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Adaptive butt-joint locking and releasing mechanical structure of combinable movable robot

A combined movement and release mechanism technology, applied in the direction of manipulators, joints, manufacturing tools, etc., can solve the problems of unreliable locking, inflexible release operation, and difficult docking, so as to achieve high docking reliability and good terrain adaptability , the effect of compact structure

Inactive Publication Date: 2011-08-24
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide an adaptive docking locking and releasing mechanism of a combinable mobile robot to solve the problem of difficult docking, unreliable locking and release of the combinable mobile robot in the working process, especially in a non-structural environment. The problem of inflexible operation

Method used

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  • Adaptive butt-joint locking and releasing mechanical structure of combinable movable robot
  • Adaptive butt-joint locking and releasing mechanical structure of combinable movable robot
  • Adaptive butt-joint locking and releasing mechanical structure of combinable movable robot

Examples

Experimental program
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Effect test

Embodiment 1

[0014] combine figure 1 and figure 2 To illustrate this embodiment, the self-adaptive docking locking and releasing mechanism of the combinable mobile robot is composed of a docking joint 01 and a docking seat 02, which is characterized in that there is a flanged contact head 14 on the docking joint 01; The docking seat 02 has a conical bowl-shaped mating inlet 1 and two relatively open and close tension hooks 2, and the contact head 14 of the docking joint 01 can be inserted into the docking under the guidance of the mating inlet 1 of the docking seat 02. Seat 02 is hooked by tension hook 2 to catch and realize docking.

Embodiment 2

[0016] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0017] combine figure 1 and figure 2 , the structure of the butt joint 01 is: the contact head 14 is fixedly connected with the ball pair 16, the ball pair 16 is matched with the concave round seat 18 through the gland 17, and the contact head 14 is connected with the round seat through the spring 15 18; the structure of the docking seat 02 is: the motor assembly 11 is fixedly connected with the driving gear 10, the gear 10 is meshed with the driven gear 9, and the gear 9 is fixedly connected with the screw rod 6, and the screw rod 6 Cooperate with the nut 5 screw, and the nut 5 is hinged with the two tension hooks 2, each of the tension hooks 2 is equipped with a roller 3, and the two rollers 3 are respectively connected with the two chute 4 Sliding contact, the two ends of the screw rod 6 are respectively matched with a bearing support 7 and a docking guide groove 12 t...

Embodiment 3

[0018] Example Three: Combining figure 1 and 2 To illustrate this embodiment, the screw rod 6 and the nut 5 in this embodiment cooperate through self-locking threads to ensure the tightness and reliability of the butt joint. Other compositions and connections are the same as those in Embodiment 1.

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Abstract

The invention relates to an adaptive butt-joint locking and releasing mechanical structure of a combinable movable robot, comprising a butt junction and a butt-joint seat, wherein the butt junction is provided with a contact with a flange; and the butt-joint seat is provided with a cone-bowl-shaped butt-joint accommodation hole and two straining hooks which are opened and closed relative to each other. The contact of the butt junction can be inserted into the butt-joint seat by the guidance of the butt-joint accommodation hole of the butt-joint seat and fastened by the straining hooks, so as to realize the butt joint. The mechanical structure related by the invention can be used for improving the butt-joint feasibility of the combinable movable robot under unstructured environments and enhancing the adaptive butt-joint ability of the butt-joint gesture change between two movable robots, and has the advantages of convenience for locking and releasing, and reliability.

Description

technical field [0001] The invention relates to a docking locking and releasing mechanism in the field of mechanical technology, in particular to an adaptive docking locking and releasing mechanism of a combinable mobile robot. Background technique [0002] Two or more mobile robots are combined into a mobile robot as a whole, which can increase the terrain adaptability of the mobile robot and complete tasks that cannot be completed by a single unit, such as rescue, sample collection and detection tasks. And a set of docking mechanism with compact structure, flexible docking and unlocking operation, and high reliability is the basis to ensure the perfect docking of this type of robot. Especially for multi-body combination of unattended mobile robots performing detection tasks in unstructured environments, it is necessary to overcome the influence of the environment and dock correctly. Driven by the mechanical arm, the mechanical gripper has a large working space and multi-f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00
Inventor 刘吉成唐森隆刘树林周晓君翟宇毅陈鹏伟刘锐
Owner SHANGHAI UNIV
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