CN208977807U - A kind of connection structure and modular kinematic robot chassis - Google Patents
A kind of connection structure and modular kinematic robot chassis Download PDFInfo
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- CN208977807U CN208977807U CN201821673133.5U CN201821673133U CN208977807U CN 208977807 U CN208977807 U CN 208977807U CN 201821673133 U CN201821673133 U CN 201821673133U CN 208977807 U CN208977807 U CN 208977807U
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Abstract
The utility model discloses a kind of connection structure and modular kinematic robot chassis, belongs to robotic technology field.The connection structure includes the first connection structure and the second connection structure, and the first connection structure includes the fixture block being set in the first module, and the card hole being set in the second module, and fixture block protrudes into card hole along Z-direction and completes to cooperate for the first time；Fixture block moves second of completion along Y-direction in card hole and cooperates；Second connection structure is set in the second module, and fixture block and hole are completed after being clamped, and the second connection structure can abut one end of the first module.The modular kinematic robot chassis includes above-mentioned connection structure.The utility model passes through the first connection structure of setting and the second connection structure, so that the first module and the second module need to only operate during installation according to certain sequence, the fixation in the X-direction, Y-direction and Z-direction of the first module and the second module can be completed, it is not necessary that additionally the first module and the second module are attached and are dismantled using special tool.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of connection structure and modular kinematic robots
Chassis.
Background technique
Currently in order to improving the versatility on kinematic robot chassis, kinematic robot chassis can be summarised as by movement mould
Block and control module are formed by connecting, wherein different control modules can be connect with same motion module, to realize different fortune
Dynamic model block controls different motion processes, realizes the diversification of kinematic robot movement.When its in motion module or control module
In one when breaking down, another module, which can also be disassembled, continues work with other module assembleds, to improve movement
The effective time of module or control module.
But mostly by being spirally connected, welding, being bonded and interference between motion module in the prior art and control module
The modes such as cooperation are fixedly connected, and when two modules need to dismantle, above-mentioned connection type is required to using special tool, consumption
Duration, and operating difficulties.
For this purpose, it is urgent to provide a kind of connection structures and modular kinematic robot chassis to solve the above problems.
Utility model content
One of the utility model is designed to provide a kind of connection structure, to facilitate the installation between two modules and tear open
It unloads.
Another of the utility model is designed to provide a kind of modular kinematic robot chassis, connects simple and reliable
And convenient disassembly.
For this purpose, the utility model uses following technical scheme:
A kind of connection structure, comprising:
First connection structure comprising the fixture block being set in the first module, and the card hole being set in the second module,
The fixture block protrudes into the card hole along Z-direction and completes to cooperate for the first time, to limit the movement of the fixture block in X direction；The card
Block moves second of completion along Y-direction in the card hole and cooperates, to limit the fixture block moving along Z-direction；
Second connection structure is set in second module, and the fixture block and the card hole are completed second and cooperated
Afterwards, second connection structure can abut one end of first module, and second connection structure and the card hole limit jointly
Make the fixture block moving along Y-direction.
By the first connection structure of setting and the second connection structure, so that the first module and the second module only need during installation
It is operated according to certain sequence, the fixation in the X-direction, Y-direction and Z-direction of the first module and the second module can be completed, be not necessarily to
Additionally the first module and the second module are attached using special tool, and the first module and the second module are being dismantled
When, it is dismantled without using specialist tools, two modules is allowed to carry out fast assembling-disassembling.
Preferably, the fixture block is set to the bottom surface of first module, the card hole is set to second module
Upper surface；
Wherein the fixture block is provided with card slot, and the upper surface of second module, which can be protruded into, completes the card in the card slot
Second of cooperation of block and the card hole.
Preferably, second connection structure includes spring-loaded plunger, the spring-loaded plunger is perpendicular to where the card hole
Plane.
Preferably, the card hole is rectangular opening or kidney slot.
