CN107498549B - Connection Mechanism and Working Method of Reconfigurable Modular Robot - Google Patents

Abstract

The invention relates to a connecting mechanism of a reconfigurable module robot, which comprises an active connecting panel arranged outside one joint module and a passive connecting panel arranged outside the other joint module, wherein the active connecting panel is provided with at least one active fastening hole; the invention also relates to a working method of the connecting mechanism of the reconfigurable module robot. The multi-degree-of-freedom reconfigurable module robot is simple, compact and reasonable in structural design, convenient to connect, easy to disassemble, good in transportability, suitable for multi-degree-of-freedom reconfigurable module robots and easy to popularize.

Description

Connection Mechanism and Working Method of Reconfigurable Modular Robot

technical field

The invention relates to a connection mechanism of a reconfigurable module robot and a working method thereof.

Background technique

Most of the previous robot designs were general-purpose designs with fixed structures and degrees of freedom. This type of robot can generally only be used for fixed working conditions and working goals, and it is difficult to realize new working conditions and working goals. However, the global competition of the market requires more and more applications of robots. In order to solve this situation, the research and development of reconfigurable modular robots has achieved unprecedented development.

Contents of the invention

In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a connection mechanism and working method of a reconfigurable modular robot, which is not only reasonable in structural design, but also efficient and convenient.

In order to solve the above technical problems, the technical solution of the present invention is: a connection mechanism of a reconfigurable modular robot, including an active connection panel arranged outside one joint module and a passive connection panel arranged outside another joint module, the The active connection panel is provided with at least one active fastening hole, the passive connection panel is provided with passive fastening holes aligned with the active fastening holes one by one, the active connection panel is provided with a swing hook, and the active connection panel is provided with a swing hook. After the swinging hook passes through the active fastening hole and the passive fastening hole in sequence, the active connection panel and the passive connection panel are connected together.

Preferably, the active connection panel is provided with a cam-like disc, the swing hook is connected with the cam-like disc via a push rod, and at least one curved groove is opened on the cam-like disc, and the curved The upper limit point of the groove is set close to the center of the cam-like disc, the lower limit point of the curved groove is set close to the outer edge of the cam-like disc, and one end of the analog push rod cooperates with the curved groove to form a sliding connection. The other end of the analog rod cooperates with one end of the claw to form a rotational connection, and the other end of the swing claw is provided with a straight groove, and the straight groove of the swing claw cooperates with the connecting pin on the active connection panel to form a rotational connection. and swipe to connect.

Preferably, the cam-like disc, pusher rod and swing hook are all arranged in the inner cavity of the joint module.

Preferably, the cam-like disc is driven to rotate by a stepping motor.

Preferably, the active connection panel is provided with three curved grooves, and the three curved grooves are radially and evenly spaced with the center of the active connection panel as the center of a circle.

Preferably, the active connection panel is provided with three active fastening holes, and the passive connection panel is provided with three passive fastening holes aligned with the active fastening holes one by one. The center of the active connection panel is radially and evenly spaced, and the three passive fastening holes are radially and evenly spaced with the center of the passive connection panel as the center of circle.

Preferably, the joint module is spherical, the joint module includes an upper hemispherical shell and a lower hemispherical shell, and an active connection panel and Two passive connection panels, one of the active connection panels and the two passive connection panels are radially and evenly spaced with the center of the upper hemispherical shell or the center of the lower hemispherical shell as the center of the circle.

Preferably, the active connection panel is provided with a plurality of positioning holes, and the passive connection panel is provided with positioning pins aligned with the plurality of positioning holes, and the center of the active connection panel is the center of the plurality of positioning holes. The center of the circle is radially and evenly spaced, and the plurality of positioning pins are radially and evenly spaced with the center of the passive connection panel as the circle center.

A working method for a connecting mechanism of a reconfigurable modular robot, comprising the connecting mechanism of any one of the above-mentioned reconfigurable modular robots, including the following steps: the swinging claw swings outward, and the swinging claw extends out of the active connection panel, the swing claws pass through the active fastening hole and the passive fastening hole in turn to connect the active connection panel and the passive connection panel together; the swing claws swing inward, and the swing claws retract To the back of the active connection panel, which is disconnected from the passive connection panel.

Compared with the prior art, the present invention has the following beneficial effects: the present invention has simple, compact and reasonable structural design, convenient connection, easy disassembly, good portability, is suitable for multi-degree-of-freedom reconfigurable modular robots, and is easy to popularize.

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Description of drawings

Fig. 1 is a schematic structural diagram of a joint module according to an embodiment of the present invention.

Fig. 2 is a schematic top view of the joint module according to the embodiment of the present invention.

Fig. 3 is a schematic bottom view of the joint module according to the embodiment of the present invention.

Fig. 4 is a schematic structural diagram of an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of an embodiment of the present invention.

