annular protrusion surrounding the unlocking shaft 312, and correspondingly, the bearing groove 7112 is an annular groove surrounding the first through hole 7111.
Alternatively, as shown in fig. 4 and 5, the bearing protrusion 3111 may be a plurality of tapered protrusions surrounding the unlocking shaft 312, and correspondingly, the bearing groove 7112 may be a plurality of tapered grooves surrounding the first through hole 7111.
In some embodiments, as shown in fig. 9-11, the second housing 71 further includes a connection plate 712, the connection plate 712 being connected to the second abutment plate 711 and located on a side of the second abutment plate 711 facing away from the first housing 31, the connection plate 712 protruding in a direction facing away from the second abutment plate 711, the chuck 72 being located between the connection portion and the second abutment plate 711, the connection plate 712 being rotatably connected to the second portion 622 about a fifth axis. Accordingly, the second housing 71 can provide an installation position for the chuck 72.
Specifically, the connection plate 712 is located in front of the second abutment plate 711, and the middle portion of the connection plate 712 protrudes forward, thereby leaving an installation position for the chuck 72 between the connection plate 712 and the second abutment plate 711.
As shown in fig. 1 to 12, the reconfigurable mobile robot 100 according to the embodiment of the present invention includes a plurality of mobile robots 100 and a plurality of docking mechanisms 200 according to any of the above embodiments, each docking mechanism 200 is connected between two adjacent mobile robots 100, a docking male 210 of the docking mechanism 200 is provided on one of the two adjacent mobile robots 100, and a docking female 220 of the docking mechanism 200 is provided on the other of the two adjacent mobile robots 100. The reconfigurable mobile robot 100 of the embodiment of the present invention has the effect of the docking mechanism 200 of any of the embodiments described above.
As shown in fig. 3, the reconfigurable mobile robot 100 according to the embodiment of the present invention can adapt to complex road conditions and can walk on complex road surfaces 300 through the multi-degree-of-freedom docking mechanism 200.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While the above embodiments have been shown and described, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations of the above embodiments may be made by those of ordinary skill in the art without departing from the scope of the invention.
Claims (6)
1. A docking mechanism, comprising:
the butt joint male head comprises a first base, a first connecting assembly and a first butt joint seat which are sequentially connected and form a parallelogram mechanism, and further comprises a first linear driver, wherein the first linear driver is rotatably arranged on the first base around a first axis, the first linear driver is rotatably connected with at least one of the first connecting assembly and the first butt joint seat around a second axis, and the first axis is parallel to the second axis so as to drive the first butt joint seat to move;
a docking head comprising a second base and a second docking cradle, the second base being rotatably disposed on the second docking cradle about each of a third axis orthogonal to the fourth axis, a fourth axis orthogonal to the third axis and the fourth axis, the first docking cradle being detachably connected to the second docking cradle;
the first butt joint seat comprises a first seat body, a reset piece and a transfer frame, wherein the first seat body is in sliding connection with the transfer frame along a first direction, the reset piece is connected with each of the first seat body and the transfer frame, the transfer frame is connected with the first connecting assembly, and the first direction is consistent with the extending direction of the first axis;
the butt joint female head further comprises a second connecting assembly, the second connecting assembly comprises a first connecting piece and a second connecting piece, the first connecting piece is rotationally connected with the second base around the third axis, the second connecting piece is rotationally connected with the first connecting piece around the fourth axis, and the second connecting piece is rotationally connected with the second butt joint seat around the fifth axis;
the butt joint female head also comprises a rotary driver, a second linear driver and a third linear driver,
the rotary driver is arranged on the second base and is connected with the first connecting piece so as to drive the first connecting piece to rotate around the third axis,
the second linear driver is rotatably arranged on the first connecting piece around a sixth axis, the sixth axis is parallel to the fourth axis, the second linear driver is connected with the second connecting piece so as to drive the second connecting piece to rotate around the fourth axis,
the third linear driver is rotatably arranged on the second connecting piece around a seventh axis, the seventh axis is parallel to the fifth axis, and the third linear driver is connected with the second butt joint seat so as to drive the second butt joint seat to rotate around the fifth axis;
the first seat body comprises a first butt joint plate and a lock release shaft, the lock release shaft is connected with the first butt joint plate and is positioned at one side of the first butt joint plate adjacent to the second butt joint seat,
the second butt joint seat includes second pedestal and chuck, the second pedestal includes second butt joint board, the chuck with the second butt joint board links to each other, and is located the second butt joint board deviates from one side of first pedestal, the second butt joint board is equipped with first through-hole, the chuck have with the coaxial second through-hole of first through-hole, the lock is released the axle and is passed in proper order first through-hole with the second through-hole just with the chuck can dismantle and be connected.
2. The docking mechanism of claim 1, wherein the first docking plate is provided with a bearing protrusion towards the second docking plate, the second docking plate is provided with a bearing groove, and the bearing protrusion fits within the bearing groove.
3. The docking mechanism of claim 1, wherein the second connector includes a first portion and a second portion, the first portion being rotatably coupled to the first connector about the fourth axis, the second portion being rotatably coupled to the first portion about an eighth axis, the second housing being rotatably coupled to the second portion about the fifth axis, the eighth axis being parallel to the fourth axis, the second linear actuator being coupled to the second portion, the third linear actuator being disposed on one of the first portion and the second portion.
4. A docking mechanism according to claim 3 wherein the second housing further comprises a connecting plate connected to the second docking plate and located on a side of the second docking plate facing away from the first housing, the connecting plate protruding in a direction facing away from the second docking plate, the chuck being located between the connecting portion and the second docking plate, the connecting plate being rotatably connected to the second portion about the fifth axis.
5. The docking mechanism as recited in any one of claims 1-4 wherein the first connection assembly includes a third connection member and a fourth connection member disposed in parallel, the first base being coupled to each of the third connection member and the fourth connection member, the adapter bracket being coupled to each of the third connection member and the fourth connection member, the first base, the third connection member, the fourth connection member, and the adapter bracket forming a parallelogram mechanism,
one side of the third connecting piece adjacent to the fourth connecting piece is provided with a first limiting rod extending towards the fourth connecting piece, the first limiting rod is adjacent to the first base, one side of the fourth connecting piece adjacent to the third connecting piece is provided with a second limiting rod extending towards the third connecting piece, and the second limiting rod is adjacent to the first base.
6. A reconfigurable mobile robot comprising a plurality of mobile robots and a plurality of docking mechanisms according to any one of claims 1-5, each said docking mechanism being connected between two adjacent said mobile robots, a docking male of said docking mechanism being provided on one of the two adjacent said mobile robots, and a docking female of said docking mechanism being provided on the other of the two adjacent said mobile robots.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210745158.6A CN115056210B (en) | 2022-06-28 | 2022-06-28 | Docking mechanism and reconfigurable mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210745158.6A CN115056210B (en) | 2022-06-28 | 2022-06-28 | Docking mechanism and reconfigurable mobile robot |
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| CN115056210A CN115056210A (en) | 2022-09-16 |
| CN115056210B true CN115056210B (en) | 2024-04-12 |
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| CN115056210A (en) | 2022-09-16 |
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