Preferably, the connection structure further includes third connection structure, the third connection structure is for realizing described
The electrical connection of first module and second module.
Preferably, the third connection structure includes being set to the inserted block of first module and being set to described
The jack of second module, the inserted block are provided with the first conduct piece, and the second conduct piece, the inserted block edge are provided in the jack
Z-direction, which is inserted into the jack, is electrically connected first conduct piece and second conduct piece.
Preferably, first conduct piece includes plug-in unit bullet needle, second conduct piece includes conductive foil, described to insert
Part bullet needle is parallel to Y-direction setting, and the conductive foil is parallel to the Z-direction setting, and the conductive foil is set to institute
Side of the jack far from second connection structure is stated, the plug-in unit bullet needle is contacted with the conductive foil.
Preferably, the conductive foil is used to be greater than the plug-in unit bullet needle with the area of the plug-in unit bullet needle being electrically connected
For with the area of the conductive foil being electrically connected.
A kind of modular kinematic robot chassis, including motion module and control module, which is characterized in that on further including
The connection structure stated, the fixture block are set in the control module, and the card hole is set in the motion module, and described
Second connection structure is set in the motion module.
Preferably, the plane that the fixture block is arranged in the control module is additionally provided with rib, second connection structure
It is abutted with the rib.
The utility model has the beneficial effects that
By the first connection structure of setting and the second connection structure, so that the first module and the second module only need during installation
It is operated according to certain sequence, the fixation in the X-direction, Y-direction and Z-direction of the first module and the second module can be completed, be not necessarily to
Additionally the first module and the second module are attached using special tool, and the first module and the second module are being dismantled
When, it is dismantled without using specialist tools, two modules is allowed to carry out fast assembling-disassembling.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of control module in the utility model embodiment；
Fig. 2 is enlarged diagram at the A of Fig. 1；
Fig. 3 is the structural schematic diagram of inserted block and the cooperation of plug-in unit bullet needle in the utility model embodiment；
Fig. 4 is the structural schematic diagram of the first conduct piece in the utility model embodiment；
Fig. 5 is the structural schematic diagram of the motion module in the utility model embodiment；
Fig. 6 is enlarged diagram at B in Fig. 5；
Fig. 7 is the structural schematic diagram of conductive foil in the utility model embodiment；
Fig. 8 is the structural schematic diagram that connector is connect with conductive foil in the utility model embodiment.
In figure:
100, control module；110, rib；200, motion module；
1, fixture block；11, card slot；12, chamfering；2, card hole；3, spring-loaded plunger；4, inserted block；41, slot；5, jack；6, first
Conduct piece；61, plug-in unit bullet needle；62, circuit board；7, conductive foil；8, connector.
Specific embodiment
The technical issues of to solve the utility model, the technical solution of use and the technical effect that reaches are clearer,
It is described in further detail below in conjunction with technical solution of the attached drawing to the utility model embodiment, it is clear that described reality
Applying example is only the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention,
It is practical new to belong to this for those skilled in the art's every other embodiment obtained without creative efforts
The range of type protection.Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
The present embodiment discloses a kind of connection structure, which can be applied to multiple technologies field, to realize two
Connection between module, the connection structure are attached when connecting without specialist tools, without using special when disassembly
Tool is dismounted, easy for installation, convenient for disassembly and assembly.It is carried out herein with connection structure applied to modular kinematic robot chassis
It is discussed in detail.
As described in figures 1 and 5, modular kinematic robot chassis includes control module 100 and motion module 200, control
Module 100 is located at the top of motion module 200.Connection structure in the present embodiment is mainly used for link control module 100 and fortune
Dynamic model block 200.The connection structure is divided into mechanical connecting structure and electric connection structure；For the convenience of description, defining X-direction, Y-direction
It is mutually orthogonal direction two-by-two in space with Z-direction.
