Miniature universal connection device
A universal connection and miniature technology, applied in the direction of joints, manipulators, manufacturing tools, etc., can solve the problems of difficult self-reconfiguration of automatic docking devices for mobile robots, very high requirements for connection accuracy, and complex structures, achieving low cost and production. Simple, simple structure effect
Inactive Publication Date: 2009-09-16
SHANGHAI JIAO TONG UNIV
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Problems solved by technology
The advantage of this connector is that it is small in size and realizes mechanical and electrical connections at the same time, but there are also some shortcomings: the docking accuracy is very high, and it is difficult to be used as an automatic docking device for self-reconfiguring mobile robots; its structure is complex, Made by X-ray lithography microfabrication technology, the cost is very expensive
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[0016] like figure 1 , 2 , 3 and 4, the present embodiment includes: end cover 1, base 2, spherical connecting rod 3, micro motor 21, latch piece 23, and its connection relationship is: the front end of end cover 1 is movably connected with base 2, and end cover 1 can freely rotate around the connection, the end cover 1 is provided with a notch 11, the lower part of the rear end is provided with a groove 12 with a part spherical contour; the upper part of the rear end of the base 2 is provided with a groove 25 with a part spherical contour, the The groove 25 and the groove 12 on the end cover 1 jointly form a cavity that can accommodate the connecting ball 31 of the connecting rod 3, and when the end cover 1 and the base 2 are in a closed state, the diameter of the end surface of the cavity is smaller than that of the connecting rod 3. The diameter of ball 31 makes the connecting ball 31 of the spherical connecting rod 3 in this cavity can not break away from this cavity, can...
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A miniature universal connection device of a miniature self-reconfigurable robot belongs to the field of reconfigurable robots. The invention comprises an end closure, a base and a locking mechanism of a connector, and a ball connecting rod connected therewith. The base of the connector is in even joint with the front end of the end closure up and down to form a ball bore which is bigger than a hemisphere, and the ball connecting rod is inserted therein to form a flexible universal ball joint. The end closure can rotate around the base, and by controlling the locking mechanism, automatic connection / separation of the device can be realized. A plurality of miniature robots carrying the device can be automatically connected with each other to form a new configuration, moving on surfaces with random curvature. The invention features simple structure, small size and easy realization, and is particularly suitable for realizing automatic connection of miniature robots under the condition limited by micro-size.
Description
technical field [0001] The invention relates to a connection mechanism in the technical field of robot engineering, in particular to a miniature universal connection device for a miniature self-reconfigurable robot. Background technique [0002] The connection mechanism of the self-reconfigurable robot is the part of the self-reconfigurable robot that realizes self-reconfiguration. It is used for the mutual connection between the single modules of the self-reconfigurable robot, so as to form a new configuration and adapt to new task needs. At present, there are mainly four types of connection mechanisms for self-reconfigurable robots: pin connection mechanisms based on shape memory alloys, electromagnetic connection mechanisms, permanent magnet connection mechanisms, and mechanical connection mechanisms. However, these mechanisms often realize fixed connections between robots, lack flexibility, and are relatively large in size, making it difficult to use them on miniature se...
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IPC IPC(8): B25J17/00
Inventor 陈佳品张大伟李振波
Owner SHANGHAI JIAO TONG UNIV