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A self-reconfigurable robot docking mechanism with mechanical and electrical dual connection capabilities

A docking mechanism and electrical connector technology, which is applied in the direction of manipulators, joints, manufacturing tools, etc., can solve the problems of occupying space, increasing the volume of the mechanism, and difficult to meet the high load capacity of multiple modules

Active Publication Date: 2020-10-20
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Both of the above two docking mechanisms adopt asexual docking mechanism. Although this docking mechanism can complete the connection / separation action in the case of a unilateral failure of the module, it takes up extra space for the arrangement of actuators and increases the volume of the mechanism.
In addition, the HiGen docking mechanism is made of ABS material, which is difficult to meet the high load-bearing capacity required for multi-module series movement

Method used

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  • A self-reconfigurable robot docking mechanism with mechanical and electrical dual connection capabilities
  • A self-reconfigurable robot docking mechanism with mechanical and electrical dual connection capabilities
  • A self-reconfigurable robot docking mechanism with mechanical and electrical dual connection capabilities

Examples

Experimental program
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Effect test

specific Embodiment 1

[0023] like Figure 1~5As shown, the reduction motor 7 is fixed on the lower surface of the support plate 1 through the motor support base 6, and the worm 5 is fixedly connected with the output shaft of the reduction motor 7 through a top screw, and is vertically meshed with the worm wheel fixed on the transmission shaft 3, and the transmission shaft 3 One end is fixedly connected with the flange bearing 4 fixed at the center of the support plate 1, and the other end is fixedly connected with the rotary dial 15 of the crank-slider mechanism assembly, then the reduction motor 7 can drive the rotary dial 15 to rotate through the worm gear mechanism. The slider crank mechanism assembly is made up of four groups of slider crank mechanisms, and each group of slider crank mechanisms is made up of rotary dial 15, connecting rod 2, slide block 8, guide rail 11, hook claw 10, rotating shaft 21 and fixed shaft 22. Four sets of crank and slide lock mechanisms are symmetrically fixed on t...

specific Embodiment 2

[0028] The docking mechanism can also be docked with a passive docking surface. When the docking mechanism docks with the passive docking surface, the docking mechanism is driven close to the passive docking surface by the self-reconfiguration robot, and the docking mechanism detects the real-time distance and clamping distance between the two docking surfaces through the active connection base plate 28 and the infrared sensor 12 on the passive connection base plate 20. Angle, when the angle and distance between the two butting surfaces are close to zero, the control circuit board 27 drives the geared motor 7 of the docking mechanism to rotate, and the geared motor 7 drives the rotating dial 15 to rotate through the worm 5 and the worm wheel 23, and the rotating dial 15 drives The movement of the connecting rod 2 and the slider 8, the slider 8 drives the claw 10 to rotate into the inverted trapezoidal hook hole 9 on the passive docking surface, and the angle sensor 14 detects t...

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Abstract

The invention discloses a self-reconfiguration robot butt-joint mechanism with the mechanical and electrical dual-connection self-holding capability. A claw type locking mechanism is adopted, a motordrives a crank sliding lock mechanism assembly to move through a worm and gear, accordingly four claws are driven to rotate by the large angle, accordingly, locking and releasing between two butt joint faces can be finished, and the power-consumption-free self-holding capability is achieved after butt joint is finished. An electrical connector assembly is arranged at the center of a connecting bottom plate of the butt-joint mechanism, electric transmission and communication during butt joint between active butt-joint faces and between the active butt-joint faces and passive butt-joint faces inany orthogonal direction can be achieved through specific position arrangement of spring probes and electrical contacts on the electrical connector assembly. Due to the array of eight infrared sensors on the butt-joint faces, the relative distance and the included angle between the two butt-joint faces can be measured in real time so that the claws can be assisted in accurate butt joint. The butt-joint mechanism can achieve mechanical connection and electrical connection at the same time, and is compact in structure, capable of achieving butt joint easily and reliable in locking, and the requirements for gravity, power supply and communication after multiple self-reconfiguration robots are connected in series can be met.

Description

Technical field [0001] The present invention relates to a modular self-reconfiguring robot, and in particular to a docking mechanism suitable for a self-reconfiguring modular robot. Specifically, it is a self-reconfiguring robot docking mechanism with mechanical and electrical dual connection capabilities. Background technique [0002] Modular self-reconfigurable robots are currently an important research hotspot in the field of robotics. The self-reconfiguring robot, which combines the design ideas of "deformation reconstruction" and "autonomous movement", is an autonomous mechatronic unit with independent movement, computing and communication capabilities. It is usually composed of multiple independent standard modules. Each module completes mechanical and electrical connection / disconnection through docking interfaces to realize the transformation of the relative position and topology between modules to adapt to a variety of complex task scenarios and functional requiremen...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
CPCB25J17/00
Inventor 战强田新扬王俊卿李春红
Owner BEIHANG UNIV