Referring to Fig.1, Fig. 2, Fig. 5 and Fig. 6, wherein mechanical connecting structure includes the first connection structure and the second connection structure,
First connection structure includes the fixture block 1 for being set to 100 bottom surface of control module, and is set to the card of 200 upper surface of motion module
Hole 2, fixture block 1 protrudes into card hole 2 along Z-direction and completes to cooperate for the first time, to limit the movement of fixture block 1 in X direction；Fixture block 1 is in card hole 2
It is interior to move second of cooperation of completion along Y-direction, to limit the moving along Z-direction of fixture block 1.Second connection structure is set to movement mould
On block 200, fixture block 1 and hole are completed after being clamped, and the second connection structure can abut one end of the first module, the second connection structure and card
Hole 2 limits the moving along Y-direction of fixture block 1 jointly.
Specifically, card hole 2 is kidney slot or rectangular opening, the width of the width and fixture block 1 of card hole 2 is roughly equal, and fixture block 1 is stretched
After entering card hole 2, card hole 2 can limit the moving along 2 width direction of card hole of fixture block 1, the i.e. movement of limitation fixture block 1 in X direction；And block
It is provided with card slot 11 on block 1, the upper surface of motion module 200, which can be protruded into card slot 11, completes matching for the second time for fixture block 1 and card hole 2
It closes.
In this present embodiment, referring to Fig. 2, the longitudinal section of card slot 11 is C-shaped, including two clamping walls and is located at two clampings
Limited wall between wall, and limited wall is vertical with two clamping walls connect, one of clamping wall is located at table in motion module 200
The lower section in face, another clamping wall are located at the top of 200 upper surface of motion module, and the portion of upper surface of motion module 200 is located at
In card slot 11, to complete second of fixture block 1 and card hole 2 cooperation, achieve the purpose that limit fixture block 1 along Z-direction far from card hole 2,
Prevent control module 100 and motion module 200 from occurring along Z-direction separate.Limited wall is for limiting fixture block 1 in card hole 2 along Y
The mobile limit in direction, i.e. limited wall can not continue to move to after abutting with the inner wall of card hole 2.
In another embodiment, the longitudinal section of card slot 11 is L shape, including orthogonal clamping wall and limited wall, wherein
Clamping wall is located at the lower section of 200 upper surface of motion module, and the bottom surface of control module 100 can serve as in motion module 200
The clamping wall of surface reaches limitation fixture block 1 along Z-direction far from card hole 2 to complete second of cooperation of fixture block 1 and card hole 2
Purpose；The structure of limited wall and effect are same as above, and details are not described herein.
After the limited wall of fixture block 1 is abutted with the inner wall of card hole 2, although fixture block 1 cannot continue to continue to move by Y positive direction
It is dynamic, but fixture block 1 can be mobile towards Y opposite direction, for this purpose, motion module 200 is provided with the second connection structure, the second connection structure
Control module 100 is abutted to move in the opposite direction for limiting fixture block 1.
Specifically, the second connection structure includes spring-loaded plunger 3, and spring-loaded plunger 3 is perpendicular to flat where card hole 2 referring to Fig. 6
Face.When control module 100 and motion module 200 are mechanically connected, first control module 100 along Z-direction move down by
In the card hole 2 for the 1 emperipolesis module 200 of fixture block being arranged on, when moving down into a certain degree, the bottom of control module 100
Compressed spring plunger 3, after fixture block 1 is moved a certain distance along Y-direction, 100 bottom surface of control module can not compressed spring plunger 3,
3 automatic spring of spring-loaded plunger restores to nature at this time, and abuts the side wall of control module 100.It is preferred that 100 side of control module
The distance between wall and limited wall side wall are equal to spring-loaded plunger 3 and card hole 2 far from the distance between 3 one end of spring-loaded plunger, thus
Limitation fixture block 1 moves in card hole 2 along Y-direction.When needing to dismantle control module 100 and motion module 200, it is only necessary to press bullet
Spring plunger 3, and the direction of mobile control module 100 towards setting spring-loaded plunger 3 is mobile, and motion module 200 and control can be completed
The disassembly of module 100.In addition, 100 bottom of control module can be set for accommodating spring-loaded plunger 3 in other embodiments
Holding tank, time limit fabrication block 1 moves spring-loaded plunger 3 along Y-direction in the raw.
