A reconfigurable docking mechanism
A docking mechanism and docking joint technology, which is applied in joints, manipulators, program-controlled manipulators, etc., can solve the problems of poor tolerance ability, poor obstacle-surmounting ability, and high docking precision, and achieve the effect of reducing precision and enhancing obstacle-surmounting ability
Active Publication Date: 2020-11-27
INNER MONGOLIA UNIV OF TECH
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Problems solved by technology
[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a reconfigurable docking mechanism to solve the existing problems of the prior art, such as high docking precision, poor tolerance capability, and poor obstacle-surmounting ability.
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[0027] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.
[0028] Such as Figure 1 to Figure 5 As shown, a reconfigurable docking mechanism includes a docking joint module and a docking locking module, and the docking locking module is used for docking and locking the docking joint module;
[0029] The docking locking module 2 includes a hexagonal housing 3, a left boss, a right boss and two docking devices 4, and the two docking devices 4 are symmetrically fixed in the hexagonal housing 3 up and down, and the docking device 4 includes a curved long rod 7 , two telescopic rods 5 and two secondary telescopic rods 6, the two telescopic rods 5 are symmetrically fixed in the hexagonal shell 3, the telescopic rods 5 are slidably worn with secondary telescopic rods 6, the secondary telescopic rods One ...
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The invention discloses a reconfigurable butt joint mechanism. The butt joint mechanism comprises a butt joint head module and a butt joint locking module; the butt joint locking module comprises twobutt joint devices which are symmetrically arranged in the hexagonal shell in an up-down direction; each butt joint device comprises two telescopic rods fixed to the hexagonal shell in a bilateral symmetry mode, second-stage telescopic rods arranged in the telescopic rods in a sliding and penetrating mode and arc-surface long rods fixed to the second-stage telescopic rods. The telescopic rods arefurther sleeved with springs, the two butt joint devices form a butt joint opening for butt joint of the butt joint head modules, and when the butt joint head modules are in butt joint, the two arc-surface long rods move upwards and downwards correspondingly, so the butt joint opening is enlarged, and butt joint is completed. The butt joint mechanism is high in tolerance capacity, the precision ofthe butt joint requirement is reduced, the butt joint head module has certain flexibility, and the obstacle crossing capacity of the butt joint mechanism is improved. A left boss is further providedwith a limiting device, the limiting device achieves radial and axial positioning of the double-layer sliding block, and then locking of the butt joint module is achieved. The locking is stable and reliable through a mechanical structure, and the energy loss is small.
Description
technical field [0001] The invention relates to the field of reconfiguration, in particular to a reconfigurable docking mechanism. Background technique [0002] Modular reconfigurable robots are currently a research hotspot in the field of mobile robots. Reconfigurable enables robots to have the ability to deform autonomously, which has significant functional and economic advantages over traditional robots, and has attracted extensive attention from scholars at home and abroad. The most important feature of reconfigurable robots is that they have reconfigurable and self-repair functions, and they have more powerful flexibility and strong environmental adaptability. The structured environment has broad application prospects. [0003] The docking mechanism is an important part of the reconfigurable robot, and a flexible and reliable docking mechanism is an important guarantee for the reconfigurable robot to achieve docking / separation. At present, the docking methods used by...
Claims
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IPC IPC(8): B25J9/00B25J17/00
CPCB25J9/00B25J9/0009B25J17/00
Inventor 唐术锋王国庆周朋飞郭子瑞
Owner INNER MONGOLIA UNIV OF TECH