Miniature self-correcting reconfiguration device

Abstract

The present invention provides a miniature automatic correction and restructuring device comprising a restructuring pin and a restructuring hole fixed together; the inside of the restructuring pin is equipped with a CMOS camera which is fixed with a robot module by a connection; the restructuring hole is fixed with another robot module and a locking pin driven by memory alloy is equipped in the restructuring hole in radial direction; the locking pin driven by the memory alloy comprises a sliding pin, a return spring equipped under the sliding pin and a memory alloy spring; both ends of the memory alloy spring are connected with copper based electric connections; the upper end is fixed with the sliding pin and the lower end is fixed with the restructuring hole. The restructuring pin is fixed with one robot module by a connection and the restructuring hole is fixed with another robot module; when the two robot modules are butted, with the automatic correction function of the pin and hole, the robot poses can be adjusted to make the central lines of the restructuring pin and hole aligned approximately; after the relative motion of the two modules, the pin and hole are cooperated and the locking pin locks the restructuring pin to realize butt restructuring.

Description

(1) Technical field [0001] The invention relates to a reconfiguration mechanical structure, in particular to a reconfiguration device of a self-reconfiguration robot. (2) Background technology [0002] Whether the self-reconfigurable robot can achieve reconfiguration and the efficiency of self-reconfiguration has a lot to do with the rationality of the reconfiguration device. As a very important functional mechanism of the self-reconfigurable robot, the design of the reconfiguration device has been continuously developed. By searching the existing domestic and foreign literature, each prototype of the self-reconfigurable robot has been designed with a corresponding robot reconfiguration device. Most of these devices adopt pin and hole structures, and use memory alloy driving circlips or locking pins to realize the controllable disengagement process, but during the reconstruction process, the centerlines of the pins and holes are required to be strictly centered, or only allo...

AI Technical Summary

Problems solved by technology

This increases the control difficulty of the self-reconfigurable robot in the process of self-reconfiguration, and reduces the reliability and efficiency of self-reconfiguration.

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