Fig. 7 is a schematic diagram of the early stage of exercise according to the embodiment of the present invention.

Fig. 8 is a schematic diagram of the structure of the embodiment of the present invention in the middle stage of exercise.

Fig. 9 is a schematic diagram of the structure of the late stage of exercise according to the embodiment of the present invention.

Fig. 10 is a schematic diagram of the structure of a six-degree-of-freedom reconfigurable modular robot according to an embodiment of the present invention.

Fig. 11 is a schematic diagram of the structure of a seven-degree-of-freedom reconfigurable modular robot according to an embodiment of the present invention.

In the figure: 1-joint module, 2-active connection panel, 3-passive connection panel, 4-active fastening hole, 5-passive fastening hole, 6-swing hook, 7-type cam disc, 8-type Push rod, 9-curve groove, 10-straight groove, 11-connecting pin, 12-stepping motor, 13-locating hole, 14-locating pin.

Detailed ways

In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail with reference to the accompanying drawings.

As shown in Figures 1 to 11, a connection mechanism of a reconfigurable modular robot includes an active connection panel 2 arranged outside one joint module 1 and a passive connection panel 3 arranged outside another joint module 1, the active The connection panel 2 is provided with at least one active fastening hole 4, the passive connection panel 3 is provided with a passive fastening hole 5 aligned with the active fastening hole 4 one by one, and the active connection panel 2 is provided with a swing The hook claw 6, the swing hook claw 6 passes through the active fastening hole 4 and the passive fastening hole 5 in turn to connect the active connection panel 2 and the passive connection panel 3 together.

In the embodiment of the present invention, the active connection panel 2 is provided with a cam-like disc 7, and the swing hook 6 is connected with the cam-like disc 7 via a push rod 8, and the cam-like disc 7 is At least one curved groove 9 is provided, the upper limit point of the curved groove 9 is set close to the center of the cam-like disc 7, the lower limit point of the curved groove 9 is set close to the outer edge of the cam-like disc 7, and the similar One end of the push rod 8 cooperates with the curved groove 9 to form a sliding connection, and the other end of the push rod 8 cooperates with one end of the claw to form a rotational connection, and the other end of the swing claw 6 is provided with a straight groove 10, The straight groove 10 of the swing hook 6 cooperates with the connecting pin 11 on the active connection panel 2 to form a rotational and sliding connection; Form the deformation mechanism of the crank rocker mechanism; as shown in Figures 7 to 9, in the early stage of movement, the analogue rod 8 is located at the upper limit point of the curved groove 9, and the swing hook 6 is retracted on the back of the active connection panel 2, The cam-like disc 7 rotates forward to the limit point, the analog push rod 8 translates along the curved groove 9 from the upper limit point to the lower limit point, the swing claw 6 swings outward, and the swing hook The claw 6 extends out of the active connection panel 2, and the swing hook 6 passes through the active fastening hole 4 and the passive fastening hole 5 in turn to connect the active connection panel 2 and the passive connection panel 3 together. The straight slot 10 of the swing hook 6 rotates and slides relative to the connecting pin 11 on the active connecting panel 2 .

In the embodiment of the present invention, the cam-like disk 7 , the push-like rod 8 and the swing hook 6 are all arranged in the inner cavity of the joint module 1 .

In the embodiment of the present invention, the cam-like disc 7 is driven to rotate by a stepping motor 12 .

In the embodiment of the present invention, the active connection panel 2 is provided with three curved grooves 9 , and the three curved grooves 9 are radially and evenly spaced with the center of the active connection panel 2 as the center of a circle.

In the embodiment of the present invention, the active connection panel 2 is provided with three active fastening holes 4, and the passive connection panel 3 is provided with three passive fastening holes 5 aligned one-to-one with the active fastening holes 4, The three active fastening holes 4 are evenly distributed radially with the center of the active connection panel 2 as the center of the circle, and the three passive fastening holes 5 are distributed evenly and radially with the center of the passive connection panel 3 as the center of the circle; The active fastening hole 4 corresponds to a passive fastening hole 5, and one active fastening hole 4 corresponds to a swing claw 6, and one swing claw 6 corresponds to a push rod 8, and a push rod 8 corresponds to a swing claw 6. Corresponding to a curved groove 9.

In the embodiment of the present invention, the joint module 1 is spherical, and the joint module 1 includes an upper hemispherical shell and a lower hemispherical shell, and the hemispherical peripheral side of the upper hemispherical shell and the hemispherical peripheral side of the lower hemispherical shell are both arranged. There is one active connection panel 2 and two passive connection panels 3, and one active connection panel 2 and two passive connection panels 3 are radially and evenly spaced with the center of the upper hemispherical shell or the center of the lower hemispherical shell as the center of the circle.