Further, referring to Fig.1, Fig. 3, Fig. 5 and Fig. 7, connection structure further includes for control module 100 and motion module
The 200 third connection structures being electrically connected.Third connection structure includes being set to inserted block 4 and the setting of control module 100
In the jack 5 of motion module 200.Inserted block 4 and fixture block 1 are all set in the bottom surface of control module 100, and jack 5 is set to movement mould
The upper surface of block 200, and inserted block 4 is provided with the first conduct piece 6, and the second conduct piece is provided in jack 5, inserted block 4 is inserted along Z-direction
Enter to make in jack 5 first conduct piece 6 and the electrical connection of the second conduct piece.Wherein, the first conduct piece 6 include plug-in unit bullet needle 61, second
Conduct piece is conductive foil 7.In this present embodiment, plug-in unit bullet needle 61 is parallel to Y-direction setting, and conductive foil 7 is parallel to Z-direction
Setting, and conductive foil 7 is set to side of the jack 5 far from the second connection structure, plug-in unit bullet needle 61 can be compressed and with conduction
7 point contact of thin slice.It designs in this way, plug-in unit bullet needle 61 has the function of to compress and spring back, and can be compressed in the Y direction, and third connects
When binding structure normally connects, plug-in unit bullet needle 61 is compressed, though in this way control control module 100 in the Y direction with motion module 200
It relatively moves, the decrement of plug-in unit bullet needle 61 reduces, and the stretching of plug-in unit bullet needle 61 can still contact formation electricity with conductive foil 7
Connection, those skilled in the art are it is understood that motion module 200 and control module 100 are less than plug-in unit along the distance that Y-direction is shaken
Play the distance that needle 61 is compressible and springs back.Also, third connection structure includes multiple plug-in unit bullet needles 61, is uniformly distributed in inserted block
4 side.Further, conductive foil 7 be used for the area of plug-in unit bullet needle 61 being electrically connected be greater than plug-in unit bullet needle 61 be used for
The area of the electrical connection of conductive foil 7.Conductive foil 7 is used to the junction that is electrically connected of plug-in unit bullet needle 61 be plane, plug-in unit bullet needle 61
The junction that is electrically connected for blade thin slice 7 is a salient point, when multiple plug-in unit bullet needles 61 form a geometric figure, such as rectangle, with conduction
When thin slice 7 contacts, the area for being used to be electrically connected with conductive foil 7 is multiple salient points, then multiple plug-in unit bullet needles 61 and conductive thin
When piece 7 is normally electrically connected, there are certain distances between the four edges of rectangle and the edge of conductive foil 7, it is contemplated that, this
Even if sample designs the shaking that control module 100 drives inserted block 4 that any direction occurs, plug-in unit bullet needle 61 can connect with conductive foil 7
Touching, shaking in any direction certainly, in a certain range.In this present embodiment, the first conduct piece 6 further includes and plug-in unit bullet
The circuit board 62 that needle 61 connects is provided with slot 41 in inserted block 4, and the side wall of inserted block 4 is provided with through-hole, and the insertion of circuit board 62 is inserted
In slot 41, the plug-in unit bullet needle 61 on circuit board 62 is stretched out inside slot 41 by through-hole, easy for installation.
Further, referring to Fig. 3, Fig. 4 and Fig. 8, the first conduct piece 6 and inserted block 4 can carry out modularized design, and second leads
Electric part and jack 5 carry out modularized design, i.e., jack 5 are set on a connection piece 8, then by the second conduct piece first with connect
Part 8 completes installation, is convenient for that third connection structure is quickly arranged in motion module 200 and control module 100 in this way.
Further, the bottom of inserted block 4 and fixture block 1 is provided with chamfering 12, and chamfering 12 is used as guide part, in order to inserted block
In 4 insertion jacks 5 and fixture block 1 is inserted into card hole 2.
It is to be understood that, third connection structure is not necessarily arranged herein, can be according to the first mould interconnected
The actual demand of block and the second module is configured.
It should be noted that the setting of fixture block 1 and card hole 2 can be set according to actual needs in the first module and
Fixture block 1 is set to the bottom surface of the first module in the present embodiment and card hole 2 is set to the second module by the side of two modules
Upper surface, only makees exemplary illustration, is limited not to this.
A kind of modular kinematic robot chassis is also disclosed in the present embodiment comprising motion module 200, control module
100 and above-mentioned for connecting the connection structure of motion module 200 and control module 100, connection structure is in 200 He of motion module
Set-up mode in control module 100 is as above, and details are not described herein.
It should be noted that motion module 200 in modular kinematic robot chassis can be with along direction of advance
Front-end and back-end are classified as, when the card slot 11 of fixture block 1 and card hole 2 cooperate in the first connection structure, 11 orientation movements mould of card slot
The rear end of block 200, the second connection structure are set to the front end of motion module 200, the contact pin bullet part in third connection structure with lead
The rear end of orientation movements module 200 when electric thin slice 7 connects.During the motion due to motion module 200, inevitably exist starting,
Control module 100 caused by the inertia such as emergency stop carries out the shaking of Y-direction relative to motion module 200, when motion module 200 is in
Starting or when accelerating, control module 100 can move backward relative to motion module 200, at this time fixture block 1 and card hole 2, inserted block 4 with
Jack 5 can connect closer.When motion module 200 is in emergency stop or deceleration regime, control module 100 can relative motion module
200 move forward, at this point, the second connection structure can guarantee that control module 100 and the relative movement of motion module 200 exist
In a certain range；The plug-in unit bullet needle 61 of third connection structure may insure that it is contacted with conductive foil 7 always, guarantee to be electrically connected
The structural strength connect.
Also, modular kinematic robot chassis includes multiple first connection structures, in this present embodiment, the first connection
There are four structures, and four the first connection structures in certain geometrical shape be distributed in motion module 200 and control module 100 it
Between, to ensure the stability of motion module 200 and the connection of control module 100.
In addition, the plane that fixture block 1 is arranged in control module 100 is additionally provided with rib 110, rib 110 is along perpendicular to moving mould
The direction of 200 bottom surface of block extends, and multiple ribs 110 join end to end to form a polygon, and rib 110 is small at a distance from fixture block 1
In 100 side wall of outer shell of control module at a distance from fixture block 1, the one end of rib 110 far from control module 100 and motion module 200
Upper surface abut, and spring-loaded plunger 3 is abutted with its close rib 110.In this way, on the one hand can be to avoid spring-loaded plunger
3 directly contact the case where leading to its deformation generation with 100 side wall of outer shell of control module；It on the other hand can be to avoid extraneous maloperation
Spring-loaded plunger 3 is compressed so that the disengaging motion module 200 of control module 100, causes modular kinematic robot chassis can not
The phenomenon that movement, occurs.
Obviously, the above embodiments of the present invention is used for the purpose of clearly illustrating examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (10)
1. a kind of connection structure characterized by comprising
First connection structure comprising the fixture block (1) being set in the first module, and the card hole being set in the second module
(2), the fixture block (1) protrudes into the card hole (2) along Z-direction and completes to cooperate for the first time, to limit the fixture block (1) in X direction
Movement；The fixture block (1) is moved second of completion along Y-direction in the card hole (2) and is cooperated, to limit the fixture block (1)
Along moving for Z-direction；
Second connection structure is set in second module, and the fixture block (1) completes to match for the second time with the card hole (2)
After conjunction, second connection structure can abut one end of first module, and second connection structure and the card hole (2) are altogether
With limitation fixture block (1) the moving along Y-direction.