In the embodiment of the present invention, the active connection panel 2 is provided with a plurality of positioning holes 13, and the passive connection panel 3 is provided with positioning pins 14 aligned with the plurality of positioning holes 13 one by one. The positioning holes 13 are radially and evenly spaced with the center of the active connection panel 2 as the center of the circle, and a plurality of positioning pins 14 are radially and evenly spaced with the center of the passive connection panel 3 as the center of the circle. Preferably, the positioning holes 13 and the positioning The number of pins 14 is three, and the positioning holes 13 are intersected with the active fastening holes 4 or the passive fastening holes 5 .

In an embodiment of the present invention, a working method of a connecting mechanism of a reconfigurable modular robot includes the connecting mechanism of any one of the above-mentioned reconfigurable modular robots, including the following steps: the swinging hook 6 is outward Swing, the swing hook 6 extends out of the active connection panel 2, and the swing hook 6 passes through the active fastening hole 4 and the passive fastening hole 5 in turn to connect the active connection panel 2 and the passive connection panel 3 together; The swing claw 6 swings inward, and the swing claw 6 is retracted to the back of the active connection panel 2 , and the active connection panel 2 is disconnected from the passive connection panel 3 .

The present invention is not limited to the above-mentioned best implementation mode, and anyone can draw other various forms of connection mechanisms and working methods of reconfigurable modular robots under the enlightenment of the present invention. All equivalent changes and modifications made according to the patent scope of the present invention shall fall within the scope of the present invention.

Claims (8)

1. A connection mechanism for a reconfigurable modular robot, characterized in that: it includes an active connection panel arranged outside one joint module and a passive connection panel arranged outside another joint module, and at least One active fastening hole, the passive fastening hole aligned with the active fastening hole is opened on the passive connection panel, the swing hook is arranged on the active connection panel, and the swing hook passes through the active fastening hole in turn. Fasten the holes and passively fasten the holes to connect the active connection panel and the passive connection panel together; The active connection panel is provided with a cam-like disc, the swing hook is connected with the cam-like disc via a push rod, and at least one curved groove is opened on the cam-like disc, and the upper part of the curved groove The limit point is set close to the center of the cam-like disc, the lower limit point of the curved groove is set close to the outer edge of the cam-like disc, and one end of the analog push rod cooperates with the curved groove to form a sliding connection. The other end of the swinging hook cooperates with one end of the claw to form a rotational connection, and the other end of the swinging claw is provided with a straight groove, and the straight groove of the swinging claw cooperates with the connecting pin on the active connection panel to form a rotating and sliding connection . 2 . The connection mechanism of the reconfigurable modular robot according to claim 1 , wherein the cam-like disc, the push-like rod and the swing hook are all arranged in the inner cavity of the joint module. 3 . 3 . The connection mechanism of the reconfigurable modular robot according to claim 1 , wherein the cam-like disc is driven to rotate by a stepping motor. 4 . 4. The connecting mechanism of the reconfigurable modular robot according to claim 1, characterized in that: the active connecting panel is provided with three curved grooves, and the three curved grooves are radially uniform with the center of the active connecting panel as the center interval distribution. 5. The connecting mechanism of the reconfigurable modular robot according to claim 1, characterized in that: the active connecting panel is provided with three active fastening holes, and the passive connecting panel is provided with three active fastening holes One-to-one aligned passive fastening holes, the three active fastening holes are radially and evenly spaced with the center of the active connection panel as the center, and the three passive fastening holes are radially distributed with the center of the passive connection panel as the center Evenly spaced. 6. The connection mechanism of the reconfigurable modular robot according to claim 1, wherein the joint module is spherical, the joint module includes an upper hemispherical shell and a lower hemispherical shell, and the hemispherical surface of the upper hemispherical shell An active connection panel and two passive connection panels are arranged on the peripheral side and the hemispherical surface of the lower hemispherical shell, and the center of the upper hemispherical shell or the center of the lower hemispherical shell is the center of the circle Evenly spaced radially. 7. The connection mechanism of the reconfigurable modular robot according to claim 1, characterized in that: the active connection panel is provided with a plurality of positioning holes, and the passive connection panel is provided with a plurality of positioning holes one by one. Aligned positioning pins, a plurality of positioning holes are radially and evenly spaced around the center of the active connection panel, and a plurality of positioning pins are radially and evenly spaced around the center of the passive connection panel. 8. A working method for a connecting mechanism of a reconfigurable modular robot, comprising the connecting mechanism of a reconfigurable modular robot according to any one of claims 1 to 7, comprising the following steps: the swinging claws swing outward , the swinging claw extends out of the active connection panel, and the swinging claw passes through the active fastening hole and the passive fastening hole in turn to connect the active connection panel and the passive connection panel together; the swinging claw swings inward , the swinging hook retracts to the back of the active connection panel, and the active connection panel is disconnected from the passive connection panel.

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