2. connection structure according to claim 1, which is characterized in that the fixture block (1) is set to first module
Bottom surface, the card hole (2) are set to the upper surface of second module；
Wherein the fixture block (1) is provided with card slot (11), and the upper surface of second module can be protruded into complete in the card slot (11)
At second of cooperation of the fixture block (1) and the card hole (2).
3. connection structure according to claim 1, which is characterized in that second connection structure includes spring-loaded plunger (3),
The spring-loaded plunger (3) is perpendicular to the plane where the card hole (2).
4. connection structure according to claim 1, which is characterized in that the card hole (2) is rectangular opening or kidney slot.
5. connection structure according to claim 1, which is characterized in that the connection structure further includes third connection structure,
The third connection structure for realizing first module and second module electrical connection.
6. connection structure according to claim 5, which is characterized in that the third connection structure includes being set to described the
The inserted block (4) of one module and the jack (5) for being set to second module, the inserted block (4) are provided with the first conduct piece
(6), it is provided with the second conduct piece in the jack (5), the inserted block (4) is inserted into the jack (5) along Z-direction makes described the
One conduct piece (6) and second conduct piece electrical connection.
7. connection structure according to claim 6, which is characterized in that first conduct piece (6) includes plug-in unit bullet needle
(61), second conduct piece includes conductive foil (7), and the plug-in unit bullet needle (61) is parallel to Y-direction setting, the conductive thin
Piece (7) is parallel to the Z-direction setting, and the conductive foil (7) is set to the jack (5) far from the second connection knot
The side of structure, the plug-in unit bullet needle (61) contact with the conductive foil (7).
8. connection structure according to claim 7, which is characterized in that the conductive foil (7) is used for and the plug-in unit bullet
The area of the electrical connection of needle (61) is greater than the plug-in unit bullet needle (61) and is used for and the area of the conductive foil (7) being electrically connected.
9. a kind of modular kinematic robot chassis, including motion module (200) and control module (100), which is characterized in that
It further include connection structure described in claim 1-8 any one, the fixture block (1) is set on the control module (100),
The card hole (2) is set on the motion module (200), and second connection structure is set to the motion module
(200) on.
10. modular kinematic robot chassis according to claim 9, which is characterized in that the control module (100)
The plane that the fixture block (1) is arranged is additionally provided with rib (110), and second connection structure is abutted with the rib (110).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821673133.5U CN208977807U (en) | 2018-10-16 | 2018-10-16 | A kind of connection structure and modular kinematic robot chassis |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821673133.5U CN208977807U (en) | 2018-10-16 | 2018-10-16 | A kind of connection structure and modular kinematic robot chassis |
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| CN208977807U true CN208977807U (en) | 2019-06-14 |
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| CN201821673133.5U Active CN208977807U (en) | 2018-10-16 | 2018-10-16 | A kind of connection structure and modular kinematic robot chassis |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291040A (en) * | 2018-10-16 | 2019-02-01 | 苏州博众机器人有限公司 | A kind of connection structure and modular kinematic robot chassis |
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2018
- 2018-10-16 CN CN201821673133.5U patent/CN208977807U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291040A (en) * | 2018-10-16 | 2019-02-01 | 苏州博众机器人有限公司 | A kind of connection structure and modular kinematic robot chassis |
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| CP03 | Change of name, title or address |
Address after: 215200 standard plant 7, Dongyun Science Park, No. 558, Shanhu West Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Patentee after: Suzhou Bozhong intelligent robot Co.,Ltd. Address before: 215200 No. 666 Hu Xin Road, Wujiang economic and Technological Development Zone, Suzhou, Jiangsu Patentee before: SUZHOU BOZHONG ROBOT Co.,Ltd. |
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| CP03 | Change of name, title or address |